CN205352307U - Tomato side shoot detection of position device - Google Patents
Tomato side shoot detection of position device Download PDFInfo
- Publication number
- CN205352307U CN205352307U CN201620032213.7U CN201620032213U CN205352307U CN 205352307 U CN205352307 U CN 205352307U CN 201620032213 U CN201620032213 U CN 201620032213U CN 205352307 U CN205352307 U CN 205352307U
- Authority
- CN
- China
- Prior art keywords
- detection
- linkage part
- outer ring
- inner ring
- smooth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a tomato side shoot detection of position device, include that detection agency that comprises detection linkage part, flank outer lane, smooth outer lane, step -by -step inner circle, smooth inner circle, photoelectric sensor, step motor and the location clamping mechanism who comprises location linkage part, left centre gripping hand, right centre gripping hand constitute. The utility model discloses a when detecting device can remove around the tomato mobile jib through the detection agency, detect the existence of tomato side shoot, the tight tomato mobile jib of centre gripping hand file about the action of location linkage part makes for the tomato mobile jib is in the center of the interior outer lane of detection agency, and the detection agency carries out the position that the work accuracy detected the tomato side shoot again.
Description
Technical field
This utility model relates to horticultural machinery and field of agricultural robots, is specifically related to a kind of Fructus Lycopersici esculenti side shoot detection device, can be applicable to Fructus Lycopersici esculenti lateral bud and extract in robot.
Background technology
Along with the lifting of agricultural modernization, vegetable production scale, automatization have become as trend.It is improve the requisite ring of tomato planting yield and quality that Fructus Lycopersici esculenti lateral bud is extractd, and Fructus Lycopersici esculenti bud picking workload is big, and sometimes for repeating.Although manual bud picking speed is fast, but it is as labor cost and increases and huge workload can not meet and is actually needed.Fructus Lycopersici esculenti lateral bud is extractd robot and is adapted to market and be actually needed and develop research, the key component Fructus Lycopersici esculenti side shoot positional detecting device of its end equipment is a brand-new device, to realize the detection operation of Fructus Lycopersici esculenti side shoot, thus carrying out next step bud picking operation.
Summary of the invention
The purpose of this utility model is in that for the deficiencies in the prior art, it is provided that a kind of Fructus Lycopersici esculenti side shoot positional detecting device.
Fructus Lycopersici esculenti side shoot positional detecting device of the present utility model, including detection agency, positioning and clamping mechanism, for supporting the detection device fixed mount and for supporting the positioning and clamping mechanism link of positioning and clamping mechanism of detection agency, positioning and clamping mechanism link is fixed on detection device fixed mount, detection agency includes detection linkage part, and positioning and clamping mechanism includes location linkage part；
Detection linkage part is identical with location linkage part structure, it is the mechanical arm that can realize opening and closing movement a pair, location linkage part is set in parallel in above detection linkage part, the stepping inner ring of two mechanical arm front ends of detection linkage part stationary half shape respectively and Semicircular smooth inner ring, stepping inner ring and smooth inner ring are respectively provided with the guide rail boss that Semicircular cross section is T-shaped, flank outer ring and smooth outer ring are respectively provided with the groove that Semicircular cross section is T-shaped, the groove of flank outer ring docks formation with the guide rail boss of stepping inner ring and is slidably matched, the groove of smooth outer ring docks formation with the guide rail boss of smooth inner ring and is slidably matched, stepping inner ring periphery is provided with outward extending platform, motor it is fixed with below platform, the output shaft of motor is fixed through platform and gear centre, gear is engaged with the profile of tooth being located at periphery, flank outer ring, two mechanical arm front ends of location linkage part fix left clamping hands and right clamping hands respectively, it is positioned at flank outer ring and the surface of smooth outer ring, flank outer ring and smooth outer ring are evenly equipped with several photoelectric sensors.
Further, described photoelectric sensor number is 6.When detection linkage part action makes two mechanical arm Guan Bis drive stepping inner ring and smooth inner ring Guan Bi, thus flank outer ring and smooth outer ring Guan Bi, motor fast rotation driven gear coordinates so that flank outer ring and smooth outer ring relatively rotate 60 degree on stepping inner ring and smooth inner ring with profile of tooth on flank outer ring, it is arranged on the photoelectric sensor on flank outer ring and smooth outer ring and just can realize 360 degree of Fructus Lycopersici esculenti side shoot position sensings, when photoelectric sensor detect side shoot exist time, location linkage part action makes two mechanical arm Guan Bis, clamping hands clamping in left and right makes Fructus Lycopersici esculenti mobile jib be in the center of detection agency Internal and external cycle, motor after keeping in the center again slowly action rely on photoelectric sensor to detect the position of Fructus Lycopersici esculenti side shoot accurately.Having detected rear motor to keep in the center, detection linkage part action again makes the separation of stepping inner ring and smooth inner ring drive flank outer ring and smooth outer ring separately, and location linkage part action again makes left and right clamping hands separately.
This utility model can realize the detection of Fructus Lycopersici esculenti side shoot position, and speed of detection is fast, efficiency is high, can be applicable to Fructus Lycopersici esculenti lateral bud and extracts in robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model device；
Fig. 2 is the structural representation of detection agency；
Fig. 3 is the structural representation of detent mechanism；
Fig. 4 is A-A cross-sectional view in Fig. 1；
In figure: 1 is detection linkage part, and 2 is stepping inner ring, and 3 is smooth inner ring, 4 is flank outer ring, 5 is smooth outer ring, and 6 is motor, and 7 is gear, 8 is photoelectric sensor, 9 is location linkage part, and 10 is left clamping hands, and 11 is right clamping hands, 12 is detection device fixed mount, and 13 is positioning and clamping mechanism link.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, this utility model is further illustrated.
As shown in Figure 1, Fructus Lycopersici esculenti side shoot positional detecting device of the present utility model, it is applied to Fructus Lycopersici esculenti lateral bud and extracts the detection of side shoot position in robot, mainly include detection agency, positioning and clamping mechanism, for supporting the detection device fixed mount 12 and for supporting the positioning and clamping mechanism link 13 of positioning and clamping mechanism of detection agency, positioning and clamping mechanism link 13 is fixed on detection device fixed mount 12, detection agency includes detection linkage part 1, and positioning and clamping mechanism includes location linkage part 9；Detection linkage part 1 is identical with location linkage part 9 structure, it is the mechanical arm that can realize opening and closing movement a pair, location linkage part 9 is set in parallel in above detection linkage part 1, the stepping inner ring 2 of two mechanical arm front ends of detection linkage part 1 stationary half shape respectively and Semicircular smooth inner ring 3, stepping inner ring 2 and smooth inner ring 3 are respectively provided with the guide rail boss that Semicircular cross section is T-shaped, flank outer ring 4 and smooth outer ring 5 are respectively provided with the groove that Semicircular cross section is T-shaped, the groove of flank outer ring 4 docks formation with the guide rail boss of stepping inner ring 2 and is slidably matched, the groove of smooth outer ring 5 docks formation with the guide rail boss of smooth inner ring 3 and is slidably matched, stepping inner ring 2 periphery is provided with outward extending platform, motor 6 it is fixed with below platform, the output shaft of motor 6 is fixed through platform and gear 7 center, gear 7 is engaged with the profile of tooth being located at periphery, flank outer ring 4, two mechanical arm front ends of location linkage part 9 fix left clamping hands 10 and right clamping hands 11 respectively, it is positioned at flank outer ring 4 and the surface of smooth outer ring 5, flank outer ring 4 and smooth outer ring 5 are evenly equipped with 6 photoelectric sensors 8.
Detection linkage part 1 action makes two mechanical arm Guan Bis drive stepping inner ring 2 and smooth inner ring 3 to close, thus flank outer ring 4 and smooth outer ring 5 close, the little gear of motor 6 fast rotation 7 coordinates so that flank outer ring 4 and smooth outer ring 5 can relatively rotate faster on stepping inner ring 2 and smooth inner ring 3 with profile of tooth on flank outer ring 4, when photoelectric sensor 8 detect side shoot exist time, location linkage part 9 action, left clamping hands 10 and right clamping hands 11 is made to clamp the center making Fructus Lycopersici esculenti mobile jib be in detection agency Internal and external cycle, motor 6 slowly rotates after keeping in the center again, photoelectric sensor 8 is slowly rotated around Fructus Lycopersici esculenti mobile jib center and can detect Fructus Lycopersici esculenti side position accurately.Having detected rear motor 6 to keep in the center, linkage part 1 action again makes the separation of stepping inner ring 2 and smooth inner ring 3 drive flank outer ring 4 and smooth outer ring 5 separately, and location linkage part 9 action again makes left clamping hands 10 and right clamping hands 11 separately.
In technique scheme, the detection linkage part of employing and location linkage part all can pass through SG-5010 steering wheel action, and steering wheel is controlled by 51 Micro Controller Unit (MCU) driving.
The motor adopted can be believe dense motor SST36C1080, and motor passes through PLC Rhizoma Sparganii FX1S-30MT-D, and driver is ZD-6560-V4.
Claims (2)
1.A kind ofFructus Lycopersici esculenti side shoot positional detecting device, it is characterized in that: include detection agency, positioning and clamping mechanism, for supporting detection device fixed mount (12) of detection agency and for supporting the positioning and clamping mechanism link (13) of positioning and clamping mechanism, positioning and clamping mechanism link (13) is fixed in detection device fixed mount (12), detection agency includes detection linkage part (1), and positioning and clamping mechanism includes location linkage part (9)；Detection linkage part (1) is identical with location linkage part (9) structure, it is the mechanical arm that can realize opening and closing movement a pair, location linkage part (9) is set in parallel in detection linkage part (1) top, the stepping inner ring (2) of two mechanical arm front ends of detection linkage part (1) stationary half shape respectively and Semicircular smooth inner ring (3), stepping inner ring (2) and smooth inner ring (3) are respectively provided with the guide rail boss that Semicircular cross section is T-shaped, flank outer ring (4) and smooth outer ring (5) are respectively provided with the groove that Semicircular cross section is T-shaped, the groove of flank outer ring (4) docks formation with the guide rail boss of stepping inner ring (2) and is slidably matched, the groove of smooth outer ring (5) docks formation with the guide rail boss of smooth inner ring (3) and is slidably matched, stepping inner ring (2) periphery is provided with outward extending platform, motor (6) it is fixed with below platform, the output shaft of motor (6) is fixed through platform and gear (7) center, gear (7) is engaged with the profile of tooth being located at flank outer ring (4) periphery, two mechanical arm front ends of location linkage part (9) fix left clamping hands (10) and right clamping hands (11) respectively, it is positioned at flank outer ring (4) and the surface of smooth outer ring (5), flank outer ring (4) and smooth outer ring (5) are evenly equipped with several photoelectric sensors (8).
2. Fructus Lycopersici esculenti side shoot positional detecting device according to claim 1, it is characterised in that described photoelectric sensor (8) number is 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620032213.7U CN205352307U (en) | 2016-01-13 | 2016-01-13 | Tomato side shoot detection of position device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620032213.7U CN205352307U (en) | 2016-01-13 | 2016-01-13 | Tomato side shoot detection of position device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205352307U true CN205352307U (en) | 2016-06-29 |
Family
ID=56174633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620032213.7U Expired - Fee Related CN205352307U (en) | 2016-01-13 | 2016-01-13 | Tomato side shoot detection of position device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205352307U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105466338A (en) * | 2016-01-13 | 2016-04-06 | 浙江大学 | Tomato lateral branch position detection device |
-
2016
- 2016-01-13 CN CN201620032213.7U patent/CN205352307U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105466338A (en) * | 2016-01-13 | 2016-04-06 | 浙江大学 | Tomato lateral branch position detection device |
| CN105466338B (en) * | 2016-01-13 | 2018-03-20 | 浙江大学 | Tomato side shoot positional detecting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203726485U (en) | Transferring manipulator | |
| CN203956914U (en) | A kind of manipulator that can accurately rotate fast | |
| CN204122636U (en) | Punching machine mechanical arm | |
| CN204251738U (en) | Single armed electroplating assembly line passivation mechanical manipulator | |
| CN204431245U (en) | A kind of circular cylindrical coordinate machinery hand being applicable to workpiece handling | |
| CN105033965B (en) | Swing workbench | |
| CN206937344U (en) | A kind of pinion and-rack mechanical gripper | |
| CN106347999B (en) | Automobile tire fetus intelligent grabbing manipulator | |
| CN103624522A (en) | Bottle cap assembling device and assembling method | |
| CN103395063A (en) | Overturning full-automation mechanical arm suitable for glassware pressing production line | |
| CN105453814B (en) | For the end effector of robot of tomato bud picking | |
| CN106629024A (en) | Product gripping and transferring mechanism | |
| CN108372512B (en) | But intelligent automatic control's rotatory grabbing device on robotic arm | |
| CN205352307U (en) | Tomato side shoot detection of position device | |
| CN107088783A (en) | A kind of wheel hub Special clamping servo rotary system | |
| CN106925650B (en) | A kind of tank body embossing machine | |
| CN105712063A (en) | Clamping correction and overturning device of inner barrel of washing machine | |
| CN208531434U (en) | A kind of Quick transport device of production line processing tubing | |
| CN204604351U (en) | A kind of gear-driven robot gripper | |
| CN201645487U (en) | Gearing mesh type manipulator | |
| CN204324374U (en) | Reciprocal shift assembly | |
| CN105466338A (en) | Tomato lateral branch position detection device | |
| CN107838596A (en) | A kind of intelligent automatic welding device applied widely based on Internet of Things | |
| CN205324424U (en) | Aluminum tube bending machine | |
| CN110935895A (en) | Automatic feeding and discharging unit of lathe |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20190113 |