CN206237831U - One kind is plucked and grabs fruit manipulator - Google Patents
One kind is plucked and grabs fruit manipulator Download PDFInfo
- Publication number
- CN206237831U CN206237831U CN201621167022.8U CN201621167022U CN206237831U CN 206237831 U CN206237831 U CN 206237831U CN 201621167022 U CN201621167022 U CN 201621167022U CN 206237831 U CN206237831 U CN 206237831U
- Authority
- CN
- China
- Prior art keywords
- manipulator
- hydraulic
- set glue
- trace
- bar
- 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
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 24
- 239000003292 glue Substances 0.000 claims abstract description 37
- 238000003306 harvesting Methods 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 description 7
- 238000005260 corrosion Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000001138 tear Anatomy 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model is related to a kind of harvesting to grab fruit manipulator, belongs to robotics.The utility model includes hydraulic pump, hydraulic interlock bar, hydraulic control valve, hydraulic actuator, trace, ground floor set glue manipulator, second layer set glue manipulator, third layer set glue manipulator, rotatable connection bar, manipulator chassis, color sensor.The design includes nine set glue manipulators, point three layers of arrangement, and ground floor and the second layer cover glue manipulator and constitute by four different directions, and third layer is made up of a set glue manipulator；Ground floor and second layer set glue manipulator are distributed in the surrounding of trace, and third layer set glue manipulator is connected to trace bottom；Set glue manipulator connection manipulator is connected with rotatable connection bar respectively behind chassis, and color sensor is connected on manipulator chassis.The utility model realize it is multi-faceted pluck fruit, the extensive of fruit or batch are plucked, greatly improve picking efficiency, reduce and pluck cost.
Description
Technical field
The utility model is related to a kind of harvesting to grab fruit manipulator, belongs to robotics.
Background technology
Nowadays with the progress of science, people's culture and growth in the living standard are improved constantly, people to the demand of fruit
Work plucks fruit cannot meet the demand of society, it has been found that traditional plucking nearly all is really artificial harvesting to pluck quality,
Need to consume substantial amounts of human and material resources, the cost of fruit is increased substantially.Therefore we devise such manipulator, convenient
Plucked on a large scale.
The color reaction device of the manipulator realizes the semi-automation of the manipulator, can carry out batch harvesting, it is contemplated that adopt
The corrosion and breakage of quality and manipulator are plucked, manipulator and driving connecting rod are sleeved on rubber by us, can improve harvesting quality,
Reduce the rate of corrosion and breakage rate of manipulator.
Realize multi-faceted, wide-range plucks fruit characteristic, the utility model is by color sensor by fruit, leaf on fruit tree
Information after piece, the color discrimination treatment of branch controls the motion of hydraulic means and then control machinery hand.Wherein it is rotatably connected
Bar can be rotated in different directions, and the free movement of manipulator is not constrained, and black glue has been covered on manipulator, without worrying agricultural chemicals, fruit
Son, leaf and limb are to the corrosion of manipulator and scrape damage.Because manipulator can be rotated with all directions, it is greatly improved and plucks fruit effect
Rate, can be applied to agricultural and industry.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of harvesting and grabs fruit manipulator, for extensive or batch
Pluck, prevention manipulator corrodes and weares and teares.Picking efficiency is greatly improved, is reduced and is plucked cost, realize that Pseudocarps are plucked
And point maturity is plucked.
The technical solution of the utility model is：One kind is plucked and grabs fruit manipulator, including hydraulic pump 1, hydraulic interlock bar 2, liquid
Pressure control valve 3, hydraulic actuator 4, trace 5, ground floor set glue manipulator 6, second layer set glue manipulator 7, third layer set glue
Manipulator 8, color sensor 9, rotatable connection bar 10, manipulator chassis 11；The connection hydraulic interlock of hydraulic pump 1 bar 2, hydraulic interlock
The lower end of bar 2 connects hydraulic actuator 4, and hydraulic control valve 3 is sleeved on four hydraulic interlock bars 2；Nine set glue manipulators point three
Layer arrangement, ground floor set glue manipulator 6 and second layer set glue manipulator 7 are connected to the bar 10 that is rotatably connected by four manipulators respectively
Connection trace 5 surrounding composition, third layer set glue manipulator 8 is connected to trace by a manipulator connection rotatable connection bar 10
5 lower ends；Color sensor 9 is located on manipulator chassis 11.
Rotatable connection bar 10 one end connection trace 5, one end connection manipulator, the scope of its rotation for 0 °~
360°。
Hydraulic pump 1 is connected to the top of hydraulic interlock bar 2, and the mechanical energy of driving link is converted into pressure energy, hydraulic interlock
The bottom of bar 2 connects hydraulic actuator 4, and hydraulic actuator 4 performs pressure energy, and hydraulic control valve 3 is sleeved on four hydraulic interlocks
On bar 2, the control to hydraulic actuator 4 is realized in the output of control pressure energy.
Ground floor and the second layer are made up of four manipulators, and manipulator is connected on manipulator chassis 11, and be rotatably connected bar
10 are connected to the surrounding that manipulator chassis 11 is connected to trace 5, manipulator opening and closing freedom, and color reaction device 9 is at manipulator bottom
On disk 11；Color sensor 9 by after the color identifying of target object by feedback of the information to control system, so as to adjust manipulator
Motion, wherein rotatable connection bar 10 can be realized rotating within the specific limits and stretched.
Third layer is connected to manipulator chassis 11 and connects rotatable connection bar 10 by a manipulator, and rotatable connection bar 10 is connected
In the bottom of trace 5, manipulator opening and closing freedom, color reaction device 9 is on manipulator chassis 11；Color sensor 9 is by target
By feedback of the information to control system after the color identifying of object, so that the motion of manipulator is adjusted, wherein rotatable connection bar 10 can
To realize rotating within the specific limits and stretch.
The course of work of the present utility model is：Driving link mechanical energy is changed into pressure energy, hydraulic actuator 4 by hydraulic pump 1
Pressure energy is performed, hydraulic control valve 3 is sleeved on four hydraulic interlock bars 2, the output of control pressure energy, realization is held to hydraulic pressure
The control of row device 4.Color reaction device 9 distinguishes fruit color, distinguishes Fruit types and maturity, passes the information on to hydraulic means
The bar 10 that is rotatably connected, rotatable connection bar 10 are controlled by controlling trace 5 can be rotated freely and stretch, and connecting rod can band
Dynamic manipulator is rotated freely, and the manipulator in each direction freely can do necessarily according to control signal within limits
Motion, so as to realize plucking the classification of fruit, integrate harvesting, classify, realize semi-automation.Hydraulic means is connected to
Trace 5, trace 5 respectively connected four ground floors, four second layers, a third layer rotatable connection bars 10, and they are all
It is by the directly control motion of trace 5；Set glue manipulator 6, second layer set glue manipulator 7, the third layer set glue machinery of ground floor
Hand 8 can realize that 360 ° of rotation completes the operational control to manipulator with the drive of driving connecting rod 5, realize opening for manipulator
Close, stretch；Color sensor 9 is embedded with the middle of the chassis 11 of manipulator, can be by the color of target object and the color of interfering object
It is distinguish between, and by feedback of the information to hydraulic means, further control is realized in the motion to manipulator；Hydraulic means is by face
After the feedback information of colour sensor 9 is analyzed and processed, the general direction of trace 5, when close to target object, liquid are adjusted
Pressure device drives the control rotatable connection bar 10 of trace 5 to drive each manipulator to realize corresponding opening and closing, rotation and stretching, while
Multiple target objects are won.
The beneficial effects of the utility model are：
1st, it is multi-faceted to pluck fruit, the extensive of fruit or batch are plucked, picking efficiency is greatly improved, reduce and pluck cost
Expense；
2nd, the corrosion of prevention manipulator and abrasion；
3rd, realize that Pseudocarps are plucked and point maturity is plucked.
Brief description of the drawings
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model robot manipulator structure schematic diagram.
In figure：1- hydraulic pumps, 2- hydraulic interlock bars, 3- hydraulic control valves, 4- hydraulic actuators, 5- traces, 6- first
Layer set glue manipulator, 7- second layers set glue manipulator, 8- third layer set glue manipulator, 9- color sensors, 10- rotatable connections
Bar, 11- manipulators chassis.
Specific embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
Embodiment 1：As shown in Figure 1-2, a kind of harvesting grabs fruit manipulator, including hydraulic pump 1, hydraulic interlock bar 2, hydraulic pressure control
Valve processed 3, hydraulic actuator 4, trace 5, ground floor set glue manipulator 6, second layer set glue manipulator 7, third layer set glue machinery
Hand 8, color sensor 9, rotatable connection bar 10, manipulator chassis 11；The connection hydraulic interlock of hydraulic pump 1 bar 2, hydraulic interlock bar 2
Lower end connects hydraulic actuator 4, and hydraulic control valve 3 is sleeved on four hydraulic interlock bars 2；Nine set glue manipulators point, three layers of row
Cloth, ground floor set glue manipulator 6 and second layer set glue manipulator 7 are connected to rotatable connection bar 10 and connect by four manipulators respectively
The surrounding of trace 5 is constituted, and third layer set glue manipulator 8 is connected under trace 5 by a manipulator connection rotatable connection bar 10
End；Color sensor 9 is located on manipulator chassis 11.
Rotatable connection bar 10 one end connection trace 5, one end connection manipulator, the scope of its rotation for 0 °~
360°。
Specific embodiment of the present utility model is explained in detail above in association with accompanying drawing, but the utility model is not
It is limited to above-mentioned implementation method, in the ken that those of ordinary skill in the art possess, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (2)
1. a kind of harvesting grabs fruit manipulator, it is characterised in that：Including hydraulic pump（1）, hydraulic interlock bar（2）, hydraulic control valve
（3）, hydraulic actuator（4）, trace（5）, ground floor set glue manipulator（6）, the second layer set glue manipulator（7）, third layer set
Glue manipulator（8）, color sensor（9）, rotatable connection bar（10）, manipulator chassis（11）；Hydraulic pump（1）Connection hydraulic interlock
Bar（2）, hydraulic interlock bar（2）Lower end connects hydraulic actuator（4）, hydraulic control valve（3）It is sleeved on four hydraulic interlock bars（2）
On；Nine set glue manipulators point, three layers of arrangement, ground floor set glue manipulator（6）Glue manipulator is covered with the second layer（7）Respectively by four
Manipulator is connected to the bar that is rotatably connected（10）Connection trace（5）Surrounding is constituted, third layer set glue manipulator（8）By a machine
Tool hand connection rotatable connection bar（10）It is connected to trace（5）Lower end；Color sensor（9）Positioned at manipulator chassis（11）On.
2. fruit manipulator is grabbed in harvesting according to claim 1, it is characterised in that：The rotatable connection bar（10）One end connects
Trace（5）, one end connection manipulator, the scope of its rotation is 0 °~360 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621167022.8U CN206237831U (en) | 2016-10-26 | 2016-10-26 | One kind is plucked and grabs fruit manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621167022.8U CN206237831U (en) | 2016-10-26 | 2016-10-26 | One kind is plucked and grabs fruit manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206237831U true CN206237831U (en) | 2017-06-13 |
Family
ID=58997008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621167022.8U Expired - Fee Related CN206237831U (en) | 2016-10-26 | 2016-10-26 | One kind is plucked and grabs fruit manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206237831U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199683A (en) * | 2019-06-26 | 2019-09-06 | 广西科技大学 | Self-identifying fruit picker and fruit picking method based on IR and TCS |
-
2016
- 2016-10-26 CN CN201621167022.8U patent/CN206237831U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199683A (en) * | 2019-06-26 | 2019-09-06 | 广西科技大学 | Self-identifying fruit picker and fruit picking method based on IR and TCS |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207573956U (en) | A kind of orchard puma manipulator picker based on man-machine collaboration | |
| CN102873675B (en) | Biomimetic crop picking robot | |
| CN109788732A (en) | For selecting fruit and with the device of robotic arm | |
| CN206237831U (en) | One kind is plucked and grabs fruit manipulator | |
| Setiawan et al. | A low-cost gripper for an apple picking robot | |
| CN109937694A (en) | A kind of picking fruit cropper | |
| CN107717978A (en) | A kind of industrial robot | |
| CN206866021U (en) | A kind of planting mechanism transverse direction and longitudinal direction copying device | |
| CN205510982U (en) | Intelligence crops sunning machine | |
| CN107211654A (en) | Intelligent picking machine | |
| CN206283862U (en) | A kind of apple harvester | |
| CN204725487U (en) | The multiple degrees of freedom bionic mechanical hand that a kind of wire saws and pneumatic muscles drive | |
| CN208708181U (en) | Pre-positioning self-clamping picking mechanism and picking and collecting device | |
| Tibbets | Not too far from the tree | |
| CN212087060U (en) | Fruit and vegetable picking robot | |
| KR20010015973A (en) | Development of a 3 DOF Robot for Harvesting a Lettuce Using Machine Vision and Fuzzy Logic Control | |
| Sui et al. | A comb-type end-effector for inflorescence thinning of table grapes | |
| CN209057312U (en) | A kind of Agriculture Image acquisition device | |
| CN207074390U (en) | A kind of intelligent agricultural greenhouse control device | |
| CN206592356U (en) | One kind tree fruit picking machine tool hand hydraulic system | |
| CN206592358U (en) | A kind of picking mechanical arm hydraulic system | |
| Ismail et al. | Research and development of oil palm harvester robot at Universiti Putra Malaysia | |
| CN105660040B (en) | A kind of shearing tomato stripper unit manually | |
| CN107926645A (en) | A kind of packaged type water light automatic regulating system | |
| CN205363911U (en) | Aquaculture pond arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170613 Termination date: 20181026 |