CN206674544U - A kind of Kiwi berry picking mechanical arm - Google Patents
A kind of Kiwi berry picking mechanical arm Download PDFInfo
- Publication number
- CN206674544U CN206674544U CN201621158784.1U CN201621158784U CN206674544U CN 206674544 U CN206674544 U CN 206674544U CN 201621158784 U CN201621158784 U CN 201621158784U CN 206674544 U CN206674544 U CN 206674544U
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- CN
- China
- Prior art keywords
- manipulator
- kiwi berry
- mechanical arm
- fixed
- hydraulic
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- 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.)
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Abstract
The utility model discloses a kind of Kiwi berry picking mechanical arm, it is characterized in that, including manipulator plummer, manipulator plummer is connected with manipulator or so translation and jacking system, manipulator or so translation and jacking system and is connected with universal arm end execution system by spherical hinge；Universal arm end execution system includes the actuating unit with ball pivot chain link, actuating unit is fixed with manipulator bracket, manipulator bracket both sides have been respectively articulated with mechanical paw, mechanical paw has been respectively articulated with mechanical hand lever, mechanical hand lever is hinged and connected with pull rod coupling, pull rod coupling is connected with actuating unit, is provided with cavity in the middle part of manipulator bracket, mechanical hand lever is in cavity；Cavity is communicated with Kiwi berry collection port.The utility model is adapted to the harvesting operation in small spatial dimension, saves working space well, improves picking efficiency；Effectively raise harvesting smoothness；And realize the harvesting operation of 360 degree of manipulator space.
Description
Technical field
The utility model belongs to mechanical field, more particularly to a kind of Kiwi berry picking mechanical arm.
Background technology
Existing Kiwi berry picker, the volume of occupancy is larger, and action during harvesting is larger, therefore plucks Kiwi berry
Afterwards, when being placed into container, actinidia tree is easily damaged, is not suitable for the harvesting operation of a small range.In addition existing harvesting dress
Kiwi berry is easily damaged when it is poor to put running precision, therefore it is higher to pluck rate by mistake, and plucking.Finally, existing Kiwi berry harvesting dress
Put running underaction.
Utility model content
To solve the above problems, the utility model provides a kind of Kiwi berry picking mechanical arm.The utility model is macaque
Peach collector mouth is installed on below mechanical paw, the harvesting operation being adapted in small spatial dimension, saves working space well,
Improve picking efficiency；By horizontally and vertically in both direction all using the method for hydraulic control, effectively raising and adopting
The smoothness plucked, reliable guarantee is provided for accurate harvesting kiwifruit fruit；And the end effector of manipulator passes through ball pivot
Chain is connected with horizontal extension cylinder, realizes the harvesting operation of 360 degree of manipulator space.
To reach above-mentioned technique effect, the technical solution of the utility model is：
A kind of Kiwi berry picking mechanical arm, it is characterised in that including manipulator plummer, the connection of manipulator plummer is organic
Tool hand or so translation and the translation of jacking system and sensor, manipulator or so and jacking system are connected with universal machine by spherical hinge
Tool hand end execution system.
Further to improve, the universal arm end execution system includes the actuating unit with ball pivot chain link, moves
Force mechanisms are fixed with manipulator bracket, and manipulator bracket both sides have been respectively articulated with mechanical paw, and mechanical paw is respectively articulated with organic
Tool hand lever, mechanical hand lever are hinged and connected with pull rod coupling, and pull rod coupling is connected with actuating unit, manipulator bracket
Middle part is provided with cavity, and mechanical hand lever is in cavity；Cavity is communicated with Kiwi berry collection port.
Further to improve, the actuating unit is that hydraulic cylinder I, the hydraulic cylinder I are provided with hydraulic inlet I, hydraulic cylinder I
Inside is provided with hydraulic stem and hydraulic push rod, and hydraulic push rod is fixedly connected with pull rod coupling.
Further to improve, the spherical hinge is connected with upper end cover and bottom end cover, and bolt will through upper end cover and bottom end cover
Actuating unit is fixed.
Further to improve, the universal arm end execution system includes mechanical paw, is fixed with mechanical paw
Elastic manipulator accessory claw.
Further to improve, described manipulator or so translation and jacking system include manipulator jacking system and a manipulator left side
Right translation system；The manipulator plummer is fixedly connected with manipulator jacking system, and manipulator jacking system passes through whirler
Structure connection manipulator or so translation system, manipulator or so translation system is connected with universal arm end by spherical hinge and performed
System.
It is further to improve, the rotating mechanism include the rotating seat being fixedly connected with manipulator or so translation system and with
The rotating base that manipulator jacking system is fixedly connected；Ball is provided between rotating seat and rotating base, is arranged with outside rotating seat
The bearing block fixed with rotating base；External gear is fixed with rotating base, stepper motor, stepper motor are fixed with bearing block
Rotating shaft engaged with external gear.
Further to improve, the rotating base passes through connecting pin fixed bearing block.
Further to improve, the manipulator jacking system includes upper and lower telescoping cylinder, and upper and lower telescoping cylinder is provided with hydraulic oil
Import III；The manipulator or so translation system includes left and right telescoping cylinder, and left and right telescoping cylinder is provided with hydraulic oil inlet II, left
Right telescoping cylinder realizes the positioning of three dimensions arbitrfary point with upper and lower telescoping cylinder by rotating mechanism.
Further to improve, the manipulator plummer is placed on mobile load wagon or is fixed on level land.
The beneficial effects of the utility model：
1st, to the harvesting operation in small spatial dimension, Kiwi berry collector mouth is installed on below mechanical paw, well
Working space is saved, improves picking efficiency.
2nd, in the method that hydraulic control is horizontally and vertically all used in both direction, effectively raise and plucked steadily
Degree, reliable guarantee is provided for accurate harvesting kiwifruit fruit.
3rd, the end effector of manipulator is connected by spherical hinge with horizontal extension cylinder, realizes 360 degree of manipulator space
Pluck operation.
Brief description of the drawings：
Fig. 1 is the main structure schematic diagram of a kind of design of Kiwi berry picking mechanical arm and method.
Fig. 2 is arm end effector diagrammatic cross-section.
Fig. 3 is manipulator and accessory claw scheme of installation.
Fig. 4 is that manipulator bracket collects outlet assembling schematic diagram with Kiwi berry.
Fig. 5 is the top view of upper lower rotating disc.
In figure, 1. manipulator accessory claws, 2. mechanical paws, 3. pins, 4. mechanical hand levers, 5. pull rod coupling, 6. machineries
Hand rest frame, 61. cavitys, 7. attachment screws, 8. hydraulic push rods, 9. hydraulic cylinder I, 10. Kiwi berrys, which are collected, to be exported, 11. hydraulic stems,
12. upper end cover, 13. bolts, 14. bottom end covers, 15. spherical hinges, 16. horizontal extension cylinders, 17. hydraulic cylinder II, 18. bolts, 19. connect
Pin, 20. balls, 21. rotating bases, about 22. telescoping cylinders, 23. hydraulic inlet III, 24. hydraulic inlet II, 25. rotate
Seat, 26. plummers, 27. hydraulic inlet I, 28. sensors, 29. stepper motors, 30. external gears, bearing block 31.
Embodiment：
A kind of Kiwi berry picking mechanical arm, including the translation of manipulator plummer 26, manipulator jacking system, manipulator or so
System and universal arm end execution system, manipulator plummer 26 are mounted to move on load wagon or are fixed on certain
One level land.Sensor 28 for sensing Kiwi berry is preferably fixed to manipulator plummer 26, so compared to being fixed on machinery
Hand end execution system, there is more preferable stability and precision.Sensor 28 is image sensing apparatus or miscellaneous equipment.
The rotating seat being fixedly connected with manipulator or so translation system and the rotation being fixedly connected with manipulator jacking system
Base；Ball is provided between rotating seat and rotating base, the bearing block fixed with rotating base is arranged with outside rotating seat；Rotate bottom
External gear is fixed with seat, stepper motor is fixed with bearing block, the rotating shaft of stepper motor is engaged with external gear.Stepper motor
The mode that rotating shaft is engaged with external gear have it is a variety of, as motor laterally set, engaged by bevel gear, or with external gear up and down misplace
Engagement or it is vertically arranged engaged with external gear, as long as reach be driven effect.
Manipulator oscilaltion system main body is provided with telescoping cylinder 22 and hydraulic oil inlet III23 up and down, flexible up and down
Rotating base 21 is installed with cylinder 22；Manipulator or so translation system main body is provided with left and right telescoping cylinder 16 and hydraulic oil
Import II24, left and right telescoping cylinder 16 are connected with rotating seat 25 by bolt 18.Left and right telescoping cylinder 16 is fixedly connected with rotating base 21；
Ball 20 is provided between rotating seat 25 and rotating base 21, the bearing block fixed with rotating base 21 is arranged with outside rotating seat 25
31；External gear 30 is fixed with rotating base 21, is fixed with stepper motor 29 on bearing block 31, the rotating shaft of stepper motor 29 with it is outer
Gear 30 engages.So by the rotation of stepper motor 29 left and right telescoping cylinder 16 can be driven to rotate.
Universal arm end execution system connects left and right telescoping cylinder 16 and arm end effector by spherical hinge 15,
Wherein end performs component by hydraulic cylinder I9, hydraulic inlet I27, hydraulic push rod 8, manipulator bracket 6, mechanical hand lever 4, machinery
Paw 2, manipulator accessory claw 1 and Kiwi berry collect the outlet connections such as 10 composition；
The end effector of Kiwi berry manipulator, including the accessory claw 1 being installed on mechanical paw 2 use and do not hinder kiwi fruit
Real flexible material, manipulator 2 are fixed on manipulator bracket 6 by pin 3, the other end of mechanical paw 2 by pull bar 4 with
Pull rod coupling 5 is connected, and pull rod coupling 5 passes through the passing power that is connected with hydraulic push rod 8；
Kiwi berry is collected outlet 10 and is directly mounted on manipulator bracket 6, by adjusting face Kiwi berry on mechanical paw 2
The spacing of the mechanical hand lever 4 in the direction of collection port 10, make straight by the fruit plucked under manipulator 2 and the collective effect of accessory claw 1
The mechanical spacing of hand lever 4 was connected to be conveyed into Kiwi berry collection port 10；
The bottom end cover 14 that arm end effector is connected with spherical hinge 15 is fixed on machine with upper end cover 12 by bolt 13
On hydraulic stem 11 on tool hand end effector, left and right telescoping cylinder 16 realizes three-dimensional space with upper and lower telescoping cylinder 22 by rotating mechanism
Between arbitrfary point positioning.
The manipulator being equipped on plummer, after the position command where receiving kiwifruit fruit, by stretching up and down
The end effector of manipulator is sent to corresponding position by contracting hydraulic cylinder and horizontal extension hydraulic cylinder, and then mechanical paw is universal
Kiwifruit fruit is accurately plucked in the presence of hinge and hydraulic cylinder, kiwifruit fruit entered due to the effect of accessory claw
Row protection, the Kiwi berry finally plucked directly entered Kiwi berry collector mouth and were collected, and reached rapid picking.
Specific implementation method of the present utility model is further described with reference to accompanying drawing.
As shown in figure 1, the main structure schematic diagram of a kind of Kiwi berry picking mechanical arm design and method, by plummer, hydraulic pressure
Jacking system is provided with the flattened compression system of hydraulic transmission water of universal joint and arm end execution system forms.Horizontal extension system
System is fixedly linked with rotating seat 25 under bolt 18, and oscilaltion system is fixedly mounted with rotating base 21, the He of rotating base 21
Rotating seat 25 is connected by bearing block 30, and ball 20 is provided between rotating base 21 and rotating seat 25, and realization rotates against,
Rotary power drives the external gear 30 fixed with rotating seat 25 to provide by stepper motor 29；Arm end effector and level
Telescopic system is linked together by spherical hinge 15, realizes that 360 degree of manipulator execution end rotate freely.
As shown in Fig. 2 arm end effector diagrammatic cross-section, arm end effector is realized to kiwifruit fruit
Harvesting, the hydraulic stem 11 being fixed on upper end cover 12, pump liquid force feed enter hydraulic cylinder I9 in, so as to promote hydraulic push rod 8
Up and down motion, hydraulic push rod 8 is connected to pull rod coupling 5, the fortune of driving mechanical paw 2 in the presence of mechanical hand lever 4
Dynamic, so as to realize harvesting of the accessory claw 1 being connected with mechanical paw 2 to kiwifruit fruit, then kiwifruit fruit passes through Kiwi berry
Outlet 10 is collected to be collected.
As shown in figure 3, mechanical paw and accessory claw scheme of installation, manipulator accessory claw 1 are installed on mechanical paw 2, machinery
One end of hand 2 is connected with manipulator bracket 6 by pin 3, and the other end of manipulator 2 connects mechanical hand lever 4, realizes manipulator
Grasping movement.
As shown in figure 4, manipulator bracket collects outlet assembling schematic diagram with Kiwi berry, it is attached in mechanical paw 2 and manipulator
The underface of pawl 1 be provided with Kiwi berry collect outlet 10, the spacing of the mechanical hand lever 4 by adjusting driving mechanical hands movement,
Can realize various different size of Kiwi berrys by, and enter Kiwi berry collect outlet 10, be finally collected.
As shown in figure 5, the top view of upper lower rotating disc, Kiwi berry picking mechanical arm carries out harvesting operation, and ball 20 is revolving
Turn the installation site on base 21, upper rotating seat is machined with symmetrical circular hole position with rotating base, for installing ball.
Above are only one of the present utility model it is specific be oriented to embodiment, but design concept of the present utility model not office
It is limited to this, all changes for carrying out unsubstantiality to the utility model using this design, all should belongs to and invade guarantor of the present utility model
Protect the behavior of scope.
Claims (10)
1. a kind of Kiwi berry picking mechanical arm, it is characterised in that including manipulator plummer (26), manipulator plummer (26) is even
Manipulator or so translation and jacking system and sensor (28) are connected to, manipulator or so translation and jacking system pass through spherical hinge
(15) it is connected with universal arm end execution system.
2. Kiwi berry picking mechanical arm as claimed in claim 1, it is characterised in that the universal arm end execution system
Including the actuating unit being connected with spherical hinge (15), actuating unit is fixed with manipulator bracket (6), manipulator bracket (6) both sides
Be respectively articulated with mechanical paw (2), mechanical paw (2) has been respectively articulated with mechanical hand lever (4), mechanical hand lever (4) with drawing
Rod connector (5) is hinged and connected, and pull rod coupling (5) is connected with actuating unit, and cavity is provided with the middle part of manipulator bracket (6)
(61), mechanical hand lever (4) is in cavity (61)；Cavity (61) is communicated with Kiwi berry collection port (10).
3. Kiwi berry picking mechanical arm as claimed in claim 2, it is characterised in that the actuating unit is hydraulic cylinder I (9),
The hydraulic cylinder I (9) is provided with hydraulic inlet I (27), and hydraulic stem (11) and hydraulic push rod (8) are provided with inside hydraulic cylinder I (9),
Hydraulic push rod (8) is fixedly connected with pull rod coupling (5).
4. Kiwi berry picking mechanical arm as claimed in claim 2, it is characterised in that the spherical hinge (15) is connected with upper end cover
(12) actuating unit is fixed through upper end cover (12) and bottom end cover (14) with bottom end cover (14), bolt (13).
5. Kiwi berry picking mechanical arm as claimed in claim 1, it is characterised in that the universal arm end execution system
Including mechanical paw (2), Elastic manipulator accessory claw (1) is fixed with mechanical paw (2).
6. Kiwi berry picking mechanical arm as claimed in claim 1, it is characterised in that described manipulator or so translates and lifting system
System includes manipulator jacking system and manipulator or so translation system；The manipulator plummer (26) and manipulator jacking system
It is fixedly connected, manipulator jacking system connects manipulator or so translation system, manipulator or so translation system by rotating mechanism
Universal arm end execution system is connected with by spherical hinge (15).
7. Kiwi berry picking mechanical arm as claimed in claim 6, it is characterised in that the rotating mechanism includes left with manipulator
Rotating seat (25) that right translation system is fixedly connected and the rotating base (21) being fixedly connected with manipulator jacking system；Rotating seat
(25) ball (20) is provided between rotating base (21), the bearing fixed with rotating base (21) is arranged with outside rotating seat (25)
Seat (31)；External gear (30) is fixed with rotating base (21), stepper motor (29), stepper motor are fixed with bearing block (31)
(29) rotating shaft is engaged with external gear (30).
8. Kiwi berry picking mechanical arm as claimed in claim 7, it is characterised in that the rotating base (21) passes through connecting pin
(19) fixed bearing block (31).
9. Kiwi berry picking mechanical arm as claimed in claim 7, it is characterised in that the manipulator jacking system is included up and down
Telescoping cylinder (22), upper and lower telescoping cylinder (22) are provided with hydraulic oil inlet III (23)；The manipulator or so translation system includes a left side
Right telescoping cylinder (16), left and right telescoping cylinder (16) are provided with hydraulic oil inlet II (24), left and right telescoping cylinder (16) and upper and lower telescoping cylinder
(22) positioning of three dimensions arbitrfary point is realized by rotating mechanism.
10. the Kiwi berry picking mechanical arm as described in claim 1-9 is any, it is characterised in that the manipulator plummer
(26) it is placed on mobile load wagon or is fixed on level land.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621158784.1U CN206674544U (en) | 2016-10-25 | 2016-10-25 | A kind of Kiwi berry picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621158784.1U CN206674544U (en) | 2016-10-25 | 2016-10-25 | A kind of Kiwi berry picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206674544U true CN206674544U (en) | 2017-11-28 |
Family
ID=60395277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621158784.1U Expired - Fee Related CN206674544U (en) | 2016-10-25 | 2016-10-25 | A kind of Kiwi berry picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206674544U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107852959A (en) * | 2017-12-15 | 2018-03-30 | 西北农林科技大学 | A kind of end effector of Kiwi berry picking robot |
| CN108293428A (en) * | 2018-02-05 | 2018-07-20 | 天津职业技术师范大学 | Comb picking machine with vibration rotation picking head |
| CN109997515A (en) * | 2019-04-12 | 2019-07-12 | 浙江农林大学 | A kind of cones of Pinus koraiensis picking mechanical arm |
| CN113243203A (en) * | 2021-05-28 | 2021-08-13 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN114375711A (en) * | 2021-12-27 | 2022-04-22 | 广州极飞科技股份有限公司 | Polar coordinate type crop processing device, crop processing equipment and crop processing method |
-
2016
- 2016-10-25 CN CN201621158784.1U patent/CN206674544U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107852959A (en) * | 2017-12-15 | 2018-03-30 | 西北农林科技大学 | A kind of end effector of Kiwi berry picking robot |
| CN108293428A (en) * | 2018-02-05 | 2018-07-20 | 天津职业技术师范大学 | Comb picking machine with vibration rotation picking head |
| CN109997515A (en) * | 2019-04-12 | 2019-07-12 | 浙江农林大学 | A kind of cones of Pinus koraiensis picking mechanical arm |
| CN113243203A (en) * | 2021-05-28 | 2021-08-13 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN114375711A (en) * | 2021-12-27 | 2022-04-22 | 广州极飞科技股份有限公司 | Polar coordinate type crop processing device, crop processing equipment and crop processing method |
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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: 20171128 Termination date: 20181025 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |