CN206118435U - Pick arm device of large -scale melon and fruit - Google Patents
Pick arm device of large -scale melon and fruit Download PDFInfo
- Publication number
- CN206118435U CN206118435U CN201621175207.3U CN201621175207U CN206118435U CN 206118435 U CN206118435 U CN 206118435U CN 201621175207 U CN201621175207 U CN 201621175207U CN 206118435 U CN206118435 U CN 206118435U
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Abstract
The utility model provides a pick arm device of large -scale melon and fruit comprises half -track formula platform, base rotary driving system, arm, hydraulic transmission system, cloud platform system and end effector, half -track formula platform is as mounting platform and walking platform, but remote control realizes in subaerial freely walking, the base rotary driving ystem installation be in on the half -track formula platform, be used for the drive the arm is rotatory, the arm is installed in the base rotary driving system, hydraulic transmission system is used for adjusting the movement of arm in level and vertical direction, cloud platform system waits for the arm provides that the image of picking the melon and fruit obtains its accurate position to adjust the harvesting action of mechanical arm, end effector can keep vertical state in real time under it self action of gravity, be convenient for accomplish the harvesting of amphisarca. The utility model discloses can realize picking the automatic of large -scale melons and fruits such as watermelon, pick efficient, easy operation.
Description
Technical field
The utility model is related to a kind of robot arm device for plucking large-scale melon and fruit, relates generally to a kind of easy to operate, energy flexibly
Realize plucking large-scale melon and fruit the robot arm device of position adjust automatically.
Background technology
China is growth of watermelon, consumption big country, and in the picking process of watermelon, artificial harvesting is wasted time and energy, inefficiency,
In order to solve the above problems, a kind of robot arm device of the new large-scale melon and fruit of harvesting is developed, be capable of achieving the machine to large-scale melon and fruit
Tool is plucked, and has liberated labour, picking efficiency is substantially increased, with practical value.
The content of the invention
The technical solution of the utility model is：A kind of robot arm device for plucking large-scale melon and fruit, by semitrack platform, bottom
Seat rotary drive system, mechanical arm, Hydraulic Power Transmission System, clouds terrace system and end effector composition；The semitrack platform
As mounting platform and travelling platform, remote-controlled control realization freely walking on the ground；The base rotary drive system
On the semitrack platform, for driving the mechanical arm to rotate；The mechanical arm rotates installed in the base
In drive system；The Hydraulic Power Transmission System is used for shift action of the adjusting mechanical arm in horizontally and vertically direction；The head
System obtains its accurate location for the image that mechanical arm provides melon and fruit to be plucked, to adjust the harvesting action of mechanical arm；The end
End actuator can keep vertical state in real time under the Action of Gravity Field of its own, be easy to complete the harvesting of melon and fruit.The utility model
The automatic harvesting to the large-scale melon and fruit such as watermelon can be realized, picking efficiency is high, easy to operate.
The front-wheel of the semitrack platform is wheeled, and trailing wheel is crawler type, the advantage of both ingenious combinations, is both increased
With contact area of ground, the advantage that front wheel-type is easy to turn to is remained again.
The base rotary drive system is made up of motor one, worm screw and turbine, the power transmission shaft connection institute of the motor one
The gear shaft of worm screw is stated, the gear shaft of the worm screw is meshed with the gear of the turbine, under the driving of the motor one, institute
The gear shaft for stating worm screw rotates and engages the gear of the turbine so that turbine rotation, so as to drive the mechanical arm to rotate.
The mechanical arm is made up of and each other by 2 turning joints connections 3 son machinery galianconism, in the top handset tool
The end of galianconism is connected with the end effector by turning joint.
The Hydraulic Power Transmission System is made up of hydraulic pump, motor two, fuel tank, two hydraulic cylinders, control valve and oil pipes, described
Under the driving of the motor two, from oil suction in the fuel tank, simultaneously oil pipe described in Jing exports fluid to the hydraulic cylinder to hydraulic pump,
Wherein, fluid flow is adjusted by the control valve between hydraulic pump and hydraulic cylinder；Described two hydraulic cylinders are separately mounted to described
Between two joints of mechanical arm, the piston movement in promoting the hydraulic cylinder under the pressure energy effect of fluid, so as to adjust machine
Shift action of the tool arm in horizontally and vertically direction.
The clouds terrace system is made up of pedestal, support, motor three, gear, rack, two cameras, the motor three
It is fixed on the pedestal, the power transmission shaft of the motor three connects the gear；Build the rack on the bracket
Engage positioned at the top of the gear and with gear；Described two cameras are fixed on the two ends of the rack, in the electricity
The rack is engaged by the gear under the driving of machine three, so as to adjust the luffing angle of two cameras, realizes treating
Pluck the shooting of melon and fruit.
The end effector is made up of turning joint, connecting rod, motor four, principal and subordinate's gear and handgrip, wherein, the work
Movable joint is made up of the bearing pin with high roughness, pin-and-hole and bearing pin is through pin-and-hole, and the connecting rod concatenates the end and performs
All parts of device；The handgrip for being arranged on the connecting rod end is caused to deviate vertical direction during the manipulator motion
When, the bearing pin contacts produced moment of friction with the pin-and-hole will hinder the swing of the connecting rod, so that described
Handgrip is in all the time vertical direction, and the motor four drives principal and subordinate's gear to engage the relieving so as to control the handgrip and close dynamic
Make.
Description of the drawings
With reference to the accompanying drawings and detailed description the utility model is described in further detail.
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the schematic diagram of the utility model end effector.
Fig. 3 is the schematic diagram of the utility model clouds terrace system.
In Fig. 1-Fig. 3,101. semitrack platforms, 102. motors one, 103. worm screws, 104. turbines, 105. mechanical arms,
106. mechanical galianconism, 107. turning joints one, two, 108. turning joints three, 109. hydraulic pumps, 110. motors two, 111. is oily
Case, 112. hydraulic cylinders, 113. control valves, 114. oil pipes, 115. clouds terrace systems, 116. end effectors, 201. pedestals, 202.
Frame, 203. motors three, 204. gears, 205. racks, 206. left cameras, 207. right cameras；301. connecting rods, 302. is electric
Machine four, 303 principal and subordinate's gears, 304. handgrips, 305. high roughness bearing pins, 306. pin-and-holes.
Specific embodiment
With reference to Fig. 1, the robot arm device of the large-scale melon and fruit of a kind of harvesting, by semitrack platform 101, base rotation driving system
System, mechanical arm 105, Hydraulic Power Transmission System, clouds terrace system 115 and end effector 116 are constituted；The semitrack platform 101
As mounting platform and travelling platform, remote-controlled control realization freely walking on the ground；The base rotary drive system
On the semitrack platform 101, for driving the mechanical arm 105 to rotate；The mechanical arm 105 is arranged on described
On base rotary drive system；The Hydraulic Power Transmission System is used for movement of the adjusting mechanical arm 105 in horizontally and vertically direction and moves
Make；The clouds terrace system 115 obtains its accurate location for the image that mechanical arm 105 provides melon and fruit to be plucked, to adjust mechanical arm
105 harvesting action；The end effector 116 can keep vertical state in real time under the Action of Gravity Field of its own, be easy to
Into the harvesting of melon and fruit.The utility model can realize the automatic harvesting to the large-scale melon and fruit such as watermelon, and picking efficiency is high, easy to operate.
The front-wheel of the semitrack platform 101 is wheeled, and trailing wheel is crawler type, the advantage of both ingenious combinations, is both increased
Big and contact area of ground, remains the advantage that front wheel-type is easy to turn to again.
The base rotary drive system is made up of motor 1, worm screw 103 and turbine 104, the motor 1
Power transmission shaft connects the gear shaft of the worm screw 103, and the gear shaft of the worm screw 103 is meshed with the gear of the turbine 104,
Under the driving of the motor 1, the gear shaft of the worm screw 103 rotates and engages the gear of the turbine 104 so that turbine
Rotation, so as to drive the mechanical arm 105 to rotate.
The Hydraulic Power Transmission System is by hydraulic pump 109, motor 2 110,111, two hydraulic cylinders 112 of fuel tank, control valve 113
Constitute with oil pipe 114, the hydraulic pump 109 under the driving of the motor 2 110, from oil suction in the fuel tank 111 and Jing institutes
State oil pipe 114 and export fluid to the hydraulic cylinder 112, wherein, fluid flow is by the control between hydraulic pump 109 and hydraulic cylinder 112
Valve processed 113 is adjusting；Described two hydraulic cylinders 112 are separately mounted to the junction in two joints 107 of the mechanical arm 105,
Piston movement in promoting the hydraulic cylinder 112 under the pressure energy effect of fluid, so as to adjusting mechanical arm 105 is in level and erects
Nogata to shift action.
The mechanical arm 105 is made up of and each other respectively by turning joint one, turning joint three son machinery galianconism 106
2 107 connections, in the top, the end of machinery galianconism 106 is connected with the end effector 116 by turning joint 3 108.
With reference to Fig. 2, the clouds terrace system 115 by pedestal 201, support 202, motor 3 203, gear 204, rack 205,
Left camera 206, right camera 207 are constituted, and the motor 3 203 is fixed on the pedestal 201, the motor 3 203
Power transmission shaft connects the gear 204；Build the top that the rack 205 on the support 202 is located at the gear 204
And engage with gear；The left and right camera 206,207 is fixed on the two ends of the rack 205, in the motor 3 203
The rack 205 is engaged by the gear 204 under driving, it is real so as to adjust the luffing angle of two cameras 206,207
Now treat the shooting for plucking melon and fruit.
With reference to Fig. 3, the end effector 116 is by turning joint 3 108, connecting rod 301, motor 4 302, principal and subordinate's gear
303 and handgrip 304 constitute, wherein, the turning joint 3 108 is by the bearing pin 305,306 one-tenth of pin-and-hole with high roughness and pin
Axle passes through pin-and-hole, the connecting rod 301 to concatenate all parts of the end effector 116；When the mechanical arm 105 is moved through
When causing the handgrip 304 for being arranged on the end of the connecting rod 301 to deviate vertical direction in journey, the bearing pin 305 and the pin-and-hole
Moment of friction produced by 306 contacts will hinder the swing of the connecting rod 301, so that the handgrip 304 is in all the time
Vertical direction, the motor 4 302 drives principal and subordinate's gear 303 to engage relieving and closed action so as to control the handgrip 304.
Claims (5)
1. a kind of robot arm device for plucking large-scale melon and fruit, it is characterised in that by semitrack platform, base rotation driving system
System, mechanical arm, Hydraulic Power Transmission System, clouds terrace system and end effector composition；The semitrack platform is used as mounting platform
And travelling platform, remote-controlled control realization freely walking on the ground；The base rotary drive system is arranged on described half
On crawler type platform, for driving the mechanical arm to rotate；The mechanical arm is arranged on the base rotary drive system；Institute
Stating Hydraulic Power Transmission System is used for shift action of the adjusting mechanical arm in horizontally and vertically direction；The clouds terrace system is carried for mechanical arm
Its accurate location is obtained for the image of melon and fruit to be plucked, to adjust the harvesting action of mechanical arm；The end effector can be at it
Keep vertical state under the Action of Gravity Field of itself in real time, be easy to complete the harvesting of melon and fruit.
2. a kind of robot arm device for plucking large-scale melon and fruit according to claim 1, it is characterised in that the base rotation
Drive system is made up of motor one, worm screw and turbine, and the power transmission shaft of the motor one connects the gear shaft of the worm screw, the snail
The gear shaft of bar is meshed with the gear of the turbine, and under the driving of the motor one, the gear shaft of the worm screw rotates simultaneously
The gear of the turbine is engaged so that turbine rotation, so as to drive the mechanical arm to rotate.
3. a kind of robot arm device for plucking large-scale melon and fruit according to claim 1, it is characterised in that the hydraulic drive
System is made up of hydraulic pump, motor two, fuel tank, two hydraulic cylinders, control valve and oil pipes, and the hydraulic pump is in the motor two
Under driving, from oil suction in the fuel tank, simultaneously oil pipe described in Jing exports fluid to the hydraulic cylinder, wherein, fluid flow is by hydraulic pump
Control valve between hydraulic cylinder is adjusting；Described two hydraulic cylinders are separately mounted between two joints of the mechanical arm,
The lower piston movement promoted in the hydraulic cylinder of pressure energy effect of fluid, so as to adjusting mechanical arm is in horizontally and vertically direction
Shift action.
4. a kind of robot arm device for plucking large-scale melon and fruit according to claim 1, it is characterised in that the clouds terrace system
It is made up of pedestal, support, motor three, gear, rack, two cameras, the motor three is fixed on the pedestal, described
The power transmission shaft of motor three connects the gear；Build the rack on the bracket be located at the gear top and with
Gear is engaged；Described two cameras are fixed on the two ends of the rack, and the tooth is passed through under the driving of the motor three
The wheel engagement rack, so as to adjust the luffing angle of two cameras, the shooting for plucking melon and fruit is treated in realization.
5. a kind of robot arm device for plucking large-scale melon and fruit according to claim 1, it is characterised in that the end performs
Device is made up of turning joint, connecting rod, motor four, principal and subordinate's gear and handgrip, wherein, the turning joint is by with high roughness
Bearing pin, pin-and-hole composition and bearing pin passes through pin-and-hole, the connecting rod to concatenate all parts of the end effector；When the machine
When causing the handgrip for being arranged on the connecting rod end to deviate vertical direction in tool arm motion process, the bearing pin and the pin-and-hole
Moment of friction produced by contact will hinder the swing of the connecting rod, so that the handgrip is in all the time vertical direction,
The motor four drives principal and subordinate's gear to engage so as to control relieving and the closed action of the handgrip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621175207.3U CN206118435U (en) | 2016-10-27 | 2016-10-27 | Pick arm device of large -scale melon and fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621175207.3U CN206118435U (en) | 2016-10-27 | 2016-10-27 | Pick arm device of large -scale melon and fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206118435U true CN206118435U (en) | 2017-04-26 |
Family
ID=58575448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621175207.3U Expired - Fee Related CN206118435U (en) | 2016-10-27 | 2016-10-27 | Pick arm device of large -scale melon and fruit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206118435U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107969221A (en) * | 2018-01-12 | 2018-05-01 | 浙江师范大学 | A kind of full-automatic watermelon picking machine |
| CN108377730A (en) * | 2018-04-10 | 2018-08-10 | 四川农业大学 | A kind of full-automatic Chinese date picking sorter |
| CN110089268A (en) * | 2019-04-25 | 2019-08-06 | 徐州盛斗士生物科技有限公司 | One kind presetting the complete anti-roll watermelon vehicle of maintenance non-newtonian fluid packaging type aerofoil profile |
| CN113875397A (en) * | 2021-12-07 | 2022-01-04 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN114073196A (en) * | 2021-12-07 | 2022-02-22 | 聊城大学 | Dragon fruit harvester |
| CN117621005A (en) * | 2024-01-25 | 2024-03-01 | 北京东方昊为工业装备有限公司 | Mechanical arm based on automatic aerial working robot |
-
2016
- 2016-10-27 CN CN201621175207.3U patent/CN206118435U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107969221A (en) * | 2018-01-12 | 2018-05-01 | 浙江师范大学 | A kind of full-automatic watermelon picking machine |
| CN108377730A (en) * | 2018-04-10 | 2018-08-10 | 四川农业大学 | A kind of full-automatic Chinese date picking sorter |
| CN110089268A (en) * | 2019-04-25 | 2019-08-06 | 徐州盛斗士生物科技有限公司 | One kind presetting the complete anti-roll watermelon vehicle of maintenance non-newtonian fluid packaging type aerofoil profile |
| CN110089268B (en) * | 2019-04-25 | 2020-11-13 | 江苏乐虎安全技术发展有限公司 | Preset full-retention non-Newtonian fluid wrapped wing-shaped anti-rolling watermelon car |
| CN113875397A (en) * | 2021-12-07 | 2022-01-04 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN114073196A (en) * | 2021-12-07 | 2022-02-22 | 聊城大学 | Dragon fruit harvester |
| CN113875397B (en) * | 2021-12-07 | 2022-03-01 | 建德市里叶十里荷生态旅游发展有限公司 | Parent-child type lotus pond lotus harvester |
| CN117621005A (en) * | 2024-01-25 | 2024-03-01 | 北京东方昊为工业装备有限公司 | Mechanical arm based on automatic aerial working robot |
| CN117621005B (en) * | 2024-01-25 | 2024-04-09 | 北京东方昊为工业装备有限公司 | Mechanical arm based on automatic aerial working robot |
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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: 20170426 Termination date: 20171027 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |