CN206821312U

CN206821312U - A kind of collection device applied to fruit picking machinery claw

Info

Publication number: CN206821312U
Application number: CN201720397323.8U
Authority: CN
Inventors: 刘燕德; 胡军; 靳京瑞; 甘伟欣; 陈钰翔; 程梦杰; 王观田; 曾体伟
Original assignee: East China Jiaotong University
Current assignee: East China Jiaotong University
Priority date: 2017-04-17
Filing date: 2017-04-17
Publication date: 2018-01-02
Anticipated expiration: 2027-04-17

Abstract

A kind of collection device applied to fruit picking machinery claw, it includes mechanical arm, gripper, fixed mount, stepper motor, mechanical arm one end is provided with the gripper for fruit-picking, gripper connects PLC by hydraulic pump, fruit collecting box is fixedly connected with by fixed mount below mechanical arm, fruit collecting box side is provided with the bend pipe that the mouth of pipe is located at immediately below gripper, solves the defects of existing fruit picking machinery claw production efficiency is relatively low, improve the production efficiency of fruit picking, the time of fruit picking is shortened, adds the income of orchard worker.

Description

A kind of collection device applied to fruit picking machinery claw

Technical field

A kind of collection device is the utility model is related to, more particularly to a kind of collection applied to fruit picking machinery claw fills Put.

Background technology

With the continuous development of China's science and technology, mechanical arm application every field, wherein in agricultural is plucked also by Step starts to apply, for example has application in harvesting navel orange, apple, orange technique, but existing fruits picking mechanical claw clip takes , it is necessary to cut short after to fruit, then fruit is needed to be put into collecting box, this results in fruit picking machinery claw and often plucks one Fruit needs to repeat to clamp, cuts, is sent into such a process of collecting box, causes the less efficient of fruit picking, because This is, it is necessary to which a kind of collection device applied to fruit picking machinery claw improves production efficiency.

The content of the invention

The purpose of this utility model is to provide a kind of collection device applied to fruit picking machinery claw, solved existing The defects of fruit picking machinery claw production efficiency is relatively low, improve the production efficiency of fruit picking, shorten fruit picking when Between, add the income of orchard worker.

The utility model is achieved in that it includes mechanical arm, gripper, fixed mount, stepper motor, mechanical arm One end is provided with the gripper for fruit-picking, and gripper connects PLC by hydraulic pump, it is characterised in that machine Fruit collecting box is fixedly connected with by fixed mount below tool arm, fruit collecting box side is located at immediately below gripper provided with the mouth of pipe Bend pipe, bend pipe is mutually communicated with fruit collecting box, and fruit collecting box bottom is flexibly connected bottom plate by long pin shaft, and bottom plate is complete The bottom of fruit collecting box is covered, plate upper surface is evenly distributed with several second pressure sensors, and bottom plate, which is provided with, to be connected The short pin shaft of stepper motor is connect, short pin shaft connects the rotating shaft on stepper motor by steel wire rope, and stepper motor is located at fruit collection On the outer wall of case, fruit collecting box inner chamber upper end is evenly distributed with several first pressure sensors, first pressure sensor and Second pressure sensor connects single-chip microcomputer respectively, and single-chip microcomputer connects stepper motor, power supply and PLC respectively.

The bend pipe upper end is horn mouth.

The inwall of the bend pipe and the inwall of fruit collecting box are equipped with the cushion pad for preventing fruit from damaging.

The bottom plate is provided with the guiding gutter for fruit water conservancy diversion.

It is of the present utility model to have the technical effect that：Solve the defects of existing fruit picking machinery claw production efficiency is relatively low, carry The high production efficiency of fruit picking, the time of fruit picking is shortened, add the income of orchard worker.

Brief description of the drawings

Fig. 1 is the three-dimensional structural representation of the utility model.

Fig. 2 is front view of the present utility model.

Fig. 3 is rearview of the present utility model.

Fig. 4 is the schematic diagram of the utility model gripper.

Fig. 5 is the structural representation after the utility model bottom plate is opened.

Fig. 6 is the block diagram of the utility model circuit connection.

Fig. 7 is the schematic diagram of the utility model bottom plate.

Fig. 8 is the schematic diagram of the utility model fruit collecting box.

In figure, 1, mechanical arm, 2, gripper, 3, fixed mount, 4, stepper motor, 5, fruit collecting box, 6, steel wire rope, 7th, bottom plate, 8, short pin shaft, 9, long pin shaft, 10, bend, 11, hydraulic pump, 12, first pressure sensor, 13, single-chip microcomputer, 14, electricity Source, 15, second pressure sensor, 16, PLC.

Embodiment

The utility model is illustrated with reference to Fig. 1-8, a kind of collection device applied to fruit picking machinery claw, it is wrapped Mechanical arm 1, gripper 2, fixed mount 3, stepper motor 4 are included, mechanical arm one end is provided with the gripper for fruit-picking, machine Machinery claw connects PLC by hydraulic pump 11, and mechanical arm lower section is fixedly connected with fruit collecting box 5 by fixed mount, Fruit collecting box side is provided with the bend pipe that the mouth of pipe is located at immediately below gripper, and bend pipe 10 is mutually communicated with fruit collecting box, fruit Collecting box bottom is flexibly connected bottom plate 7 by long pin shaft 9, and bottom plate covers all the bottom of fruit collecting box, plate upper surface Several second pressure sensors are evenly distributed with, bottom plate is provided with the short pin shaft 8 of connection stepper motor, and short pin shaft passes through steel wire Rotating shaft on the connection stepper motor of rope 6, stepper motor are located on the outer wall of fruit collecting box, and fruit collecting box inner chamber upper end is uniform Several first pressure sensors 12 are distributed with, first pressure sensor and second pressure sensor 15 connect single-chip microcomputer respectively, Single-chip microcomputer 13 connects stepper motor, power supply 14 and PLC 16 respectively, and the bend pipe upper end is horn mouth so that water Fruit is picked by gripper and smoothly fallen into bend pipe, prevents fruit from dropping to the ground, the inwall and fruit collecting box of the bend pipe Inwall be equipped with the cushion pad for preventing fruit from damaging so that the yields of fruit picking is further improved, and the bottom plate is provided with Guiding gutter for fruit water conservancy diversion so that fruit is more accurately fallen into Fruit basket.

During fruit-picking, user is plucked by PLC 16 come control machine machinery claw 2, and fruit passes through bend pipe 10 fall into fruit collecting box 5, and when fruit fast-assembling full fruit collecting box 5, first pressure sensor 12 is believed to single-chip microcomputer 13 Number, signal is transmitted to PLC 16 by single-chip microcomputer 13, and PLC 16 causes mechanical arm 1 to be moved to Fruit basket Surface, at this moment stepper motor 4 rotate, bottom plate 7 rotates down so that the fruit being collected into falls into Fruit basket, when fruit has fallen Afterwards, second pressure sensor 15 gives the signal of single-chip microcomputer 13, and signal is transmitted to PLC 16, PLC programming controls by single-chip microcomputer 13 Device 16 processed causes mechanical arm 1 is moved on fruit tree to continue fruit picking, so moves in circles, you can rapid picking water Fruit, thus, we can draw, the present invention solves the defects of existing fruit picking machinery claw production efficiency is relatively low, improves The production efficiency of fruit picking, the time of fruit picking is shortened, add the income of orchard worker.

Embodiment described above is only that preferred embodiment of the present utility model is described, not to this practicality New scope is defined, and on the premise of the utility model design spirit is not departed from, those of ordinary skill in the art are to this The various modifications and improvement that the technical scheme of utility model is made, the protection of the utility model claims book determination all should be fallen into In the range of.

Claims

1. a kind of collection device applied to fruit picking machinery claw, it includes mechanical arm, gripper, fixed mount, stepping electricity Machine, mechanical arm one end are provided with the gripper for fruit-picking, and gripper connects PLC by hydraulic pump, its It is characterised by, fruit collecting box is fixedly connected with by fixed mount below mechanical arm, fruit collecting box side is located at provided with the mouth of pipe Bend pipe immediately below gripper, bend pipe are mutually communicated with fruit collecting box, and fruit collecting box bottom is flexibly connected by long pin shaft Bottom plate, bottom plate cover all the bottom of fruit collecting box, and plate upper surface is evenly distributed with several second pressure sensors, Bottom plate is provided with the short pin shaft of connection stepper motor, and short pin shaft connects the rotating shaft on stepper motor, stepper motor by steel wire rope It is located on the outer wall of fruit collecting box, fruit collecting box inner chamber upper end is evenly distributed with several first pressure sensors, and first Pressure sensor and second pressure sensor connect single-chip microcomputer respectively, and single-chip microcomputer connects stepper motor, power supply and PLC programmings respectively Controller.

2. a kind of collection device applied to fruit picking machinery claw according to claim 1, it is characterised in that described curved Pipe upper end is horn mouth.

3. a kind of collection device applied to fruit picking machinery claw according to claim 2, it is characterised in that described curved The inwall of pipe and the inwall of fruit collecting box are equipped with the cushion pad for preventing fruit from damaging.

4. a kind of collection device applied to fruit picking machinery claw according to claim 1-3 any one, its feature It is, the bottom plate is provided with the guiding gutter for fruit water conservancy diversion.