CN205902411U - Retractable kiwi fruit fruit picking manipulator arm - Google Patents
Retractable kiwi fruit fruit picking manipulator arm Download PDFInfo
- Publication number
- CN205902411U CN205902411U CN201620459524.1U CN201620459524U CN205902411U CN 205902411 U CN205902411 U CN 205902411U CN 201620459524 U CN201620459524 U CN 201620459524U CN 205902411 U CN205902411 U CN 205902411U
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- arm
- gear
- fruit
- mechanical arm
- bevel gear
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Abstract
The utility model discloses a retractable kiwi fruit fruit picking manipulator arm, main characteristic is: retractable machinery is picked one -level arm (5) and second grade arm (3) of arm and is connected through lead screw (15) and nut (4), concertina movement was in second grade arm (3) when rotated lead screw (15), adjust the height of arm, the upper end in second grade arm (3) is installed to the three dexterous hands of finger (1), three indicate there are its control system (2) below dexterous hand (1), lower extreme welding at lead screw (15) has bevel gear (14) to pass through the continuous transmission power of shaft coupling rather than bevel gear (6) of meshing with motor (7) of installing outside one -level arm (3), lower extreme welding at one -level arm (5) has gear (12), with gear (8) meshing transmission, gear shaft (11) are connected transmission power through shaft coupling (9) and motor (10). This arm height -adjustable is fit for the harvesting of the uneven kiwi fruit of the high low level of fruit, has still solved the kiwi fruit handle and has fast plucked difficult problem.
Description
Technical field
The present invention relates to a kind of telescopic mechanical arm is and in particular to a kind of extension type kiwifruit fruit picking mechanical arm
Arm.
Background technology
There is presently no the mechanical arm being specifically designed for kiwifruit fruit harvesting, now Fructus actinidiae chinensiss are carried out with the machine that intelligence is plucked
The harvesting arm of device people is all multi-joint mechanical arm mostly and mechanical hand combines and Fructus actinidiae chinensiss are plucked, although this structure
Look at flexibly but complex structure, control difficulty big, control accuracy is not high, easily Fructus actinidiae chinensiss caused during harvesting to damage, impact is adopted
Pluck quality；Have the shortcomings that certain in existing its structure of extension type mechanical arm, carry locking nut in the end of outer tube, adjust
First locking nut to be unclamped during section, then stretching inner tube arrive after the length needing locking nut again, cumbersome, the Er Qie of operation
Make Telescopic small mechanical arm when than more difficult to process.
Content of the invention
It is an object of the invention to developing a kind of extension type kiwifruit fruit picking mechanical arm, specifically it is aiming at adopting
Plucked with the Fructus actinidiae chinensiss of shed frame type, this extension type mechanical picking arm has the characteristics that first to accommodate and rotates afterwards, this design
Be specifically designed for Fructus actinidiae chinensiss maturation consequence handle still very solid so that being easily damaged the problem of fruit when plucking, if in machine
It is firmly to drag that tool arm is plucked, and can be easy to damage the fruit of Fructus actinidiae chinensiss；This extension type mechanical picking arm can be flexible simultaneously
The height of adjustment arm, to adapt to the feature of the growth of shed frame type kiwifruit fruit, is conducive to plucking.
For achieving the above object, the technical scheme is that
This extension type kiwifruit fruit picking mechanical arm it is characterised in that: mechanical arm has one-level arm (5) and two grades
Arm (3) two-stage, ternary sequential circuit (1) is arranged on two grades of arms (3)；Also have the drive mechanism of leading screw (15) nut (4), the first cone
Gear (6) and second bevel gear (14), first gear (8) and second gear (12) engaged transmission, mechanical arm has two degree of freedom
Motion, the rotary motion in stretching motion and horizontal plane being vertically oriented respectively, the advantage of this design is to reduce machinery
Arm reaches the time plucking target, improves the picking efficiency of Fructus actinidiae chinensiss to a great extent；Meanwhile, extension type mechanical arm
The movement characteristic of rotation and this two degree of freedom that stretch enables the harvesting that Fructus actinidiae chinensiss are more prone to, and reduces kiwifruit fruit
Fruit loss rate when plucking.
Described ternary sequential circuit (1) is fixedly mounted on two grades of arms (3), and three Dextrous Hand (1) are provided with little electricity below
Machine and motion control system, control and pluck Fructus actinidiae chinensiss.
Being connected with each other between described one-level arm (3) and two grades of arms (5) and motion are by leading screw (15) and nut (4)
Relative motion realizing.
Described leading screw is installed with the first bevel gear (6) that second bevel gear (14) engages, and is arranged on one-level
The power of the first motor (7) outside arm is delivered to leading screw (15) by bevel gear engagement, and leading screw rotates and makes on two grades of arms (5)
The height of lower motor adjustment extension type mechanical picking arm.
Described one-level arm lower end is installed with second gear (12) and is engaged with first gear (8), and being mainly used to make can
Telescopic mechanical picking arm unitary rotation, power comes from the second motor (10).
One kind carries out kiwifruit fruit picking method using extension type kiwifruit fruit picking mechanical arm, including following
Step:
Start machine people's mobile platform, records the distance between car body and Fructus actinidiae chinensiss fruit tree thus controlling by ultrasonic sensor
Car processed in the position between frame so that car moves along the leading line in the Fructus actinidiae chinensiss ground of shed frame type, when robot often move one
Stop after length over ends of body distance, the binocular camera within positioned at each ternary sequential circuit is to respective top certain area coverage
Interior Fructus actinidiae chinensiss are circulated scanning collection, the position of detection kiwifruit fruit in real time；
When detect have fruit in the range of camera coverage when, master controller sends order to motion controller, and binocular takes the photograph
Camera is used for gathering the barrier image information in fruit tree, the image information of fruit and picking mechanical arm path, then master control
Device processed is identified to mature fruit image and obstructions chart picture, judges kiwifruit fruit quantity in the visual field, identifies one by one
Kiwifruit fruit extract the characteristic informations such as its locus and shape in the visual field, determines harvesting order.Again by positioned at each three
The locus coordinate with respect to ternary sequential circuit to detect Fructus actinidiae chinensiss for the infrared sensor within finger Dextrous Hand, obtains fruit
Capture required positional information, then these feedback of the information to be controlled respectively by information acquisition device to each servomotor controller
Individual extension type mechanical picking arm does expanding-contracting action crawl Fructus actinidiae chinensiss, then feeds back to master control system again and controls motor (10) to move
Make mechanical arm carry out spinning movement, reverse kiwi fruit handle, Fructus actinidiae chinensiss are plucked.Then ternary sequential circuit downwardly against
Nearly Fructus actinidiae chinensiss delivery spout, then the finger of ternary sequential circuit come up to put into the Fructus actinidiae chinensiss plucked in delivery pipe and give
To in fruit vasculum.
Present invention mainly solves be that the uneven harvesting that brings of shed frame type Growth of Kiwifruit Fruit level is difficult and Fructus actinidiae chinensiss
Ripe consequence handle is still very solid but the softer problem that should not firmly pluck of fruit, devises beneficial to plucking, structure is simple, make
With convenient extension type kiwifruit fruit picking mechanical arm it is ensured that the quality of picking fruit.
Brief description
Fig. 1 is a kind of illustraton of model of extension type kiwifruit fruit picking mechanical arm of the present invention；
Fig. 2 is a kind of partial schematic diagram of extension type kiwifruit fruit picking mechanical arm feed screw nut of the present invention；
Fig. 3 is that a kind of flexible and rotary apparatuss the local of extension type kiwifruit fruit picking mechanical arm of the present invention shows
It is intended to.
Drawing reference numeral illustrates: 1. ternary sequential circuit, 2 small machines and its control system case, 3. two grades of arms, 4. nut, 5. one
Level arm, 6. bevel gear 1,7. motor 1,8. gear 1,9. shaft coupling, 10. motor 2,11. gear shaft 1,12. gear 2,13.
Gear shaft 2,14. bevel gear 2,15. leading screw.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is further elaborated.
Extension type kiwifruit fruit picking mechanical arm of the present invention it is characterised in that: mechanical arm has one-level arm (5) and two
Level arm (3) two-stage, also leading screw (15) nut (4) drive mechanism, bevel gear (6) and (14), gear (8) and (12) engagement pass
Dynamic, mechanical arm has the motion of two degree of freedom, the rotary motion in stretching motion and horizontal plane being vertically oriented respectively.This
The advantage of design is to reduce mechanical arm to reach the time plucking target, improves the picking efficiency of Fructus actinidiae chinensiss to a great extent；
Meanwhile, the movement characteristic of the rotation of extension type mechanical arm and this two degree of freedom that stretch enables Fructus actinidiae chinensiss to be more prone to
Pluck, reduce fruit loss rate when kiwi fruit is plucked really, ternary sequential circuit (1) is fixedly mounted on two grades of arms (3),
Three Dextrous Hand (1) are provided with small machine and motion control system below, control and pluck Fructus actinidiae chinensiss, one-level arm (3) and two grades of arms
(5) being connected with each other between and motion are to be realized by the relative motion of leading screw (15) and nut (4), and leading screw fixedly mounts
There is the bevel gear (6) that bevel gear (14) engages, the power of the motor being arranged on outside one-level arm (7) is engaged by bevel gear
It is delivered to leading screw (15), leading screw rotates the height making two grades of arms (5) move up and down regulation extension type mechanical picking arm, one-level
Arm lower end is installed with gear (12) and is engaged with gear (8), is mainly used to make extension type mechanical picking arm unitary rotation, moves
Power comes from motor (10).
It is explained the structure ＆ working mechanism of the present invention above with specific embodiment, the invention is not limited in above reality
Apply example, according to above-mentioned description, all any modifications made on present invention spirit with principle, equal replacement and improvement
Deng should be included within the scope of the present invention.
Claims (4)
1. a kind of extension type kiwifruit fruit picking mechanical arm it is characterised in that: mechanical arm has one-level arm (5) and two grades of arms
(3) two-stage, ternary sequential circuit (1) is arranged on two grades of arms (3)；Also have leading screw (15) nut (4) drive mechanism, first bevel gear
And second bevel gear (14), first gear (8) and second gear (12) engaged transmission (6)；Mechanical arm has the fortune of two degree of freedom
Dynamic, the rotary motion in stretching motion and horizontal plane being vertically oriented respectively, the advantage of this design is to reduce mechanical arm to arrive
Reach the time plucking target, improve the picking efficiency of Fructus actinidiae chinensiss to a great extent；Meanwhile, the rotation of extension type mechanical arm
Harvesting Fructus actinidiae chinensiss being more prone to the movement characteristic of this two degree of freedom flexible, reduces kiwi fruit and really adopts
Fruit loss rate when plucking.
2. a kind of extension type kiwifruit fruit picking mechanical arm according to claim 1 is it is characterised in that described
Ternary sequential circuit (1) is fixedly mounted on two grades of arms (3), and three Dextrous Hand (1) are provided with small machine and action control system below
System, controls and plucks Fructus actinidiae chinensiss.
3. a kind of extension type kiwifruit fruit picking mechanical arm according to claim 1 is it is characterised in that described
Being connected with each other between one-level arm (3) and two grades of arms (5) and motion are Lai real by the relative motion of leading screw (15) and nut (4)
Existing.
4. a kind of extension type kiwifruit fruit picking mechanical arm according to claim 1 is it is characterised in that described
Leading screw is installed with the first bevel gear (6) that second bevel gear (14) engages, and be arranged on outside one-level arm first is electronic
The power of machine (7) is delivered to leading screw (15) by bevel gear engagement, and leading screw rotates and the up and down motion regulation of two grades of arms (5) can be stretched
The height of contraction type mechanical Picker arm；
Described one-level arm lower end is installed with second gear gear (12) and is engaged with first gear (8), and being mainly used to make can
Telescopic mechanical picking arm unitary rotation, power comes from the second motor (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620459524.1U CN205902411U (en) | 2016-05-10 | 2016-05-10 | Retractable kiwi fruit fruit picking manipulator arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620459524.1U CN205902411U (en) | 2016-05-10 | 2016-05-10 | Retractable kiwi fruit fruit picking manipulator arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205902411U true CN205902411U (en) | 2017-01-25 |
Family
ID=57815377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620459524.1U Expired - Fee Related CN205902411U (en) | 2016-05-10 | 2016-05-10 | Retractable kiwi fruit fruit picking manipulator arm |
Country Status (1)
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| CN (1) | CN205902411U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN107231888A (en) * | 2017-06-28 | 2017-10-10 | 梧州学院 | Anistree picking machine |
| CN107361996A (en) * | 2017-08-11 | 2017-11-21 | 哈工大机器人（合肥）国际创新研究院 | A kind of stepless adjustment device suitable for healing robot four limbs length |
| CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
| CN108115054A (en) * | 2017-12-15 | 2018-06-05 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of high-precision punching press feeding mechanical hand |
| CN108684323A (en) * | 2018-04-12 | 2018-10-23 | 新昌县三新空调风机有限公司 | A kind of automatic tea picker and its operation method equipped with overhead rail |
| CN108684315A (en) * | 2018-07-16 | 2018-10-23 | 合肥学院 | A kind of multi-faceted fruit picking collection integrated apparatus |
| CN108702935A (en) * | 2018-07-27 | 2018-10-26 | 榆林学院 | A kind of movable altitude fruit picking and collection device |
| CN108966833A (en) * | 2018-06-07 | 2018-12-11 | 徐州工业职业技术学院 | A kind of fruit picking sorting equipment |
| CN109769478A (en) * | 2019-03-21 | 2019-05-21 | 石河子大学 | A kind of drive lacking picking mechanical arm end effector and picking method |
| CN109819770A (en) * | 2019-03-19 | 2019-05-31 | 泰顺县维能家庭农场 | A kind of Kiwi berry is without hurting seed harvester |
| CN109937706A (en) * | 2019-04-22 | 2019-06-28 | 石河子大学 | A kind of three finger drawing type safflower picking end effectors |
| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
| CN113677190A (en) * | 2019-02-15 | 2021-11-19 | 阿普哈维斯特技术股份有限公司 | Gripping tool for gripping and manipulating objects |
| CN114731835A (en) * | 2022-05-06 | 2022-07-12 | 中国农业大学 | Cluster tomato grain picking mechanical arm and method |
-
2016
- 2016-05-10 CN CN201620459524.1U patent/CN205902411U/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN107047086A (en) * | 2017-06-20 | 2017-08-18 | 山西省农业科学院旱地农业研究中心 | Branch equipment is received in the full-automatic beta pruning of tomato |
| CN107231888A (en) * | 2017-06-28 | 2017-10-10 | 梧州学院 | Anistree picking machine |
| CN107361996A (en) * | 2017-08-11 | 2017-11-21 | 哈工大机器人（合肥）国际创新研究院 | A kind of stepless adjustment device suitable for healing robot four limbs length |
| CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
| CN108115054A (en) * | 2017-12-15 | 2018-06-05 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of high-precision punching press feeding mechanical hand |
| CN108684323A (en) * | 2018-04-12 | 2018-10-23 | 新昌县三新空调风机有限公司 | A kind of automatic tea picker and its operation method equipped with overhead rail |
| CN108966833A (en) * | 2018-06-07 | 2018-12-11 | 徐州工业职业技术学院 | A kind of fruit picking sorting equipment |
| CN108966833B (en) * | 2018-06-07 | 2020-06-26 | 徐州工业职业技术学院 | Sorting device is picked to fruit |
| CN108684315A (en) * | 2018-07-16 | 2018-10-23 | 合肥学院 | A kind of multi-faceted fruit picking collection integrated apparatus |
| CN108702935A (en) * | 2018-07-27 | 2018-10-26 | 榆林学院 | A kind of movable altitude fruit picking and collection device |
| CN113677190A (en) * | 2019-02-15 | 2021-11-19 | 阿普哈维斯特技术股份有限公司 | Gripping tool for gripping and manipulating objects |
| US11483976B2 (en) | 2019-02-15 | 2022-11-01 | Appharvest Technology, Inc. | Gripper tools for object grasping and manipulation |
| CN109819770A (en) * | 2019-03-19 | 2019-05-31 | 泰顺县维能家庭农场 | A kind of Kiwi berry is without hurting seed harvester |
| CN109819770B (en) * | 2019-03-19 | 2020-10-30 | 泰顺县维能家庭农场 | Non-invasive kiwi fruit picking equipment |
| CN109769478A (en) * | 2019-03-21 | 2019-05-21 | 石河子大学 | A kind of drive lacking picking mechanical arm end effector and picking method |
| CN109937706A (en) * | 2019-04-22 | 2019-06-28 | 石河子大学 | A kind of three finger drawing type safflower picking end effectors |
| CN112304967A (en) * | 2020-10-14 | 2021-02-02 | 华电电力科学研究院有限公司 | Method for automatic coloring and penetration detection in power station pipeline pre-inspection stage |
| CN114731835A (en) * | 2022-05-06 | 2022-07-12 | 中国农业大学 | Cluster tomato grain picking mechanical arm and method |
| CN114731835B (en) * | 2022-05-06 | 2023-01-17 | 中国农业大学 | Cluster tomato grain picking mechanical arm and method |
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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: 20170125 Termination date: 20180510 |
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| CF01 | Termination of patent right due to non-payment of annual fee |