CN206879487U - The shearing walnut picking device of multiple degrees of freedom - Google Patents
The shearing walnut picking device of multiple degrees of freedom Download PDFInfo
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- CN206879487U CN206879487U CN201720663775.6U CN201720663775U CN206879487U CN 206879487 U CN206879487 U CN 206879487U CN 201720663775 U CN201720663775 U CN 201720663775U CN 206879487 U CN206879487 U CN 206879487U
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- shearing
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Abstract
The utility model discloses a kind of shearing walnut picking device of multiple degrees of freedom, include car body, described car body is provided with abdominal belt wheel, the top of described car body is provided with base, described base is connected with mechanical large arm by waist joint arrangement, one end of described mechanical large arm is connected with mechanical forearm by shoulder joint regulating device, the other end of described mechanical forearm is connected with mechanical arm by elbow joint device, the other end of described mechanical arm is connected with manipulator by wrist joint device, the side of described manipulator is provided with camera, the lower surface of described mechanical arm is provided with pole, collection funnel is connected with described pole, described collection funnel is connected with flexible pipe, the side of described base is provided with conveyer belt；The utility model product structure is reasonable, meets production requirement, while has avoidance ability, improves operating efficiency and reliability, can be worked in various complicated grounds, realizes automatic harvesting, handling.
Description
Technical field
It the utility model is related to walnut and win apparatus technical field, specifically more particularly to a kind of multiple degrees of freedom is sheared
Formula walnut picking device.
Background technology
China's woods fruit varieties of plant is various, and fruit total output position is at the forefront in the world.In recent years, with agricultural structure
Development and adjustment, the continuous increase of woods fruit cultivated area, the continuous improvement of woods fruit yield so that Fruits production plantation turn into after
The third-largest Major agro-industry after grain, vegetables, the new highlight that increasing peasant income are got rich.But the woods fruit Mechanization Level in China
It is low, it is substantially at starting and developing stage.At this stage, the operation of China woods fruit is arrived from tree planting of digging pit, trimming grafting, ditching-fertilizing
A series of links such as fruit harvesting still rely primarily on manually, and production efficiency cannot improve, fruit quality cannot be guaranteed, warp
Often getting bumper crops the phenomenon not having a good harvest occur.Simultaneously as rural laborer is to second and third industry transfer and the woman of rural laborer
Femaleization and Aging Problem, the labour for production are becoming tight day, therefore develop the cropper of modern high tech method manufacture
Tool substitutes artificial heavy, the poorly efficient hand labour to turn into inevitable.It on the one hand can so mitigate the labor intensity, big of picker
Amplitude is raised labour productivity, and so as to reach the income increased substantially in labourer's unit interval, improves labourer's production
The purpose of value, while the quality of berry is can also ensure that, improve resource utilization.Therefore, woods fruit mechanization is only improved constantly
Level, it just can guarantee that the good and fast development of forest and fruitization.Industry of planting forest or fruit tress extensive development needs many labours at present, but
It is the continuous reduction of rural area labouring population so that labour cost is continuously increased.There is an urgent need to woods fruit at vast woods fruit plant development family
Machinery solves these problems.Woods fruit Work machine can realize the standardization production and management in orchard, and peasant is greatly reduced
Labor intensity, reduce labour cost, increase economic efficiency and production efficiency, moreover it is possible to effectively reduce the generation of pest and disease damage, improve
The quality of fruit, for improving the healthy significant with sustainable development of forest and fruit.Also woods is constantly being accelerated in China
The paces that fruit mechanization is advanced, government pay much attention to the Demonstration And Extension work of forest and fruit mechanization technology, put into effect every purchase machine and mend
Paste preferential policy.Plucking operation has the characteristics of seasonal strong and labour intensive, is an important ring of whole production overall process
Section, labour used account for the 35%~45% of whole production process.China's walnut, which relies primarily on, manually beats harvesting, this harvesting
Operating type is very big by the sound of the complicated factors such as tree-like, geographical position, weather, manual operation, and when walnut is most preferably plucked
Between before and after White Dew in the time of one week, the cycle is short, and peasant household generally plucks in advance, so it cannot be guaranteed that the quality of walnut, and
Artificial picking efficiency is low, cost is high, it is big certain potential safety hazard, labor intensity to be present, easily damages tender shoots.If using machinery
Change harvesting, this just shortens walnut plucking cycle, increases substantially picking efficiency, facility is provided for follow-up processing, finally increases
The income of peasant.
The development of walnut picker tool has important meaning with sound development of the exploitation for China's forest and fruit, scale
Justice.With being continuously increased for walnut cultivated area, the walnut area in the best fruiting period is constantly being expanded, and walnut yield increases year by year
Adding, peasant household has large market demand to walnut picker tool active demand, walnut picker tool,
External nuts picking machine people or machinery, after directly clamping trunks of fruit trees using clamping limb more, vacillated now to the left, now to the right
And vibration is produced, mellow fruit is fallen with trembling for branch.As at present, California, USA orchard farm is for American pistachios etc.
Fruit harvest, fruit is shaken off using aforesaid way and realizes harvesting, harvesting rate is 75% or so.Such nut picking machine
Tool arm, its shake mode is single, fruit is shaken off from tree branch, it is necessary to produce enough vibration forces, often consume energy
It is larger, it is inefficient.On the other hand, its clip position is in trunk bottom, close to fruit tree root, because the power of vibration is larger,
Easily the root of fruit tree is caused to damage, growth that the damage of fruit tree root can be to fruit tree, result have an impact, and yield can be caused to drop
It is low.At present most of China's picking machine use and shaking formula picking machine, the limb of tree is clamped by pawl fork, carry out single shaft or
Two-axle vibration exciting drives limb to swing back and forth, so that walnut comes off.But on the one hand the drawbacks of this picking machine is to tree body
Injury is very big, and the dynamics size of this exciting force is difficult control, influences the development of tree body.If it is on the other hand vibration-type picking machine
Work, power have to very sufficient, and it is many unfavorable that this brings for harvesting work.
Utility model content
Therefore, the utility model proposes a kind of shearing walnut picking device of multiple degrees of freedom, product structure is reasonable, during design
The rational pattern that have selected manipulator makes it not only meet production requirement, while has avoidance ability, so as to improve work
Efficiency and reliability, it can be good at working in various complicated grounds by carrying out delivery with tracked car body, sent out using electric power
Electric driving mechanical arm works, and funnel is installed under gripper, funnel is connected in long duct to picking vehicle, when walnut picks
When, railway carriage is directly entered by conduit, the device can self-navigation realize automatic harvesting, handling to target tree body.
The utility model is realized by following means：
The shearing walnut picking device of multiple degrees of freedom, includes car body, and described car body is provided with abdominal belt wheel, described car
The top of body is provided with base, and described base is connected with mechanical large arm by waist joint arrangement, and the one of described mechanical large arm
End is connected with mechanical forearm by shoulder joint regulating device, and the other end of described mechanical forearm is connected with machinery by elbow joint device
Arm, the other end of described mechanical arm are connected with manipulator by wrist joint device, and the side of described manipulator is provided with shooting
Head, the lower surface of described mechanical arm are provided with pole, and collection funnel, the connection of described collection funnel are connected with described pole
There is flexible pipe, the side of described base is provided with conveyer belt.
Preferably, described manipulator includes four mechanical paws, and the mechanical paw described in four is each attached to machinery
On hand seat, the bottom of the mechanical paw described in four is respectively connected with travelling gear, and the centre position of described manipulator seat is provided with
Drive lead screw, described drive lead screw connect with described travelling gear, one end DC servo motor of described drive lead screw
Connect, described manipulator seat is provided with touch sensor.
Preferably, four described mechanical paws include three flat mouth grippers and a cutting edge gripper, described
Cutting edge gripper includes cutting edge portion, and described cutting edge portion is connected by spring with gripper bottom, under described spring
Side is provided with pressure sensor.
Preferably, described camera is binocular camera.
Preferably, the waist joint arrangement, shoulder joint regulating device, elbow joint device, wrist joint device are by planetary gear
Transmission mechanism, servomotor are formed, and can be converted to the slow-speed of revolution, the high-torque of picking mechanical arm requirement.
Preferably, the side of described car body is provided with single-chip microcomputer, and described single-chip microcomputer is connected with navigation position instrument, the design
The mode combined using DGPS navigation and binocular camera carries out automatic obstacle avoiding navigation, and DGPS first carries out the positioning of position, so
Pavement image is gathered by the binocular camera of mechanical arm tail end afterwards, the walnut green of picker road surface both sides is higher, institute
It is obvious with the aberration difference of road surface and background, obstacle has independently been analysed whether after binocular camera collection picture, has had obstacle automatic
Halt, alarmed.There is no barrier to move on.
First after the completion of self-check of device, walnut pavement image in the ranks is gathered by binocular camera, and image is carried out
Processing, navigation way is identified, gather DGPS pose signals, and vision guided navigation information and DGPS information are merged, realized
Independent navigation, then when device is moved to target tree body, master controller sends order motor stalls order, notifies to machine
Tool arm sends control instruction, and walnut picking device of the present utility model is all controlled using driven by power, and waist, which rotates, to close
Regulating device realizes the rotation of mechanism of the mechanical arm body in addition to base；Shoulder joint regulating device and elbow joint device are all to rotate to close
Section, can adjust large arm, the pose of forearm within the specific limits, and wrist joint device can realize elevating movement, the control of crawl joint
The grasping movement of picking claw processed, the walnut after harvesting is fallen directly into by the funnel under manipulator to be loaded in compartment, when
After tree body walnut has been plucked, mechanical arm is automatically rotated to the initial pose of navigation, continues self-navigation and is carried out to next target tree body
Harvesting, repeated work.After container fills walnut, detect by sensor and unload automatically, until completing harvesting work
The utility model beneficial effect：The utility model is simple and reasonable, reasonably have selected manipulator during design
Pattern makes it not only meet production requirement, while has avoidance ability, so as to improve operating efficiency and reliability, by with shoe
The car body of band carries out delivery and can be good at working in various complicated grounds, is worked using power generation driving mechanical arm, machine
Funnel is installed, funnel is connected in long duct to picking vehicle, and when walnut picks, car is directly entered by conduit under machinery claw
Case.The device can self-navigation realize automatic harvesting, handling to target tree body.
Brief description of the drawings：
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model part-structure enlarged diagram.
Fig. 3 is the utility model part-structure schematic diagram.
Fig. 4 is the utility model part-structure schematic diagram.
Fig. 5 is the utility model part-structure schematic diagram.
Fig. 6 is the utility model part-structure schematic diagram.
Embodiment：
In order that those skilled in the art more fully understands the technical solution of the utility model, with reference to embodiment pair
The utility model is described further：
The shearing walnut picking device of multiple degrees of freedom, include car body 1, described car body 1 is provided with abdominal belt wheel 2, described
The top of car body 1 be provided with base 3, described base 3 is connected with mechanical large arm 5, described machinery by waist joint arrangement 4
One end of large arm 5 is connected with mechanical forearm 7 by shoulder joint regulating device 6, and the other end of described mechanical forearm 7 is filled by elbow joint
Put 8 and be connected with mechanical arm 9, the other end of described mechanical arm 9 is connected with manipulator 11, described machine by wrist joint device 10
The side of tool hand 11 is provided with camera 12, and the lower surface of described mechanical arm 9 is provided with pole 13, is connected with described pole 13
Collection funnel 14, described collection funnel 14 are connected with flexible pipe 15, and the side of described base 3 is provided with conveyer belt 16.
Preferably, described manipulator 11 includes four mechanical paws 111, and the mechanical paw 11 described in four is fixed
On manipulator seat 112, the bottom of the mechanical paw 111 described in four is respectively connected with travelling gear 113, described manipulator seat
112 centre position is provided with drive lead screw 114, and described drive lead screw 114 connects with described travelling gear 113, described
One end DC servo motor 115 of drive lead screw 114 connects, and described manipulator seat 112 is provided with touch sensor 116.
Preferably, four described mechanical paws 111 include three flat mouth grippers 117 and a cutting edge gripper
118, described cutting edge gripper 118 includes cutting edge portion 119, and described cutting edge portion 119 passes through spring 120 and gripper
Bottom 121 connects, and the described lower section of spring 120 is provided with pressure sensor 122.
Preferably, described camera 12 is binocular camera.
Preferably, the waist joint arrangement 4, shoulder joint regulating device 6, elbow joint device 8, wrist joint device 10 are by planet
Gear drive 123, servomotor 124 are formed, and can be converted to the slow-speed of revolution, the high-torque of the requirement of picking mechanical arm 9.
Preferably, the side of described car body 1 is provided with single-chip microcomputer 17, and described single-chip microcomputer 17 is connected with navigation position instrument
18, the mode that the design is combined using DGPS navigation and binocular camera carries out automatic obstacle avoiding navigation, and DGPS first carries out position
Positioning, pavement image is then gathered by the binocular camera of the end of mechanical arm 9, the walnut of picker road surface both sides is green
Color is higher, so the aberration difference of road surface and background is obvious, has independently analysed whether obstacle after binocular camera collection picture, has had
Obstacle is automatically stopped advance, is alarmed.There is no barrier to move on.
Some one exemplary embodiments of the present utility model are only described by way of explanation above, undoubtedly, for
One of ordinary skill in the art, can be with a variety of modes to institute in the case of without departing from the scope of the utility model
The embodiment of description is modified.Therefore, above-mentioned accompanying drawing and description are inherently illustrative, should not be construed as to this practicality
The limitation of new claims.
Unless otherwise defined, all academic and scientific terminologies used herein have the utility model art
The identical meanings that those of ordinary skill is understood.
In the case of inconsistent, the definition in this specification is defined.
Unless otherwise indicated, all percentage, number, ratio etc. are by weight.
When providing numerical value or number range, a series of preferred scope or lower preferable values and upper limit preferred value, should manage
It is solved to specifically disclose by any of any less range limit or preferred value and any larger range limit or preferred value
Any scope that one logarithm value is formed, regardless of whether scope is disclosed respectively.Unless otherwise indicated, described in this specification
In place of number range, described scope is intended to include all integers and fraction in range endpoints and scope.
When term " about " or " left and right " are used to describe the end value of numerical value or scope, disclosure of that should include this
Concrete numerical value or involved end value.
Key element and component of the present utility model are described using the usage of " one " and "/kind ", this simply for convenient and
In order to provide the utility model ordinary circumstance.Unless otherwise obvious statement, the explanation should be interpreted as to including/kind or at least
One/kind.
Claims (6)
1. the shearing walnut picking device of multiple degrees of freedom, it is characterised in that：Include car body, described car body is provided with abdominal belt
Wheel, the top of described car body are provided with base, and described base is connected with mechanical large arm, described machine by waist joint arrangement
One end of tool large arm is connected with mechanical forearm by shoulder joint regulating device, and the other end of described mechanical forearm passes through elbow joint device
It is connected with mechanical arm, the other end of described mechanical arm is connected with manipulator by wrist joint device, and the one of described manipulator
Side is provided with camera, and the lower surface of described mechanical arm is provided with pole, collection funnel, described receipts are connected with described pole
Collection funnel is connected with flexible pipe, and the side of described base is provided with conveyer belt.
2. the shearing walnut picking device of multiple degrees of freedom according to claim 1, it is characterised in that：Described mechanical handbag
Four mechanical paws are included, the mechanical paw described in four is each attached on manipulator seat, the bottom of the mechanical paw described in four
Portion is respectively connected with travelling gear, and the centre position of described manipulator seat is provided with drive lead screw, described drive lead screw with it is described
Travelling gear connect, one end DC servo motor of described drive lead screw connects, and described manipulator seat is provided with tactile
Sensor.
3. the shearing walnut picking device of multiple degrees of freedom according to claim 2, it is characterised in that：Four described machineries
Paw includes three flat mouth grippers and a cutting edge gripper, and described cutting edge gripper includes cutting edge portion, described
Cutting edge portion be connected by spring with gripper bottom, be provided with pressure sensor below described spring.
4. the shearing walnut picking device of multiple degrees of freedom according to claim 1, it is characterised in that：Described camera is
Binocular camera.
5. the shearing walnut picking device of multiple degrees of freedom according to claim 1, it is characterised in that：The waist joint dress
Put, shoulder joint regulating device, elbow joint device, wrist joint device are formed by planetary gear mechanism, servomotor.
6. the shearing walnut picking device of multiple degrees of freedom according to claim 1, it is characterised in that：The one of described car body
Side is provided with single-chip microcomputer, and described single-chip microcomputer is connected with navigation position instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720663775.6U CN206879487U (en) | 2017-06-08 | 2017-06-08 | The shearing walnut picking device of multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720663775.6U CN206879487U (en) | 2017-06-08 | 2017-06-08 | The shearing walnut picking device of multiple degrees of freedom |
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| Publication Number | Publication Date |
|---|---|
| CN206879487U true CN206879487U (en) | 2018-01-16 |
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ID=61318366
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720663775.6U Expired - Fee Related CN206879487U (en) | 2017-06-08 | 2017-06-08 | The shearing walnut picking device of multiple degrees of freedom |
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| CN (1) | CN206879487U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575318A (en) * | 2018-04-20 | 2018-09-28 | 长安大学 | A kind of strawberry automatic picking apparatus and method based on flexible manipulator |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN114408195A (en) * | 2022-02-24 | 2022-04-29 | 中华人民共和国新生圩海关 | Mechanical gripper and unmanned aerial vehicle |
-
2017
- 2017-06-08 CN CN201720663775.6U patent/CN206879487U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575318A (en) * | 2018-04-20 | 2018-09-28 | 长安大学 | A kind of strawberry automatic picking apparatus and method based on flexible manipulator |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111034465B (en) * | 2020-01-14 | 2021-05-18 | 芜湖挺优机电技术有限公司 | Apple picking robot |
| CN114408195A (en) * | 2022-02-24 | 2022-04-29 | 中华人民共和国新生圩海关 | Mechanical gripper and unmanned aerial vehicle |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180116 Termination date: 20180608 |