CN205884028U - Machine people is plucked to navel orange - Google Patents
Machine people is plucked to navel orange Download PDFInfo
- Publication number
- CN205884028U CN205884028U CN201620897412.4U CN201620897412U CN205884028U CN 205884028 U CN205884028 U CN 205884028U CN 201620897412 U CN201620897412 U CN 201620897412U CN 205884028 U CN205884028 U CN 205884028U
- Authority
- CN
- China
- Prior art keywords
- electronic scale
- citrus sinensis
- picking robot
- grabbed
- sinensis osbeck
- 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
Landscapes
- Sorting Of Articles (AREA)
Abstract
The utility model discloses a machine people is plucked to navel orange, it includes major structure and triangle athey wheel, be equipped with intelligent control device on the major structure, a power devic, pick device and sorting device, it is connected to the rotary disk of setting on the major structure through robotic arm to pick the device, it includes the connecting block to pick the device, rotatory piece, machinery is held in hand and shearing mechanism, the connecting block is connected to robotic arm, machinery is held in hand and is passed through rotary block connected to connecting block with shearing mechanism, be equipped with camera and inductor on the connecting block, sorting device includes the letter sorting dish, deposit frame and electronic scale, it cuts apart the board to deposit to be equipped with on the frame, the electronic scale sets up the lower extreme at the letter sorting dish, the electronic scale is connected in the upper end of cutting apart the board through the rotation axis, the both sides of letter sorting dish respectively are equipped with a breach. The utility model discloses an advantage: be equipped with camera and inductor, improve discrimination and positioning accuracy to the fruit, improve and pick efficiency, be equipped with letter sorting dish and electronic scale, can classify to the fruit after picking automatically.
Description
Technical field
This utility model is related to a kind of Citrus sinensis Osbeck picking robot, belongs to mechanical equipment technical field.
Background technology
At present, agricultural workforce's aging and the hypodynamic problem of rural labor are very prominent, in order to solve this problem,
Exploitation, except a series of agricultural robot of difference purposes, just includes plucking the robot of Citrus sinensis Osbeck, this robot has among these
His feature of itself: they are usually that working environment is poor in outside work, but but do not have in precision industrial robot that
Sample has high demands；The user of this robot is not special technical staff, but common peasant, so technology can not be answered very much
Miscellaneous, and price nor too high.
Problem problems with present in fruit picking Citrus sinensis Osbeck robot utilization at present: 1. the discrimination of fruit is not high or knows
After not, positioning precision is not high；2. the damage ratio of fruit is larger；3. longer, the current fruit harvester average plucking cycle of fruit
Device people due to reasons such as vision, structure and control systems, most of picking robots inefficient；4. the system of picking robot
Make relatively costly, utilization rate of equipment and installations is low, working service is inconvenient, 5. the fruit after plucking can not be classified.
Utility model content
The technical problems to be solved in the utility model, is to provide a kind of discrimination height, damage ratio, plucking cycle is short, become
This Citrus sinensis Osbeck picking robot that the is low and fruit after plucking being classified.
This utility model is realized by following proposal: a kind of Citrus sinensis Osbeck picking robot, and it includes agent structure and triangle is carried out
Belt wheel, described triangle Athey wheel is provided with four, is connected with described agent structure respectively, and described agent structure is provided with Based Intelligent Control
Device, power set, picker and sorting equipment, described power set are electrically connected to described intelligent controlling device, and described three
Angle Athey wheel is connected to described power set, and described picker is connected to by mechanical arm and is arranged in described agent structure
Rotating disk, described picker includes contiguous block, spill spin block, mechanical hand are grabbed and shear, and described contiguous block is connected to institute
State mechanical arm, described mechanical hand is grabbed and is connected to described contiguous block, described shearing with described shear by described spill spin block
Device is arranged between described mechanical hand grabs, and described contiguous block is provided with photographic head and induction apparatuss, and described sorting equipment includes point
Pick disk, storing frame and electronic scale, described storing frame is divided into two parts by fragmenting plate, described electronic scale is arranged on described sorting
The lower end of disk, described electronic scale is connected to the upper end of described fragmenting plate by rotary shaft, and the both sides of described sorter are respectively provided with one
Individual breach, two described breach correspond to two parts of described storing frame respectively.
Described rotating disk drives described mechanical arm to carry out 360 degree of rotations.
The described spill spin block described mechanical hand of drive is grabbed and is carried out 360 rotations.
Described electronic scale is connected to described rotary shaft by described intelligent controlling device, and described rotary shaft drives described
Electronic scale and described sorter left rotation and right rotation.
Described photographic head and described induction apparatuss are electrically connected to described spill spin block, described machinery by described intelligent controlling device
Handss are grabbed and described shear.
The beneficial effects of the utility model are:
1st, a kind of Citrus sinensis Osbeck of this utility model picking robot is provided with photographic head and induction apparatuss, improve the discrimination to fruit and
Positioning precision after identification, improves picking efficiency,
2nd, a kind of Citrus sinensis Osbeck of this utility model picking robot is grabbed using mechanical hand and shear, can lower the damage of fruit
Hinder rate；
3rd, a kind of Citrus sinensis Osbeck of this utility model picking robot is provided with sorter and electronic scale, can be automatically to the fruit after plucking
Classified in fact；
4th, a kind of Citrus sinensis Osbeck of this utility model picking robot adopts triangle Athey wheel, adapts to outdoor different environment road conditions.
Brief description
Fig. 1 is a kind of structural representation of this utility model Citrus sinensis Osbeck picking robot.
Fig. 2 is a kind of picker structural representation of this utility model Citrus sinensis Osbeck picking robot.
Fig. 3 is a kind of sorting equipment structural representation of this utility model Citrus sinensis Osbeck picking robot.
In figure: 1 is agent structure, 2 is triangle Athey wheel, and 3 is intelligent controlling device, and 4 is power set, and 5 is mechanical hand
Arm, 6 is rotating disk, and 7 is contiguous block, and 8 is spill spin block, and 9 grab for mechanical hand, and 10 is shear, and 11 is photographic head, and 12 is sensing
Device, 13 is sorter, and 14 is storing frame, and 15 is electronic scale, and 16 is fragmenting plate, and 17 is rotary shaft, and 18 is breach.
Specific embodiment
Further illustrate with reference to Fig. 1-3 pair of this utility model, but this utility model protection domain do not limit to described interior
Hold.
Wherein identical parts are presented with like reference characters.It should be noted that word used in describing below
Language "front", "rear", "left", "right", "up" and "down" refer to the direction in accompanying drawing, and word " interior " and " outward " refer respectively to court
To or the direction away from particular elements geometric center, and accompanying drawing all in the form of very simplification and all using non-accurately than
Rate, only in order to purpose that is convenient, lucidly aiding in illustrating this utility model embodiment.
In order to clear, do not describe whole features of practical embodiments, in the following description, be not described in detail known function
And structure because they can make this utility model due to unnecessary details chaotic it should think in any practical embodiments
Exploitation in it is necessary to make a large amount of implementation details to realize the specific objective of developer, such as according to relevant system or relevant business
The restriction of industry, changes into another embodiment by an embodiment, additionally, it should think this development be probably complicated and
Time-consuming, but it is only routine work to those skilled in the art.
A kind of Citrus sinensis Osbeck picking robot, it includes agent structure 1 and triangle Athey wheel 2, and triangle Athey wheel 2 is provided with four,
It is connected with agent structure 1 respectively, agent structure 1 is provided with intelligent controlling device 3, power set 4, picker and sorting dress
Put, power set 4 are electrically connected to intelligent controlling device 3, triangle Athey wheel 2 is connected to power set 4, picker passes through machinery
Arm 5 is connected to the rotating disk 6 being arranged in agent structure 1, and picker includes contiguous block 7,9 and grabbed by spill spin block 8, mechanical hand
Shear 10, contiguous block 7 is connected to mechanical arm 5, mechanical hand grab 9 and shear 10 connection is connected to by spill spin block 8
Block 7, shear 10 is arranged on mechanical hand and grabs between 9, and contiguous block 7 is provided with photographic head 11 and induction apparatuss 12, sorting equipment bag
Include sorter 13, storing frame 14 and electronic scale 15, storing frame 14 is divided into two parts by fragmenting plate 16, electronic scale 15 is arranged on
The lower end of sorter 13, electronic scale 15 is connected to the upper end of fragmenting plate 16 by rotary shaft 17, and the both sides of sorter 13 are respectively provided with
One breach 18, two breach 18 correspond to two parts of storing frame 14 respectively.
Rotating disk 6 driving mechanical arm 5 carries out 360 degree of rotations.
Spill spin block 11 driving mechanical handss are grabbed 9 and are carried out 360 rotations.
Electronic scale 15 is connected to rotary shaft 17 by intelligent controlling device 3, and rotary shaft 17 drives electronic scale 15 and sorting
Disk 13 left rotation and right rotation.
Photographic head 11 and induction apparatuss 12 are electrically connected to spill spin block 8 by intelligent controlling device 3, mechanical hand grabs 9 and shearing dress
Put 10, intelligent controlling device 3 how by photographic head 11 and induction apparatuss 12 spill spin block 8, mechanical hand are grabbed 9 and shear 10 enter
Row control belongs to existing known technology, and its internal structure, operation principle and work process will not be described here.
During use, power set 4 drive triangle Athey wheel 2 to travel, and photographic head 11 and induction apparatuss 12 positioning sense fruit
Afterwards, mechanical hand is grabbed 9 and is caught fruit under the drive of spill spin block 8, mechanical arm 5 and rotating disk 6, after shear 10 cutting, puts
Put on sorter 13, electronic scale 15 is weighed to it, when exceeding the weight being previously set, sorter 13 revolves towards the left side
Turn, fruit pours the frame on the left side into by breach 18, during not less than the weight being previously set, sorter 13 rotates towards the right,
Fruit pours the frame on the right into by breach 18.Although the technical solution of the utility model has been done with more detailed elaboration
With enumerate it will be appreciated that to those skilled in the art, above-described embodiment is made with modification or using equivalent replacement
Scheme, this is to those skilled in the art it is clear that done on the basis of without departing from this utility model spirit
These modifications or improvements, belong to the scope that this utility model claims.
Claims (5)
1. a kind of Citrus sinensis Osbeck picking robot it is characterised in that: it includes agent structure (1) and triangle Athey wheel (2), described triangle
Athey wheel (2) is provided with four, is connected with described agent structure (1) respectively, and described agent structure (1) is provided with intelligent controlling device
(3), power set (4), picker and sorting equipment, described power set (4) are electrically connected to described intelligent controlling device
(3), described triangle Athey wheel (2) is connected to described power set (4), and described picker is connected to by mechanical arm (5)
It is arranged on the rotating disk (6) in described agent structure (1), described picker includes contiguous block (7), spill spin block (8), mechanical hand
Grab (9) and shear (10), described contiguous block (7) is connected to described mechanical arm (5), and described mechanical hand is grabbed (9) and described
Shear (10) is connected to described contiguous block (7) by described spill spin block (8), and described shear (10) is arranged on described machine
Tool handss are grabbed between (9), and described contiguous block (7) is provided with photographic head (11) and induction apparatuss (12), and described sorting equipment includes sorting
Disk (13), storing frame (14) and electronic scale (15), described storing frame (14) is divided into two parts, described electricity by fragmenting plate (16)
Sub- scale (15) is arranged on the lower end of described sorter (13), and described electronic scale (15) is connected to described segmentation by rotary shaft (17)
The upper end of plate (16), the both sides of described sorter (13) are respectively provided with a breach (18), and two described breach (18) correspond to respectively
Two parts of described storing frame (14).
2. a kind of Citrus sinensis Osbeck picking robot according to claim 1 it is characterised in that: described rotating disk (6) drives described
Mechanical arm (5) carries out 360 degree of rotations.
3. a kind of Citrus sinensis Osbeck picking robot according to claim 1 it is characterised in that: described spill spin block drives described machinery
Handss are grabbed (9) and are carried out 360 rotations.
4. a kind of Citrus sinensis Osbeck picking robot according to claim 1 it is characterised in that: described electronic scale (15) pass through described
Intelligent controlling device (3) is connected to described rotary shaft (17), and described rotary shaft (17) drives described electronic scale (15) and described
Sorter (13) left rotation and right rotation.
5. a kind of Citrus sinensis Osbeck picking robot according to claim 1 it is characterised in that: described photographic head (11) and described sense
Device (12) is answered to be electrically connected to described spill spin block (8) by described intelligent controlling device (3), described mechanical hand is grabbed (9) and described cut
Cutting apparatus (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620897412.4U CN205884028U (en) | 2016-08-18 | 2016-08-18 | Machine people is plucked to navel orange |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620897412.4U CN205884028U (en) | 2016-08-18 | 2016-08-18 | Machine people is plucked to navel orange |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205884028U true CN205884028U (en) | 2017-01-18 |
Family
ID=57778567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620897412.4U Expired - Fee Related CN205884028U (en) | 2016-08-18 | 2016-08-18 | Machine people is plucked to navel orange |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205884028U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107750645A (en) * | 2017-11-01 | 2018-03-06 | 绍兴职业技术学院 | A kind of picking robot |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN110278777A (en) * | 2019-07-26 | 2019-09-27 | 郑州永丰生物肥业有限公司 | A kind of method of robot learning picking camellia oleifera fruit |
| CN111011004A (en) * | 2019-12-28 | 2020-04-17 | 河南理工大学 | Picking equipment |
-
2016
- 2016-08-18 CN CN201620897412.4U patent/CN205884028U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107750645A (en) * | 2017-11-01 | 2018-03-06 | 绍兴职业技术学院 | A kind of picking robot |
| CN109566099A (en) * | 2019-01-09 | 2019-04-05 | 温州商学院 | A kind of picking robot |
| CN110278777A (en) * | 2019-07-26 | 2019-09-27 | 郑州永丰生物肥业有限公司 | A kind of method of robot learning picking camellia oleifera fruit |
| CN111011004A (en) * | 2019-12-28 | 2020-04-17 | 河南理工大学 | Picking equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205884028U (en) | Machine people is plucked to navel orange | |
| CN102124866B (en) | Wheel type mobile fruit picking robot and fruit picking method | |
| CN203782622U (en) | Intelligent garbage-collecting-sorting educating robot | |
| CN107094429A (en) | A kind of multiaxis fruit picking robot | |
| CN208708184U (en) | Automatic sorting apple picking robot | |
| CN105775738B (en) | The balance device of chip | |
| CN207460846U (en) | A kind of pineapple harvests intelligent carriage | |
| CN206046505U (en) | A kind of full-automatic sizer of poly-lithium battery | |
| CN101121167A (en) | Device for sizing spike-like fruits | |
| CN206378850U (en) | A kind of bluetooth module automates burning test device | |
| CN203775716U (en) | Fruit picking manipulator | |
| CN207807330U (en) | A kind of optical lens milling and grinding machine automatic loading and unloading device | |
| CN203356082U (en) | Sorting system based on cargo size | |
| CN204208962U (en) | The automatic through-hole machine of a kind of connector | |
| CN206283862U (en) | A kind of apple harvester | |
| CN205521450U (en) | Express delivery parcel sorting machine tool hand based on machine visual identification location | |
| CN208743084U (en) | A kind of e-commerce sorter | |
| CN211100232U (en) | Garbage sorting system based on vision and deep learning | |
| CN210701216U (en) | Tomato grading system | |
| CN104149090A (en) | Color sorting combined mechanical arm | |
| CN209396430U (en) | A kind of feeding device | |
| CN208613061U (en) | A kind of puma manipulator sorting equipment | |
| CN207138313U (en) | Sorting equipment | |
| CN202599714U (en) | Nuclear magnetic resonance associating device for oily seed single-grain sampling | |
| CN207618590U (en) | A kind of automatic clamping equipment for object sorting |
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 |
Granted publication date: 20170118 Termination date: 20170818 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |