CN206042845U - A kind of blue berry picker - Google Patents
A kind of blue berry picker Download PDFInfo
- Publication number
- CN206042845U CN206042845U CN201620910860.3U CN201620910860U CN206042845U CN 206042845 U CN206042845 U CN 206042845U CN 201620910860 U CN201620910860 U CN 201620910860U CN 206042845 U CN206042845 U CN 206042845U
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- China
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- blue berry
- platform
- robot body
- walking mechanism
- displacement device
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Abstract
This utility model is a kind of blue berry picker, including movement controller, walking mechanism, the rack platform being connected with walking mechanism, the displacement device being arranged on rack platform, the robot body being connected with displacement device, the picker being arranged on robot body end effector, it is arranged on rack platform edge the collection device for stretching out, the data output interface of the movement controller respectively with the walking mechanism, displacement device, the Data Input Interface connection of robot body, the picker includes that rabble arm and equidistant arrangement are arranged on some rake teeths on rabble arm, the walking mechanism, displacement device, the power source interface of robot body is connected with power current or air compressor；This utility model is manually plucked to blue berry using machinery replacement, reduces artificial quantity, mitigates hand labor intensity, lifts picking efficiency, meets blue berry plantation farm, scale, the harvesting demand of industrialization.
Description
Technical field
This utility model is related to a kind of machine for plucking blue berry, more particularly to a kind of blue berry picker, belongs to agriculture
Industry field of mechanical technique.
Background technology
Blue berry, is a kind of small berries, and, in blueness, color and luster is beautiful, and sarcocarp is fine and smooth for fruit, Blueberry averagely weighs 0.5～
2.5g, maximum weight 5g, edible rate is 100%, sweet and sour palatability, and with fragrant refreshing pleasant fragrance, to eat good merchantable brand, Blueberry raw
In containing abundant nutritional labeling, with preventing aging cranial nerve, protection vision, heart tonifying, anticancer, vessel softening, strengthen man-machine
The functions such as body immunity, nutritional labeling are high；Wherein, as blue berry is rich in anthocyanidin, with activation retina effect, can strengthen and regard
Power, prevents eyeball fatigue and enjoys and gaze at, and one of five big health fruit for recommending of the World Food Programme, and according to the U.S.,
Japan, European Section scholar research, Jing often to eat blue berry product, can also significantly vision enhancing, anti-eye strain, clinical medicine
Report displays that the anthocyanidin in blue berry can promote the rhodopsin regeneration in retina cell, pre- myopia prevention to promote vision.
The main Softening of blue berry is, by artificial harvesting, to pluck high labor intensive at present, and in the blue berry picking season
When labor shortage it is extremely serious, due to pluck ability deficiency, often result in miss pluck blue berry Best Times, with labor
The cost of labor of power is improved, and this problem is more projected, and, with the development of economic and planting technology, blue berry plantation
Farm, scale, industrialization also become a kind of trend, therefore, urgent need will replace manually being plucked using machinery,
Solve this distinct issues.
The content of the invention
To solve the deficiencies in the prior art, this utility model provides a kind of blue berry picker, replaces artificial using machinery
Blue berry is plucked, artificial quantity is reduced, mitigates hand labor intensity, lift picking efficiency, meet blue berry plantation farm,
Scale, the harvesting demand of industrialization.
The technical scheme adopted by this utility model for：
A kind of blue berry picker, including movement controller, walking mechanism, the rack platform being connected with walking mechanism, if
The displacement device on rack platform is put, the robot body being connected with displacement device is arranged on the execution of robot body end
Picker on device, is arranged on rack platform edge the collection device for stretching out, and the data of the movement controller are defeated
Outgoing interface is connected with the Data Input Interface of the walking mechanism, displacement device, robot body respectively, the picker bag
Include some rake teeths that rabble arm and equidistant arrangement are arranged on rabble arm, the walking mechanism, displacement device, the power of robot body
Source interface is connected with power current or air compressor.
Further, the walking mechanism is separately positioned on the two ends of the rack platform, and described walking mechanism is electronic
Or pneumatic Athey wheel, the driven by power Athey wheel walking provided by power current, or the compressed air produced by air compressor are carried
Athey wheel walking is driven for compressed-air power.
Further, described displacement device includes being sequentially connected from bottom to top horizontal shifting linear variable device,
One platform, left and right horizontal move linear variable device, the second platform, vertically move linear variable device, the 3rd platform, the machine up and down
Device human body is arranged on the 3rd platform, and second platform is rotation platform, and horizontal shifting linear variable device drives the
One platform and the back-end component being arranged on the first platform carry out horizontal shifting, and left and right horizontal movement linear variable device drives
Second platform and the back-end component being arranged on the second platform carry out left and right horizontal movement, while the second platform is rotation platform,
The back-end component being arranged on the second platform can be driven to be rotated, vertically moved linear variable device up and down and driven the 3rd
Platform and the robot body being arranged on the 3rd platform are vertically moved up and down, therefore, displacement device can be with movement machine
Displacement around human body is carried out, on above-below direction, i.e. Y-axis, X-axis, the displacement in Z-direction, make the robot body can
Significantly to be conjugated movement, improve and pluck work efficiency.
Further, described robot body is vertical series type structure, realizes the optional position in three dimensions and appearance
State is controlled, for various harvesting operations have good adaptability.
Further, described robot body is included in pedestal, the waist that vertical direction is from bottom to top sequentially connected in series
Gyroaxis, underarm swinging axle, underarm, upper arm swinging axle, upper arm, wrist bending axis, arm, handss gyroaxis, described end are performed
Device is connected with handss gyroaxis, and pedestal is fixedly connected on the 3rd platform, and waist gyroaxis removes pedestal in can making robot body
Outer all back-end components, carry out being close to 360 revolutions around the vertical axis of pedestal, to change the scope of operation side of robot body
To underarm swinging axle can make the underarm and back-end component of robot body carry out the beat of vertical, realize upper and lower, Qian Houyun
Dynamic, upper arm swinging axle can make the upper arm and back-end component of robot body carry out the beat of horizontal plane, realize upper and lower, Qian Houyun
Dynamic, i.e. pitching, wrist bending axis can make the arm and back-end component of robot body carry out upper and lower or swing campaign, and handss are returned
Rotating shaft can realize that end effector is close to 360 gyrations, and then change the picker being arranged on end effector
Pluck attitude.
Further, described rack platform is connected with walking mechanism by highly automated adjusting means, highly automated regulation
Device can keep rack platform to be in level all the time.
Further, to avoid injuring Blueberry when plucking, described rake teeth is the stock of cylinder, the end of stock
Portion is hemisphere round end, and in the outer surface set rubber sleeve of described rake teeth.
Further, described collection device is the bucket-shaped casing of opening upwards, conveniently catches the indigo plant under picker is plucked
The certain kind of berries.
Further, the interior surface of described bucket-shaped casing is attached with one layer of sponge, it is to avoid the blue berry for dropping and bucket-shaped case
Body direct collision and damage.
The beneficial effects of the utility model are：For ripe Blueberry and little this feature of branch adhesion, utilize
Machinery replaces manually plucking blue berry, the cylindric rake teeth on picker and be enclosed within the rubber sleeve of rake teeth outer surface can be with
The injury to blue berry tree is reduced during blue berry is plucked, promotes the growth promoter of blue berry tree, improve harvesting ability, reduce people
Number amount, reduce labour force cost of labor, mitigate hand labor intensity, lifted picking efficiency, meet blue berry plantation farm,
Scale, the harvesting demand of industrialization, meanwhile, this utility model power source adopts the compression that power current or air compressor are produced
Air provides power, and the environment in effective protection blue berry plantation is not contaminated.
Description of the drawings：
Fig. 1 is this utility model overall structure diagram；
Fig. 2 is this utility model displacement device structural representation；
Fig. 3 is this utility model robot body structure schematic diagram；
In figure, Main Reference Numerals implication is as follows：
1- rack platforms, 2- walking mechanisms, 3- displacement devices, 4- robot bodies, 5- end effectors, 6- pluck dress
Put, 7- collection devices, 8- rabble arms, 9- rake teeths, 10- horizontal shifting linear variable devices, the first platforms of 11-, 12- left and right horizontals
Mobile linear variable device, the second platforms of 13-, 14- vertically move linear variable device, the 3rd platforms of 15-, 16- pedestals, 17- up and down
Waist gyroaxis, 18- underarm swinging axles, 19- underarms, 20- upper arm swinging axles, 21- upper arm, 22- wrist bending axis, 23- arms,
24- handss gyroaxises, the highly automated adjusting meanss of 25-.
Specific embodiment：
Do specific introduction below in conjunction with the accompanying drawings to this utility model.
Fig. 1 is this utility model overall structure diagram；
As shown in Figure 1：The present embodiment is a kind of blue berry picker, including movement controller, walking mechanism 2, with walking
The rack platform 1 of the connection of mechanism 2, the displacement device 3 being arranged on rack platform 1, the robot body being connected with displacement device 3
4, the picker 6 being arranged on 4 end effector 5 of robot body is arranged on the adjacent edge of 1 two of which of rack platform
And the collection device 7 for stretching out, rack platform 1 is connected with walking mechanism 2 by highly automated adjusting means 25, highly automated
Adjusting means 25 can keep rack platform 1 all the time in level, the data output interface of movement controller respectively with vehicle with walking machine
Structure 2, displacement device 3, the Data Input Interface connection of robot body 4, picker 6 include that rabble arm 8 and equidistant arrangement are arranged
13 rake teeths 9 on rabble arm 8, in the present embodiment, rake teeth 9 is the stock of cylinder, and the end of stock is hemisphere round end, and
In the outer surface set rubber sleeve of rake teeth 9, rubber sleeve can avoid Blueberry is injured when plucking, and collection device 7 is opening
Bucket-shaped casing upwards, conveniently catch picker 6 pluck under blue berry, the interior surface of bucket-shaped casing be attached with one layer it is extra large
It is continuous, it is to avoid the blue berry for dropping and bucket-shaped casing direct collision and damage；Two collection devices 7 are provided with the present embodiment, it is actual
Using when, in four edge of rack platform 1, collection device 7 can be set, to the operating surface for increasing robot body 4,
Walking mechanism 2, displacement device 3, the power source interface of robot body 4 in the present embodiment is connected with air compressor, by sky
The compressed air that air compressor is produced provides compressed-air power and drives walking mechanism 2, displacement device 3, robot body 4, when
So, it is also possible to which selection is electrically connected with power, it is that walking mechanism 2, displacement device 3, robot body 4 provide power by power current；
Walking mechanism 2 in the present embodiment is separately positioned on the two ends of rack platform 1, and walking mechanism 2 is pneumatic Athey wheel, by air
The compressed air that compressor is produced provides compressed-air power and drives pneumatic Athey wheel walking, certainly, can also during practical application
Select using electric caterpillar band wheel, and the walking of electric caterpillar band wheel is driven by the electric power that power current is provided.
Fig. 2 is this utility model displacement device structural representation；
As shown in Figure 2：Displacement device 3 in the present embodiment includes the horizontal shifting straight line being sequentially connected from bottom to top
Deflection machine 10, the first platform 11, left and right horizontal move linear variable device 12, the second platform 13, vertically move linear variable up and down
Device 14, the 3rd platform 15, robot body 4 are arranged on the 3rd platform 15, wherein, the second platform 13 is rotation platform, in front and back
Moving horizontally linear variable device 10 drives the first platform 11 and the back-end component being arranged on the first platform 11 to carry out anterior-posterior horizontal
Mobile, left and right horizontal movement linear variable device 12 drives the second platform 13 and the back-end component being arranged on the second platform 13 to carry out
Left and right horizontal is moved, meanwhile, the second platform 13 is rotation platform, and the back-end component being arranged on the second platform 13 can be driven to enter
Row rotary motion, vertically moves linear variable device 14 up and down and drives the 3rd platform 15 and the robot being arranged on the 3rd platform 15
Body is vertically moved about 4, therefore, around displacement device 3 can drive robot body 4 to carry out, above-below direction
On displacement, i.e. displacement in Y-axis, X-axis, Z-direction allows robot body 4 significantly to be conjugated movement, and raising is adopted
Pluck work efficiency.
Fig. 3 is this utility model robot body structure schematic diagram；
As shown in Figure 3：Robot body 4 in the present embodiment is vertical series type structure, realizes appointing in three dimensions
Meaning position and gesture stability, for various harvesting operations have good adaptability；Robot body 4 be included in vertical direction by
It is lower and on be sequentially connected in series pedestal 16, waist gyroaxis 17, underarm swinging axle 18, underarm 19, upper arm swinging axle 20, upper arm
21st, wrist bending axis 22, arm 23, handss gyroaxis 24, described end effector 5 are connected with handss gyroaxis 24, and pedestal 16 is fixed
It is connected on the 3rd platform 15, waist gyroaxis 17 can make all back-end components in robot body 4 in addition to pedestal 16, around
The vertical axis of pedestal 16 carries out being close to 360 revolutions, and to change the scope of operation direction of robot body 4, underarm swinging axle 18 can
So that the underarm 19 and back-end component of robot body 4 carry out the beat of vertical, realize up and down, move forward and backward, upper arm swing
Axle 20 can make the upper arm 21 and back-end component of robot body 4 carry out the beat of horizontal plane, realize up and down, move forward and backward, i.e.,
Pitching, wrist bending axis 22 can make the arm 23 and back-end component of robot body 4 carry out upper and lower or swing campaign, and handss are returned
Rotating shaft 24 can realize that end effector 5 is close to 360 gyrations, and then change the harvesting dress being arranged on end effector 5
Put 6 harvesting attitude.
Harvesting personnel by movement controller control, walk, displacement device 3 is conjugated, robot body 4 is moved by walking mechanism 2
Make, the picker 6 on end effector 5 is stretched at blue berry branch to be adopted, the rake for making blue berry branch be stuck on picker 6
Between tooth 9, now, the bucket-shaped casing of opening upwards is located at below picker 6, further controls the wrist on robot body 4
Bending axis 22 make arm 23 carry out upper and lower or swing campaign, are made using the interaction force between blue berry branch and rake teeth 9
Blue berry comes off from branch, falls in the bucket-shaped casing of collection device 7, completes a blue berry and plucks.
This utility model is replaced manually to indigo plant using machinery for ripe Blueberry and little this feature of branch adhesion
The certain kind of berries is plucked, and the cylindric rake teeth on picker can be in the process for plucking blue berry with the rubber sleeve for being enclosed within rake teeth outer surface
Injury of the middle reduction to blue berry tree, promotes the growth promoter of blue berry tree, improves harvesting ability, reduce artificial quantity, reduce work
The cost of labor of power, mitigates hand labor intensity, lifts picking efficiency, meets blue berry plantation farm, scale, industrialization
Harvesting demand, meanwhile, this utility model power source adopts the compressed air that power current or air compressor are produced to provide power, has
Effect protects the environment in blue berry plantation not to be contaminated.
The above is only the preferred implementation of this utility model patent, it is noted that general for the art
For logical technical staff, on the premise of without departing from this utility model patent principle, some improvements and modifications can also be made, this
A little improvements and modifications also should be regarded as the protection domain of this utility model patent.
Claims (10)
1. a kind of blue berry picker, it is characterised in that including movement controller, walking mechanism, be connected with walking mechanism
Body panel, the displacement device being arranged on rack platform, the robot body being connected with displacement device are arranged on robot body
Picker on end effector, is arranged on rack platform edge the collection device for stretching out, the movement controller
Data output interface be connected with the Data Input Interface of the walking mechanism, displacement device, robot body respectively, it is described to adopt
Device and picking includes that rabble arm and equidistant arrangement are arranged on some rake teeths on rabble arm, the walking mechanism, displacement device, robot sheet
The power source interface of body is connected with power current or air compressor.
2. a kind of blue berry picker according to claim 1, it is characterised in that the walking mechanism is separately positioned on institute
The two ends of rack platform are stated, described walking mechanism is electric and pneumatic Athey wheel.
3. a kind of blue berry picker according to claim 1, it is characterised in that described displacement device include from it is lower to
On be sequentially connected horizontal shifting linear variable device, the first platform, left and right horizontal movement linear variable device, the second platform,
Linear variable device, the 3rd platform are vertically moved up and down, the robot body is arranged on the 3rd platform, second platform is
Rotation platform.
4. a kind of blue berry picker according to claim 1, it is characterised in that described robot body is vertical string
Connection type structure.
5. a kind of blue berry picker according to claim 1 or 4, it is characterised in that described robot body includes
The pedestal that is from bottom to top sequentially connected in series in vertical direction, waist gyroaxis, underarm swinging axle, underarm, upper arm swinging axle, on
Arm, wrist bending axis, arm, handss gyroaxis, described end effector are connected with handss gyroaxis.
6. a kind of blue berry picker according to claim 1, it is characterised in that described rack platform by height from
Dynamic adjusting means is connected with walking mechanism.
7. a kind of blue berry picker according to claim 1, it is characterised in that described rake teeth is the length of cylinder
Bar, the end of stock is hemisphere round end.
8. a kind of blue berry picker according to claim 1 or 7, it is characterised in that the appearance surface cover of described rake teeth
Rubber sleeve.
9. a kind of blue berry picker according to claim 1, it is characterised in that described collection device is opening upwards
Bucket-shaped casing.
10. a kind of blue berry picker according to claim 9, it is characterised in that the inside table of described bucket-shaped casing
Face is attached with one layer of sponge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620910860.3U CN206042845U (en) | 2016-08-22 | 2016-08-22 | A kind of blue berry picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620910860.3U CN206042845U (en) | 2016-08-22 | 2016-08-22 | A kind of blue berry picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206042845U true CN206042845U (en) | 2017-03-29 |
Family
ID=58384750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620910860.3U Expired - Fee Related CN206042845U (en) | 2016-08-22 | 2016-08-22 | A kind of blue berry picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206042845U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106982597A (en) * | 2017-05-17 | 2017-07-28 | 广西科技大学鹿山学院 | A kind of tower crane type automatic fruit picker |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picker and system |
| CN107820849A (en) * | 2017-12-04 | 2018-03-23 | 山东科技大学 | A kind of blueberry harvesting and sorting equipment and method of work |
| CN107852956A (en) * | 2017-11-30 | 2018-03-30 | 广州大学 | A kind of equipment for winning and storing pineapple |
| CN108323325A (en) * | 2018-03-29 | 2018-07-27 | 南京师范大学 | A kind of strawberry picking machine and picking method imitating human hand type |
| CN108848919A (en) * | 2018-08-13 | 2018-11-23 | 紫云自治县天赐农林发展有限公司 | A kind of blueberry device for picking |
| CN108934465A (en) * | 2018-08-24 | 2018-12-07 | 安徽省农业科学院园艺研究所 | A kind of blueberry mechanical harvesting device |
| CN109220225A (en) * | 2018-10-22 | 2019-01-18 | 湖北理工学院 | A kind of full-automatic fruit picker |
| CN112075209A (en) * | 2020-08-26 | 2020-12-15 | 黎志辉 | Agricultural picking device |
| CN115152432A (en) * | 2022-06-23 | 2022-10-11 | 苏州工业职业技术学院 | Flexible clamping device for picking bananas |
-
2016
- 2016-08-22 CN CN201620910860.3U patent/CN206042845U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106982597A (en) * | 2017-05-17 | 2017-07-28 | 广西科技大学鹿山学院 | A kind of tower crane type automatic fruit picker |
| CN107333529A (en) * | 2017-08-14 | 2017-11-10 | 仲恺农业工程学院 | Blueberry picker and system |
| CN107852956A (en) * | 2017-11-30 | 2018-03-30 | 广州大学 | A kind of equipment for winning and storing pineapple |
| CN107820849A (en) * | 2017-12-04 | 2018-03-23 | 山东科技大学 | A kind of blueberry harvesting and sorting equipment and method of work |
| CN108323325A (en) * | 2018-03-29 | 2018-07-27 | 南京师范大学 | A kind of strawberry picking machine and picking method imitating human hand type |
| CN108323325B (en) * | 2018-03-29 | 2023-09-12 | 南京师范大学 | Strawberry picking machine simulating human hands and picking method |
| CN108848919A (en) * | 2018-08-13 | 2018-11-23 | 紫云自治县天赐农林发展有限公司 | A kind of blueberry device for picking |
| CN108934465A (en) * | 2018-08-24 | 2018-12-07 | 安徽省农业科学院园艺研究所 | A kind of blueberry mechanical harvesting device |
| CN109220225A (en) * | 2018-10-22 | 2019-01-18 | 湖北理工学院 | A kind of full-automatic fruit picker |
| CN112075209A (en) * | 2020-08-26 | 2020-12-15 | 黎志辉 | Agricultural picking device |
| CN115152432A (en) * | 2022-06-23 | 2022-10-11 | 苏州工业职业技术学院 | Flexible clamping device for picking bananas |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20180822 |
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| CF01 | Termination of patent right due to non-payment of annual fee |