CN207612674U - A kind of medlar-picking machine device people of novel intelligent control - Google Patents
A kind of medlar-picking machine device people of novel intelligent control Download PDFInfo
- Publication number
- CN207612674U CN207612674U CN201721526441.0U CN201721526441U CN207612674U CN 207612674 U CN207612674 U CN 207612674U CN 201721526441 U CN201721526441 U CN 201721526441U CN 207612674 U CN207612674 U CN 207612674U
- Authority
- CN
- China
- Prior art keywords
- finger
- sleeve
- hinged
- fixinig plate
- medlar
- 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.)
- Active
Links
Abstract
The utility model discloses a kind of medlar-picking machine device people of novel intelligent control, pedestal is arranged in fixinig plate lower end；Fixinig plate is connected to pedestal upper end both sides；First finger one end is hinged with block set, and the first finger middle and lower part is hinged with fixinig plate side；Second finger one end is hinged with block set, and second finger middle and lower part is hinged with the fixinig plate other side；Third finger one end is hinged with block set, and third finger middle and lower part is hinged with the fixinig plate other side；Sleeve is arranged in pedestal upper end, and sleeve is located on the inside of fixinig plate；Buffer spring is arranged in sleeve inner；Block set is connected to buffer spring top；First drive link is arranged in sleeve both sides, and first drive link one end is slidably connected with sleeve, is hinged in the middle part of the first drive link other end and the second drive link；Vision camera is fixed on sleeve top surface；Pressure sensor is arranged in the first finger side.The utility model is efficient, and moving process fruit is not easy to fall, and has liberated labour, reduces picking cost.
Description
Technical field
The utility model is related to picking fruit technical fields, and in particular to a kind of medlar-picking machine device of novel intelligent control
People.
Background technology
Matrimony vine is the multiple-limb shrub plant of Solanaceae Lycium, can be eaten as fruit, and nutritive value is abundant.China
Northwest, northeast, a large amount of plantation in the north.The big pericarp of matrimony vine water content is relatively thin to belong to berry, is easy to be damaged when winning.
Currently, the picking work of matrimony vine is mainly based on manpower, matrimony vine mature period Relatively centralized, labor intensity is larger.And matrimony vine
Maturity period concentrates on summer, hot weather.Matrimony vine planting area generally has the sharp aromas such as nature extensive use of chemical fertilizer fertilizer, one when manpower is picked
As band mask, aggravate hot degree, not only picking efficiency is low, but also picking personnel may heatstroke.With matrimony vine cultivated area
Constantly expand, shortage occurs in picking matrimony vine labour, and picking expense rises steadily, and matrimony vine planting cost increases substantially.It is existing
Picker, structure design is unreasonable, and fruit is easy to fall or crush in picking process, cannot meet the picking demand of matrimony vine.
Utility model content
The purpose of this utility model is to provide a kind of medlar-picking machine device people of novel intelligent control, pass through existing list
Piece machine and industrial camera technology realize intelligent control, and use design of Simulation, reasonable for structure, and picking efficiency is high, moving process
In, fruit is not easy to fall.
To achieve the above object, the technical solution of the utility model is：A kind of medlar-picking machine device of novel intelligent control
People, including pedestal, fixinig plate, the first finger, second finger, third finger, sleeve, buffer spring, block set, the first driving company
Bar, the second drive link, vision camera, pressure sensor；The pedestal is arranged in the fixinig plate lower end；The fixinig plate connects
It is connected on pedestal upper end both sides；First finger one end is hinged with the block set, the first finger middle and lower part with it is described solid
Stator side is hinged；Described second finger one end is hinged with the block set, and second finger middle and lower part and the fixinig plate are another
Side is hinged；Third finger one end is hinged with the block set, third finger middle and lower part and the fixinig plate other side
It is hinged；The sleeve is arranged in the pedestal upper end, and sleeve is located on the inside of the fixinig plate；The buffer spring is arranged in institute
State sleeve inner；The block set is connected to the buffer spring top；First drive link is arranged in the sleeve both sides,
First drive link one end is slidably connected with the sleeve, and the first drive link other end is cut with scissors in the middle part of second drive link
Connection；Second drive link one end is hinged with the fixinig plate lower part；The vision camera is fixed on the sleeve top
Face；The pressure sensor is arranged in first finger side.
A kind of medlar-picking machine device people of novel intelligent control as described above, the pedestal is cylindrical, Chuck top
It is fixedly connected with the buffer spring.Pedestal is played a supporting role, and manipulator can be assembled on picking mechanical by pedestal.
A kind of medlar-picking machine device people of novel intelligent control as described above, the fixinig plate is in Y types, fixinig plate top
End curves inwardly with first finger junction.Fixinig plate is designed to Y types, is limited finger by fixinig plate, each hand
Finger is hinged with fixinig plate.
A kind of medlar-picking machine device people of novel intelligent control as described above, first finger are located at the second-hand
Refer between third finger, first finger, second finger and third finger are in bending, first finger, second-hand
Refer to and third finger is mutually mediated.Each finger uses design of Simulation, simulates actual finger, good clamping effect in picking process.
A kind of medlar-picking machine device people of novel intelligent control as described above, the vision camera are arranged in the sleeve
Top surface is located at the second finger and third finger side, vision camera are connect with microcontroller.Vision camera uses industrial intelligent
Camera belongs to the prior art, and matrimony vine is identified by vision camera, and vision camera setting is in sleeve top surface, identification picking
Position is accurate.
A kind of medlar-picking machine device people of novel intelligent control as described above, the pressure sensor are connected to monolithic
Machine, pressure sensor transmit pressure signal to microcontroller.Pressure sensor belongs to the prior art, and hand is controlled by pressure sensor
The clamping force of finger prevents Chinese wolfberry fruit from clipping broken or falling.
A kind of medlar-picking machine device people of novel intelligent control as described above, the block set is U-shaped, block set lower end and institute
Buffer spring is stated to be fixedly connected.Block set not only acts as the effect of fixed finger, and block set is connect with buffer spring, buffer spring
It is driven by drive link.
A kind of medlar-picking machine device people of novel intelligent control as described above, the sleeve both sides are equipped with strip-shaped hole, set
Cylinder is slidably connected by the strip-shaped hole and first drive link.First drive link slides up and down, and drives spring-compressed
Or stretching, extension, and then block set is driven to move up and down, realize opening and the kneading of finger.
A kind of medlar-picking machine device people of novel intelligent control as described above, second drive link are connected with stepping
Motor, the stepper motor are connected to microcontroller.Stepper motor realizes power output under the control of microcontroller.
The utility model has the following advantages that：Pedestal is arranged in fixinig plate lower end；Fixinig plate is connected to pedestal upper end both sides；
First finger one end is hinged with block set, and the first finger middle and lower part is hinged with fixinig plate side；Second finger one end and block set
It is hinged, second finger middle and lower part is hinged with the fixinig plate other side；Third finger one end is hinged with block set, in third finger
Lower part is hinged with the fixinig plate other side；Sleeve is arranged in pedestal upper end, and sleeve is located on the inside of fixinig plate；Buffer spring setting exists
Sleeve inner；Block set is connected to buffer spring top；The setting of first drive link in sleeve both sides, first drive link one end with
Sleeve is slidably connected, and is hinged in the middle part of the first drive link other end and the second drive link；Second drive link one end with it is solid
Stator lower part is hinged；Vision camera is fixed on sleeve top surface；Pressure sensor is arranged in the first finger side.The utility model
Intelligent control is realized by existing microcontroller and industrial camera technology, and uses design of Simulation, reasonable for structure, picking efficiency
Height, in moving process, fruit is not easy to fall, and has liberated labour, reduces picking cost.
Description of the drawings
Fig. 1 is medlar-picking machine device people's structural schematic diagram of novel intelligent control；
Fig. 2 is medlar-picking machine device people's vertical view of novel intelligent control；
Fig. 3 is medlar-picking machine device people pedestal, fixinig plate and the sleeve combination structural schematic diagram of novel intelligent control；
Fig. 4 is medlar-picking machine device people's holder with sleeve cover schematic diagram of novel intelligent control.
Specific implementation mode
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of medlar-picking machine device people of novel intelligent control, including pedestal 1, fixinig plate
2, the first finger 3, second finger 4, third finger 5, sleeve 6, buffer spring 7, block set 8, the driving of the first drive link 9, second
Connecting rod 10, vision camera 11, pressure sensor 12；The pedestal 1 is arranged in 2 lower end of the fixinig plate；The fixinig plate 2 connects
In 1 upper end both sides of the pedestal；Described first finger, 3 one end is hinged with the block set 8,3 middle and lower part of the first finger with it is described
2 side of fixinig plate is hinged；4 one end of the second finger is hinged with the block set 8,4 middle and lower part of second finger with it is described solid
2 other side of stator is hinged；Described 5 one end of third finger is hinged with the block set 8,5 middle and lower part of third finger with it is described solid
2 other side of stator is hinged；The sleeve 6 is arranged in 1 upper end of the pedestal, and sleeve 6 is located at 2 inside of the fixinig plate；It is described
Buffer spring 7 is arranged inside the sleeve 6；The block set 8 is connected to 7 top of the buffer spring；First driving connects
Bar 9 is arranged in 6 both sides of the sleeve, and 9 one end of the first drive link is slidably connected with the sleeve 6, and the first drive link 9 is another
End is hinged with second drive link, 10 middle part；Described second drive link, 10 one end is hinged with 2 lower part of the fixinig plate
It connects；The vision camera 11 is fixed on 6 top surface of the sleeve；The pressure sensor 12 is arranged in 3 side of the first finger.
In the embodiment of the medlar-picking machine device people of novel intelligent control, the pedestal 1 is cylindrical, pedestal 1
Top is fixedly connected with the buffer spring 7.Pedestal 1 is played a supporting role, and manipulator can be assembled into picking by pedestal 1
Mechanically.
In the embodiment of the medlar-picking machine device people of novel intelligent control, the fixinig plate 2 is in Y types, fixinig plate
2 tops curve inwardly with 3 junction of the first finger.Fixinig plate 2 is designed to Y types, is limited finger by fixinig plate 2
Position, each finger are hinged with fixinig plate 2.
In the embodiment of the medlar-picking machine device people of novel intelligent control, first finger 3 is located at described the
Between two fingers 4 and third finger 5, first finger 3, second finger 4 and third finger 5 are in bending, described first-hand
Refer to 3, second finger 4 and third finger 5 is mutually mediated.Each finger uses design of Simulation, simulates actual finger, is pressed from both sides in picking process
Holding effect fruit is good.
In the embodiment of the medlar-picking machine device people of novel intelligent control, the vision camera 11 is arranged in institute
It states 6 top surface of sleeve and is located at 5 side of the second finger 4 and third finger, vision camera 11 is connect with microcontroller.Vision camera 11
Using industrial intelligent camera, belong to the prior art, matrimony vine is identified by vision camera 11, the setting of vision camera 11 is covering
6 top surfaces of cylinder, identification picking position are accurate.
In the embodiment of the medlar-picking machine device people of novel intelligent control, the pressure sensor 12 is connected to list
Piece machine, pressure sensor 12 transmit pressure signal to microcontroller.Pressure sensor 12 belongs to the prior art, passes through pressure sensing
Device 12 controls the clamping force of finger, prevents Chinese wolfberry fruit from clipping broken or falling.
In an embodiment referring to Fig. 4, novel intelligent medlar-picking machine device people controlled, the block set 8 is U-shaped,
8 lower end of block set is fixedly connected with the buffer spring 7.Block set 8 not only acts as the effect of fixed finger, and block set 8 and buffering
Spring 7 connects, and buffer spring 7 is driven by drive link.
In the embodiment of the medlar-picking machine device people of novel intelligent control, 6 both sides of the sleeve are equipped with strip-shaped hole
13, sleeve 6 is slidably connected by the strip-shaped hole 13 and first drive link 9.First drive link 9 slides up and down, band
Dynamic spring-compressed or stretching, extension, and then block set 8 is driven to move up and down, realize opening and the kneading of finger.
In the embodiment of the medlar-picking machine device people of novel intelligent control, second drive link 10 is connected with
Stepper motor, the stepper motor are connected to microcontroller.Stepper motor realizes power output under the control of microcontroller.Microcontroller
A kind of IC chip, using very large scale integration technology with data-handling capacity central processor CPU,
Random access memory ram, read only memory ROM, it is a variety of I/O mouthfuls and interrupt system, the functions such as timer/counter (may be wrapped also
Include the circuits such as display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D converter) it is integrated into structure on one piece of silicon chip
At a small and perfect microcomputer system, in industrial control field extensive use, microcontroller belongs to the prior art.
Utility model works principle flow chart is as follows：
Manipulator occurs to squeeze and generates pressure close to finger during fruit and fruit, is measured by pressure sensor
Force signal is transmitted to microcontroller, judges whether that reaching power closes value, and power here, which closes value, to be arranged according to practical experience, that is, is ensured not
It is slightly less than the power of stable grasp under the premise of damage fruit.During manipulator squeezes fruit, touched if reaching the value
Finger movement is sent out, so the value plays the role of trigger signal.If reaching the value of the closing finger to start to complete stable grasp, then
Manipulator rises, and fruit is promoted and is detached with other fruits, and subsequent moving process is avoided to damage other fruits or periphery
Environment interferes the action of finger, and release fruit finger sets back again after completing picking.And then vision camera judges
In situ whether the fruit, if illustrating not picking down in situ, then continue to pick as new fruit, otherwise illustrate picking at
Work(continues the picking of next fruit.The utility model realizes intelligent control by existing microcontroller and industrial camera technology,
And design of Simulation is used, reasonable for structure, picking efficiency is high, and in moving process, fruit is not easy to fall, and has liberated labour, drop
Low picking cost.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (9)
1. a kind of medlar-picking machine device people of novel intelligent control, it is characterised in that：Including pedestal, fixinig plate, the first finger,
Two fingers, third finger, sleeve, buffer spring, block set, the first drive link, the second drive link, vision camera, pressure pass
Sensor；The pedestal is arranged in the fixinig plate lower end；The fixinig plate is connected to pedestal upper end both sides；It is described first-hand
Refer to one end to be hinged with the block set, the first finger middle and lower part is hinged with the fixinig plate side；Described second finger one end
It is hinged with the block set, second finger middle and lower part is hinged with the fixinig plate other side；Third finger one end and institute
It states block set to be hinged, third finger middle and lower part is hinged with the fixinig plate other side；The sleeve is arranged on the pedestal
End, sleeve are located on the inside of the fixinig plate；The buffer spring is arranged in the sleeve inner；The block set is connected to described slow
Rush spring top；In the sleeve both sides, first drive link one end is slided with the sleeve for the first drive link setting
It is hinged in the middle part of connection, the first drive link other end and second drive link；Second drive link one end and institute
Fixinig plate lower part is stated to be hinged；The vision camera is fixed on the sleeve top surface；Pressure sensor setting is described the
One finger side.
2. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：The pedestal
Cylindrical, Chuck top is fixedly connected with the buffer spring.
3. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：The fixation
Piece is in Y types, and fixinig plate top curves inwardly with first finger junction.
4. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：Described first
For finger between the second finger and third finger, first finger, second finger and third finger are in bending, institute
The first finger, second finger and third finger is stated mutually to mediate.
5. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：The vision
Camera setting is located at the second finger in the sleeve top surface and third finger side, vision camera are connect with microcontroller.
6. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：The pressure
Sensor is connected to microcontroller, and pressure sensor transmits pressure signal to microcontroller.
7. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：The block set
U-shaped, block set lower end is fixedly connected with the buffer spring.
8. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：The sleeve
Both sides are equipped with strip-shaped hole, and sleeve is slidably connected by the strip-shaped hole and first drive link.
9. a kind of medlar-picking machine device people of novel intelligent control according to claim 1, it is characterised in that：Described second
Drive link is connected with stepper motor, and the stepper motor is connected to microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721526441.0U CN207612674U (en) | 2017-11-15 | 2017-11-15 | A kind of medlar-picking machine device people of novel intelligent control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721526441.0U CN207612674U (en) | 2017-11-15 | 2017-11-15 | A kind of medlar-picking machine device people of novel intelligent control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207612674U true CN207612674U (en) | 2018-07-17 |
Family
ID=62828781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721526441.0U Active CN207612674U (en) | 2017-11-15 | 2017-11-15 | A kind of medlar-picking machine device people of novel intelligent control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207612674U (en) |
-
2017
- 2017-11-15 CN CN201721526441.0U patent/CN207612674U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207167087U (en) | Apple-picking machinery hand | |
| CN208258457U (en) | A kind of portable electric fruit picking device | |
| CN205305444U (en) | Manual fruit picking device of cart based | |
| CN207612674U (en) | A kind of medlar-picking machine device people of novel intelligent control | |
| CN110896730B (en) | Pneumatic bionic tea single-bud picking manipulator | |
| CN207767073U (en) | A kind of insect-resistant cover for vegetables | |
| CN207118427U (en) | A kind of electrical water jetting kettle | |
| CN105248048A (en) | Grape picking cart | |
| CN205255008U (en) | Balanced type machinery arm control device | |
| CN208273626U (en) | Labor-saving portable formula cherry harvesting device | |
| CN204832932U (en) | Remote automatic control system is bred to milk cow | |
| CN204244847U (en) | A kind of Intelligent irrigation system | |
| CN207011383U (en) | A kind of edible fungus growing device for automatically opening up ventilating opening | |
| CN205213452U (en) | Ware is picked to high altitude fruit | |
| CN204907255U (en) | Novel domestic fungus bag zha kou device | |
| CN203619722U (en) | Sheep artificial fertilization frame | |
| CN205093394U (en) | Fruit bat pupa moves gets counting assembly | |
| CN208540440U (en) | The flexible cutting strawberry device for picking of one kind | |
| CN205727361U (en) | A kind of automatization young fruit packing machine | |
| CN209660220U (en) | Upper cluster, harvesting of cocoon integration paper cocooning frame | |
| CN205266282U (en) | Ware is picked to cloth bag formula matrimony vine fruit | |
| CN207751645U (en) | Deodorant flowing water voluntarily detects screening plant | |
| CN2351941Y (en) | Monitoring and controlling device for environment in greenhouse | |
| CN106973645A (en) | Cutting platform including travelling gear | |
| CN205912502U (en) | Pluck fruit machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |