CN206879491U - The automatic picking mechanism of orange picking machine - Google Patents
The automatic picking mechanism of orange picking machine Download PDFInfo
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- CN206879491U CN206879491U CN201720454775.5U CN201720454775U CN206879491U CN 206879491 U CN206879491 U CN 206879491U CN 201720454775 U CN201720454775 U CN 201720454775U CN 206879491 U CN206879491 U CN 206879491U
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Abstract
The utility model provides a kind of automatic picking mechanism of orange picking machine, belongs to field of agricultural production technologies.The problem of it solves existing picking mechanical fruit-picking one by one, and picking efficiency is low.It includes lower casing and upper cover plate, upper cover plate side is rotatably connected to the side of lower casing by rotating dog, the driver for driving the rich rotating dog circumferential movement of upper casing is provided with lower casing, upper casing upper surface is provided with picking mechanism, and upper casing inner surface setting has colour recognition mechanism.The utility model has that picking efficiency is high, strong adaptability, the advantages that plucking steady quality.
Description
Technical field
The utility model belongs to field of agricultural production technologies, is related to a kind of automatic picking mechanism of orange picking machine.
Background technology
The cultivated area of fruit greatly increases in agricultural production, is different from the farming production of cereal crops, application
Manufacturing requirements is higher, and labor intensity is bigger, especially the harvesting work of fruit, deep by time conditions and the shadow of steric requirements
Ring, complete the harvesting task of high work density in a short time, in order to reduce fruit picking labor intensity, improve production efficiency,
People start to develop various picking mechanicals, and wherein picking robot is a main research direction, and plucking executing agency is
The important component of picking robot, and fruit growth form and growth pattern have greatly difference, thus people develop a variety of
Various harvesting executing agency.
For example, Chinese patent literature, which discloses a kind of picking hands, grabs [application number：201410028409.4], including fruit suction
Adnexa, for adsorbed target fruit, fruit clamper is connected with fruit absorber, for clamping fruit, fruit screwing device and water
Fruit clamper connects, and makes its limb that comes off for screwing fruit, solves the grow thickly harvesting of fruit such as tomato and is difficult to look for and takes carpopodium
The problem of.
Preferably fruit is taken although such scheme has, needs fruit-picking one by one, picking efficiency is low, and fruit
Real is not of uniform size, and crawl is elastic and dynamics needs to realize by substantial amounts of sensing device, reduce further work effect
Rate and exploitativeness.
Utility model content
The purpose of this utility model is in view of the above-mentioned problems, providing a kind of automatic picking mechanism of orange picking machine.
To reach above-mentioned purpose, the utility model employs following technical proposal：A kind of automatic harvesting of orange picking machine
Mechanism, including lower casing, described lower casing are square and upper surface are provided with receiving port, and output is provided with lower surface
Mouthful, described delivery outlet is connected with an impact bag, and upper cover plate, described upper cover plate side are provided with above described delivery outlet
The side of lower casing is rotatably connected to by rotating dog, is provided with described lower casing for driving the rich rotation of upper casing
Sell the motor of circumferential movement.
In the automatic picking mechanism of above-mentioned orange picking machine, described upper casing inner surface setting has colour recognition machine
Structure, driver, the exportable straight line power of driver is provided with described upper casing, described driver output end is provided with peace
Loading board, is provided with hundred section pipes between described installing plate and driver, one side of the described installing plate away from driver is detachable
Two grippers are installed.
In the automatic picking mechanism of above-mentioned orange picking machine, described gripper is horizontally arranged, described gripper
Including the first corpus unguis and the second corpus unguis, the first described corpus unguis is fixedly connected in obtuse angle with the second corpus unguis, the second described corpus unguis
The second corpus unguis pawl point described in rubber sleeve is above covered all the time to fall within the scope of lower house.
In the automatic picking mechanism of above-mentioned orange picking machine, described lower house is inside the side provided with rotating dog
The exportable rotating driver that circumferential movement is done along rotating dog axis is provided with, described rotating driver output end is fixedly connected
On upper shell.
In the automatic picking mechanism of above-mentioned orange picking machine, described lower house is set being provided with the outside of rotating dog
The first rotary joint is equipped with, the first described rotary joint includes the upper disk and lower disc of coaxial line, and described upper disk is consolidated
Dingan County is upper mounted in lower house, and described side of the lower disc away from upper disk is provided with first mechanical arm, described upper disk
Its axis that can have mercy on axially moves.
In the automatic picking mechanism of above-mentioned orange picking machine, described first mechanical arm is close to one end of lower disc
Kink is provided with, described lower disc axis overlaps with kink axis, the axis and first mechanical arm of described lower disc
Axis in obtuse angle.
In the automatic picking mechanism of above-mentioned orange picking machine, described first mechanical arm is included described in upper arm and underarm
Upper arm and underarm between be provided with expansion link, described expansion link is fixedly connected on upper arm, and described expansion link is away from upper arm
One end be provided with piston plate, be provided with linear oil cylinder in described underarm, and can be straight in described piston plate insertion linear oil cylinder
Piston movement is done in line oil cylinder.
In the automatic picking mechanism of above-mentioned orange picking machine, the one end of described underarm away from upper arm is provided with second
Rotary joint, the rotation axis of the second described rotary joint is vertical with the axis of first mechanical arm, and the described second rotation is closed
Side of the section away from underarm has been rotatably connected second mechanical arm.
In the automatic picking mechanism of above-mentioned orange picking machine, described second mechanical arm is away from the second rotary joint
One end is provided with the 3rd rotary joint, the vertical axis with second mechanical arm of the 3rd described rotary joint axial rotary, described
The 3rd rotary joint below be provided with turntable, described turntable rotation axis is perpendicular to horizontal plane.
In the automatic picking mechanism of above-mentioned orange picking machine, described colour recognition mechanism include color sensor and
Range sensor, guard rail is provided with before described colour recognition mechanism.
Compared with prior art, the utility model has the advantage of：
1. color sensor and range sensor determine fruit positional information, accurate positioning is quick.
2. gripper can realize multiple fruits while win, picking efficiency is high, steady quality.
The setting of 3 transfer passages, gripper immediately began to for the second plucking cycle after plucking fruit separation carpopodium, during waste
Between few, efficiency high.
Brief description of the drawings
Fig. 1 is structural representation provided by the utility model.
Fig. 2 is the structural representation of another angle provided by the utility model.
In figure, lower casing 1, receiving port 11, delivery outlet 12, impact bag 13, rotating dog 14, the first rotary joint 15, upper circle
Disk 151, lower disc 152, upper casing 2, driver 3, picking mechanism 4, installing plate 41, hundred save pipe 42, gripper 43, the first corpus unguis
431st, the second corpus unguis 432, rubber sleeve 433, colour recognition mechanism 5, color sensor 51, range sensor 52, guard rail 53,
One mechanical arm 6, kink 61, upper arm 62, underarm 63, the second rotary joint 64, expansion link 65, second mechanical arm the 7, the 3rd rotate
Joint 71, turntable 72.
Embodiment
As shown in figure 1, a kind of automatic picking mechanism of orange picking machine, including lower casing 1, it is characterised in that it is described
Lower casing 1 is square and receiving port 11 is provided with upper surface, and delivery outlet 12 is provided with lower surface, and described delivery outlet 12 connects
An impact bag 13 is connected to, the described top of delivery outlet 12 is provided with upper casing 2, and the described side of upper casing 2 passes through rotating dog
Be rotatably connected to the side of lower casing 1, be provided with described lower casing 1 for drive upper casing 2 have mercy on rotating dog circumference
The driver 3 of motion, the described upper surface of upper casing 2 are provided with picking mechanism 4.
It is in yellow after orange maturation, has any different and determine the direction of ripening fruits in the green of leaf, color sensor 51, away from
From sensor 52 determine gripper 43 and fruit relative position and with a distance from, first mechanical arm 6 and second mechanical arm 7 are according to color
The fruit positional information that sensor 51 and range sensor 52 are gathered, gripper 43 is delivered to the position of harvesting fruit, machinery
Pawl 43 adopts down fruit.
The described inner surface setting of upper casing 2 has colour recognition mechanism 5.And top is provided with driver 3, driver 3 can
The output end of driver 3 described in output straight line power is provided with installing plate 41, is set between described installing plate 41 and driver 3
There are hundred section pipes 42, described one side of the installing plate 41 away from driver 3 is detachably provided with two grippers 43.
Gripper 43 is horizontally arranged, and described gripper 43 includes the first corpus unguis 431 and the second corpus unguis 432, and described
One corpus unguis 431 is fixedly connected in obtuse angle with the second corpus unguis 432, and the described in rubber sleeve 433 is covered on the second described corpus unguis 432
The pawl point of two corpus unguis 432 falls within the scope of lower casing 1 all the time.
Before plucking fruit.Upper casing 2 is opened, and color sensor 51 and range sensor 52 determine fruit position, the first machine
Tool arm 6 and the cooperative cooperating of second mechanical arm 7, the lower section upper casing 2 that lower house 1 delivers to fruit are rotated, and the second corpus unguis 432 is delivered to
The behind of fruit, driver 3 reclaim, and the second corpus unguis 432 separates fruit with branch, and fruit is fallen into impact bag, then by soft
Fruit is sent to the storing mechanism of orange picking machine by pipe.
Specifically, as shown in Figure 2, lower casing 1 is internally provided with exportable along rotating dog in the side provided with rotating dog 14
Axis does the rotating driver (not shown) of circumferential movement, and rotating driver can be motor or hydraulic motor or gear band
Dynamic driving structure, rotating driver output end are fixedly connected on upper casing 2.
Lower casing 1 is provided with the first rotary joint 15, the first described rotary joint in the outside for being provided with rotating dog 14
15 include the upper disk 151 and lower disc 152 of coaxial line, and described upper disk 151 is fixedly mounted on the upper of lower casing 1, described
Side of the lower disc 152 away from upper disk 151 be provided with first mechanical arm 6, described upper disk 151 its axis that can have mercy on does week
To motion.
Preferably, first mechanical arm 6 is provided with kink 61, described lower disc 152 in one end close to lower disc 152
Axis overlaps with the axis of kink 61, and the axis of described lower disc 152 and the axis of first mechanical arm 6 are in obtuse angle.When upper circle
When disk 151 rotates, the relative change occurred with the position of fruit spatially of gripper 43.
First mechanical arm 6 includes being provided with expansion link 65 between upper arm 62 and upper arm 62 and underarm 63 described in underarm 63,
Described expansion link is fixedly connected on upper arm 62, and the described one end of expansion link 65 away from upper arm 62 is provided with piston plate, described
Linear oil cylinder is provided with underarm 63, described piston plate inserts in linear oil cylinder and piston movement can be done in linear oil cylinder.
After determining fruit direction, expansion link 65 is extended, and gripper 43 is delivered at fruit, avoids first mechanical arm 6 and
Two mechanical arms 7 act fruit tree of damaging.When plucking fruit, when the stroke deficiency of driver 3 is by under fruit, expansion link
65 retractions, continue stroke by under fruit.
Specifically, the one end of underarm 63 away from upper arm 62 is provided with the second rotary joint 64, the second described rotary joint
64 rotation axis is vertical with the axis of first mechanical arm 6, and the second described side of the rotary joint 64 away from underarm is rotatable
It is connected with second mechanical arm 7.
The one end of second mechanical arm 7 away from the second rotary joint 64 is provided with the 3rd rotary joint 71, the described the 3rd rotation
Turn the axial rotary of the joint 71 vertically axis with second mechanical arm 7, the described lower section of the 3rd rotary joint 71 is provided with turntable
72, the described rotation axis of turntable 72 is perpendicular to horizontal plane.
Preferably, colour recognition mechanism 5 includes color sensor 51 and range sensor 52, described colour recognition mechanism
Guard rail 53 is provided with before 5.Color sensor 51 and range sensor 52 can select commercially available product, as color sensor can
From the PC-C color spectrum sensors of Shenzhen Shen Pu Electric Applicance Co., Ltd production, Dongguan City cloud brightness electricity can be selected in range sensor
The cloud brightness HC-SR04 range finder modules of sub- Co., Ltd's production.
Operation principle of the present utility model：
It is in yellow after orange maturation, has any different and determine the direction of ripening fruits in the green of leaf, color sensor 51, away from
From sensor 52 determine gripper 43 and fruit relative position and with a distance from, first mechanical arm 6 and second mechanical arm 7 are according to color
The fruit positional information that sensor 51 and range sensor 52 are gathered, gripper 43 is delivered to the position of harvesting fruit, machinery
Pawl 43 adopts down fruit.
Before plucking fruit.Upper casing 2 is opened, and color sensor 51 and range sensor 52 determine fruit position, the first machine
Tool arm 6 and the cooperative cooperating of second mechanical arm 7, the lower section upper casing 2 that lower house 1 delivers to fruit are rotated, and the second corpus unguis 432 is delivered to
The behind of fruit, driver 3 reclaim, and the second corpus unguis 432 separates fruit with branch, and fruit is fallen into impact bag, then by soft
Fruit is sent to the storing mechanism of orange picking machine by pipe.
It is of the present utility model preferential：
1. color sensor and range sensor determine fruit positional information, accurate positioning is quick.
2. gripper can realize multiple fruits while win, picking efficiency is high, steady quality.
The setting of 3 transfer passages, gripper immediately began to for the second plucking cycle after plucking fruit separation carpopodium, during waste
Between few, efficiency high.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute
Category those skilled in the art can make various modifications or supplement to described specific embodiment or using similar
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Although lower casing 1, receiving port 11, delivery outlet 12, impact bag 13, rotating dog 14, first have more been used herein
Rotary joint 15, upper disk 151, lower disc 152, upper casing 2, driver 3, picking mechanism 4, installing plate 41, hundred save pipe 42, machine
Machinery claw 43, the first corpus unguis 431, the second corpus unguis 432, rubber sleeve 433, colour recognition mechanism 5, color sensor 51, Distance-sensing
Device 52, guard rail 53, first mechanical arm 6, folding part 61, upper arm 62, underarm 63, the second rotary joint 64, second mechanical arm 7,
Three rotary joints 71, turntable 72.Deng term, but it is not precluded from the possibility using other terms.Using these terms only
Be in order to more easily describe and explain essence of the present utility model, be construed as any additional limitation be all with
The utility model spirit is disagreed.
Claims (10)
1. a kind of automatic picking mechanism of orange picking machine, including lower casing (1), it is characterised in that described lower casing (1) is in
It is square and receiving port (11) is provided with upper surface, delivery outlet (12), described delivery outlet (12) connection are provided with lower surface
There is an impact bag (13), be provided with upper casing (2) above described delivery outlet (12), described upper casing (2) side passes through
Rotating dog is rotatably connected to the side of lower casing (1), is provided with described lower casing (1) for driving upper casing (2)
The motor of rich rotating dog circumferential movement.
2. the automatic picking mechanism of orange picking machine according to claim 1, it is characterised in that described upper casing (2)
Inner surface setting has colour recognition mechanism (5), and driver (3), the exportable straight line of driver are provided with described upper casing (2)
Power, described driver (3) output end are provided with installing plate (41), set between described installing plate (41) and driver (3)
Hundred section pipes (42) are equipped with, one side of the described installing plate (41) away from driver (3) is detachably provided with two grippers (43).
3. the automatic picking mechanism of orange picking machine according to claim 2, it is characterised in that described gripper (43)
Horizontally arranged, described gripper (43) includes the first corpus unguis (431) and the second corpus unguis (432), described the first corpus unguis (431)
It is fixedly connected in obtuse angle with the second corpus unguis (432), second described in rubber sleeve (433) is covered on described the second corpus unguis (432)
Corpus unguis (432) pawl point falls within the scope of lower casing (1) all the time.
4. the automatic picking mechanism of orange picking machine according to claim 3, it is characterised in that described lower casing (1)
The exportable rotating driver that circumferential movement is done along rotating dog axis is internally provided with the side provided with rotating dog (14), it is described
Rotating driver output end be fixedly connected on upper casing (2).
5. the automatic picking mechanism of orange picking machine according to claim 4, it is characterised in that described lower casing (1)
The first rotary joint (15) is provided with being provided with the outside of rotating dog (14), described the first rotary joint (15) includes coaxial
The upper disk (151) and lower disc (152) of line, described upper disk (151) is fixedly mounted on the upper of lower casing (1), described
Side of the lower disc (152) away from upper disk (151) is provided with first mechanical arm (6), and described upper disk (151) can have mercy on it
Axis does circumferential movement.
6. the automatic picking mechanism of orange picking machine according to claim 5, it is characterised in that described first mechanical arm
(6) one end of lower disc (152) is being provided with kink (61), described lower disc (152) axis and kink (61)
Axis overlaps, and the axis of described lower disc (152) and the axis of first mechanical arm (6) are in obtuse angle.
7. the automatic picking mechanism of orange picking machine according to claim 6, it is characterised in that described first mechanical arm
(6) it is described including being provided with expansion link (65) between the upper arm (62) and underarm (63) described in upper arm (62) and underarm (63)
Expansion link is fixedly connected on upper arm (62), and the one end of described expansion link (65) away from upper arm (62) is provided with piston plate, described
Linear oil cylinder is provided with underarm (63), described piston plate inserts in linear oil cylinder and piston movement can be done in linear oil cylinder.
8. the automatic picking mechanism of orange picking machine according to claim 7, it is characterised in that described underarm (63) is remote
One end from upper arm (62) is provided with the second rotary joint (64), the rotation axis and first of described the second rotary joint (64)
The axis of mechanical arm (6) is vertical, and side of described the second rotary joint (64) away from underarm has been rotatably connected the second machinery
Arm (7).
9. the automatic picking mechanism of orange picking machine according to claim 8, it is characterised in that described second mechanical arm
(7) one end away from the second rotary joint (64) is provided with the 3rd rotary joint (71), the 3rd described rotary joint (71) rotation
Turn axially vertical and the axis of second mechanical arm (7), the 3rd described rotary joint (71) lower section are provided with turntable (72), institute
Turntable (72) rotation axis stated is perpendicular to horizontal plane.
10. the automatic picking mechanism of orange picking machine according to claim 2, it is characterised in that described colour recognition
Mechanism (5) includes color sensor (51) and range sensor (52), and guard rail is provided with before described colour recognition mechanism (5)
(53)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720454775.5U CN206879491U (en) | 2017-04-26 | 2017-04-26 | The automatic picking mechanism of orange picking machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720454775.5U CN206879491U (en) | 2017-04-26 | 2017-04-26 | The automatic picking mechanism of orange picking machine |
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| CN206879491U true CN206879491U (en) | 2018-01-16 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575319A (en) * | 2018-04-27 | 2018-09-28 | 中国农业科学院麻类研究所 | A kind of control system of automatic picking machine |
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
| CN111820004A (en) * | 2020-07-22 | 2020-10-27 | 安徽省农业科学院农业工程研究所 | Thin-shell pecan fruit harvesting device |
| CN112273050A (en) * | 2020-11-09 | 2021-01-29 | 王爽 | Rapid picking equipment for persimmon trees and using method thereof |
| CN113950952A (en) * | 2021-09-23 | 2022-01-21 | 江苏大学 | Portable semi-automatic waxberry picking machine |
-
2017
- 2017-04-26 CN CN201720454775.5U patent/CN206879491U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108575319A (en) * | 2018-04-27 | 2018-09-28 | 中国农业科学院麻类研究所 | A kind of control system of automatic picking machine |
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
| CN111820004A (en) * | 2020-07-22 | 2020-10-27 | 安徽省农业科学院农业工程研究所 | Thin-shell pecan fruit harvesting device |
| CN111820004B (en) * | 2020-07-22 | 2023-12-12 | 安徽省农业科学院农业工程研究所 | Apocarya fruit harvesting device |
| CN112273050A (en) * | 2020-11-09 | 2021-01-29 | 王爽 | Rapid picking equipment for persimmon trees and using method thereof |
| CN113950952A (en) * | 2021-09-23 | 2022-01-21 | 江苏大学 | Portable semi-automatic waxberry picking machine |
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