CN207766911U - A kind of radio remote manipulator for fruit-picking - Google Patents

Abstract

The utility model is related to the technical fields of agricultural machinery, more specifically, it is related to a kind of radio remote manipulator for fruit-picking, include the control system of picker, transmission device, telescopic device and controllable picker folding, the control system includes the infrared receiving device and Digiplex of communication connection, the infrared receiving device receives the signal that Digiplex is sent, and the signal for rotating clockwise or rotating counterclockwise is sent to the transmission device.The setting that the utility model passes through wireless remote control control and telescopic device, can far distance controlled picking mechanical arm work, it can be operated on ground, avoid the use for facility of ascending a height, safety is improved, labor intensity is reduced, reduces fruit bruising rate, and the interest that can increase Peasants Joy picking service improves the economic benefit of orchard worker to attract more tourists to come to play；In addition, it is only necessary to which a people, which can be operated, completes picking process, is not necessarily to support staff, saves human cost, improve picking efficiency.

Description

A kind of radio remote manipulator for fruit-picking

Technical field

The utility model is related to the technical fields of agricultural machinery, more particularly, to a kind of for the wireless of fruit-picking Telemanipulator.

Background technology

With the aging of social population and gradually reducing for agricultural workforce, some heavy, dull agricultural productions are got over Part labour is replaced more to need machinery.Fruit is the third-largest long-term cropping of the China in addition to grain, vegetables, is had become One big pillar industry of many area countryside economic developments.But the Mechanization Level of China orchard production is also in a step Section, it is low that fruit harvests mechanization degree.

For the fruit picking overwhelming majority in China based on manually picking, picking operation is more complicated at present, seasonal very strong, If using the damage for be easy to causeing fruit is manually adopted, some fruit grow the place picked on higher branch or with hand difficulty, Orchard worker is disclosed with bamboo pole, will be fallen on the ground, non-broken i.e. rotten, is not only easy to cause the damage of fruit, can also be caused not having economically Necessary loss；And the service features of existing China's Peasants Joy fruit-picking are single, can not attract tourists, and pick high fruit Difficulty, apparatus-form are simple.

Utility model content

The purpose of the utility model is to overcome the deficiencies in the prior art, provide it is a kind of it is simple in structure, highly practical, can change Become decreased food to pick the radio remote manipulator for fruit-picking of different height fruit.

In order to solve the above technical problems, the technical solution adopted in the utility model is：

A kind of radio remote manipulator for fruit-picking is provided, including picker, transmission device, telescopic device, The control system and shell, the picker of controllable picker folding are flexibly connected with the transmission device；It is described Transmission device is communicated to connect with the control system, is installed in shell；The picker is set to one end of shell, described to stretch Compression apparatus is set to the other end of shell；The control system includes the infrared receiving device and Digiplex of communication connection, institute It states infrared receiving device and receives the signal that Digiplex is sent, rotate clockwise to transmission device transmission or turn counterclockwise Dynamic signal.

The radio remote manipulator for fruit-picking of the utility model, by Digiplex to infrared receiving device Signal is sent, infrared receiving device driving transmission device clockwise or counterclockwise, drives picker to open or be closed, only The picking of fruit can be completed in one people, is not necessarily to support staff, saves human cost；It can also be by stretching or tightening telescopic device The length of telescopic device is adjusted to improve to save the use for facility of ascending a height with the fruit for facilitating orchard worker to pick different height Safety reduces labor intensity；And fruit is clipped in picker by picker in fruit picking, avoidable fruit is adopted Damage during plucking.

Further, the picker includes first base, second base and several is distributed in the first base Gripper on periphery；The threaded rod being connect with transmission device, institute are connected between the first base and the second base It is hinged with the first base to state gripper, connector is hingedly connected between the second base and the gripper.Second Pedestal axially moves with the precession or back-out of threaded rod, and first base is fixed on the shell；By precession or screw out screw thread Bar can be changed the distance between first base and second base, gripper under the action of connector, that is, expansible or tighten； When gripper opens, the gripper of opening is directed at the fruit to be picked, and be moved to and surround fruit；When gripper encounters water When fruit, gripper, which tightens, to be formed small space and clamps fruit；Holding is got off the fruit picking clamped with the state tightened.

Preferably, the first base be equipped with it is several encompass circular first connecting seat, several connecting seats it Between be fixed with the first disk, one end of the gripper is hinged with first connecting seat；The second base is equipped with several Circular second connecting seat is encompassed, the second disk, one end of the connector are fixed between several second connecting seats It is hinged with second connecting seat.Gripper is distributed in regular polygon so that fruit uniform force can avoid in picking process Caused by it is damaged.

Preferably, one end of the gripper is equipped with eave tile, the sky coordinated with fruit around formation between several eave tiles Chamber.The setting for the eave tile being bent to cavity inside makes the clamping of fruit more secured, effectively avoids applying external force fruit-picking When cause fruit to slip away gripper.

Further, the transmission device includes direct current generator, driving gear and driven gear, and the driving gear connects It is connected to the output shaft of the direct current generator, the driving gear coordinates with the driven gear, and threaded rod is installed in described driven At the central axis of gear.Driving gear is driven when direct current generator works clockwise or counterclockwise, and driving gear is by power It is transmitted to driven gear, driven gear drives threaded rod precession or back-out, to increase or reduce the first disk and the second disk The distance between, gripper is tightened or is opened under the action of connector, to realize the automation of gripper movement, to realize The picking of distant location fruit.

Preferably, it is connected with double-layer gear between the driving gear and the driven gear, the double-layer gear includes the One gear and second gear；The first gear is engaged with the driving gear, and the second gear is nibbled with the driven gear It closes.The setting of double-layer gear so that power transmission is more stable, ensures the steady progress that gripper opens or tightening acts, prevents Gripper causes to damage to fruit surface；In addition, the setting of double-layer gear makes the compact-sized of transmission device, volume is occupied It is small.

Preferably, the junction of the driven gear and the threaded rod is equipped with first bearing and second bearing, and described the One bearing is respectively arranged on the both ends of the driven gear with the second bearing.The setting of first bearing and second bearing is for true Determine the relative motion position of screw shaft and other parts, plays bearing or guiding role, driving gear, driven gear, double-layered tooth Wheel intelligence rotation, cannot move axially, to ensure that driven gear rotation drives threaded rod axial movement.

Preferably, the transmission device further includes preceding bearing, rear support and motor support base, the preceding bearing be equipped with The matched bearing hole of first bearing, the rear support is equipped with to be fixedly mounted with the matched bearing hole of second bearing, the motor In on the motor support base；The preceding bearing tightens to be sticked with the rear support outer surface outer support, the outer support and institute Shell is stated to be fixedly connected.Setting is to prevent gear drive from accidentally injuring in the process in order to which transmission device to be fixed in shell and adopt in this way Pluck personnel；And it is compact-sized, it is specious, there is preferable economy and safety.

Further, the telescopic device includes pedestal, the first telescopic rod and the second telescopic rod, first telescopic rod One end be flexibly connected with the pedestal, the other end is flexibly connected with second telescopic rod；One end of the pedestal and shell It is fixedly connected.The length of first telescopic rod and the second telescopic rod can be adjusted, using the wireless remote control machinery for fruit-picking The fruit of different height is plucked in hand getting, only can be operated on ground, is avoided the use for facility of ascending a height, is improved safety, subtracts Labor intensity is lacked.

Preferably, the pedestal is equipped with the boss stretched to shell extension, the boss and first telescopic rod activity Connection, the central axis of the boss are overlapped with the central axis of shell.The setting being detachably connected makes telescopic device be convenient for Installation, dismounting and replacement, are convenient for the storage and carrying of picking mechanical arm.

Compared with prior art, the utility model has the beneficial effects that：

（1）The length of telescopic device is adjusted to pick the fruit of different height, be can be operated on ground, avoided to ascend a height and set The use applied, improves safety, reduces labor intensity.

（2）Controlled using wireless remote control, can far distance controlled picking mechanical arm work, can increase Peasants Joy picking service Interest improves the economic benefit of orchard worker to attract more tourists to come to play.

（3）Picker is provided with multiple grippers and is uniformly distributed, and the mean forced of fruit is distributed in multiple grippers On, it avoids fruit and is damaged in picking process, improve the economic benefit of orchard worker.

（4）Only a people, which can be operated, completes picking process, is not necessarily to support staff, saves human cost, improve picking Efficiency.

Description of the drawings

Fig. 1 is the structural schematic diagram of the radio remote manipulator for fruit-picking of the utility model.

Fig. 2 is the stereogram of the radio remote manipulator for fruit-picking.

Fig. 3 is the structural schematic diagram of the picker of the radio remote manipulator for fruit-picking.

Fig. 4 is the enlarged drawing for part A in radio remote manipulator Fig. 1 of fruit-picking.

Fig. 5 is the structural schematic diagram of the transmission device of the radio remote manipulator for fruit-picking.

Fig. 6 is the structural schematic diagram of the control system of the radio remote manipulator for fruit-picking.

Fig. 7 is the structural schematic diagram of the Digiplex of the radio remote manipulator for fruit-picking.

Specific implementation mode

The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing Illustrate, expression is only schematic diagram rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this reality is better described With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.

The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；In this practicality In novel description, it is to be understood that if there is the orientation or positional relationship of the instructions such as term "upper", "lower", "left", "right" to be It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate Or imply that signified manipulator or element must have a particular orientation, with specific azimuth configuration and operation, therefore in attached drawing The term for describing position relationship only for illustration, should not be understood as the limitation to this patent, for the common of this field For technical staff, the concrete meaning of above-mentioned term can be understood as the case may be.

Embodiment 1

The first embodiment of the radio remote manipulator for fruit-picking of the utility model as shown in Figure 1 to Figure 7 shows the, The control system 4 and shell opened and closed including picker 1, transmission device 2, telescopic device 3, controllable picker, picking Device 1 is flexibly connected with transmission device 2；Transmission device 2 is communicated to connect with control system 4, is installed in shell 5；Picker 1 Set on one end of shell 5, telescopic device 3 is set to the other end of shell 5；As shown in Figure 6 to 7, control system 4 includes communication link The infrared receiving device 41 connect and Digiplex 42, infrared receiving device 41 receive the signal that Digiplex 42 is sent, to Transmission device 2 sends the signal for rotating clockwise or rotating counterclockwise.

The present embodiment sends signal, infrared receiver dress to infrared receiving device 41 at work, by Digiplex 42 It sets 41 driving transmission devices 2 clockwise or counterclockwise, drives picker 1 to open or be closed, only water can be completed in a people The picking of fruit is not necessarily to support staff, saves human cost；Telescopic device 3 can also be adjusted by stretching or tightening telescopic device Length with facilitate orchard worker pick different height fruit improve safety to save the use for facility of ascending a height, reduce Labor intensity；And fruit is clipped in picker 1 by picker 1 in fruit picking, can avoid in fruit picking process Damage.

In the present embodiment, as shown in figure 3, picker 1 includes first base 11, second base 12 and several uniformly distributed Gripper 13 on 11 periphery of first base；It is connected between first base 11 and second base 12 and is connect with transmission device 2 Threaded rod 14, gripper 13 and first base 11 are hinged, and connector is hingedly connected between second base 12 and gripper 13 15；The distance between first base 11 and second base 12 can be changed by precession or back-out threaded rod 14, gripper 13 is even It is expansible or to tighten under the action of fitting 15.

Wherein, as shown in Figure 1, first base 11 encompasses circular first connecting seat, several connecting seats equipped with several Between be fixed with the first disk 16, one end of gripper 13 is hinged by axis pin and the first connecting seat；Second base 12 is equipped with It is several to encompass circular second connecting seat, the second disk 17 is fixed between several connecting seats, one end of connector 15 passes through Axis pin and the second connecting seat are hinged；One end of gripper 13 is equipped with eave tile 18, coordinates around formation and fruit between several eave tiles 18 Cavity；Gripper 13 is distributed in regular polygon so that fruit uniform force can avoid damaged caused by picking process.

In the present embodiment, as shown in Fig. 4 to Fig. 5, transmission device 2 include direct current generator 21, driving gear 22 and from Moving gear 23, driving gear 22 are connected to the output shaft of direct current generator 21, and driving gear 22 coordinates with driven gear 23, threaded rod 14 are installed at the central axis of driven gear 23；Double-layer gear 24 is connected between driving gear 22 and driven gear 23, it is double-deck Gear includes first gear and second gear；First gear is engaged with driving gear 22, and second gear is engaged with driven gear 23. The setting of double-layer gear 24 so that power transmission is more stable, ensures the steady progress that gripper 14 opens or tightening acts, and prevents Only gripper 13 causes to damage to fruit surface；In addition, the setting of double-layer gear 24 makes the compact-sized of transmission device 2, account for With small.

Wherein, as shown in Fig. 4 to Fig. 5, driven gear 23 and the junction of threaded rod 14 are equipped with first bearing 25 and second Bearing 26, first bearing 25 are respectively arranged on the both ends of driven gear 23 with second bearing 26；Transmission device 2 further includes preceding bearing 27, rear support 28 and motor support base 29, preceding bearing 27 be equipped with 25 matched bearing hole of first bearing, on rear support 28 Equipped with 26 matched bearing hole of second bearing, direct current generator 21 is installed on motor support base 29；Preceding bearing 27 and rear support 28 outer surfaces, which tighten to be sticked, outer support, and outer support is fixedly connected with shell 5.The first bearing 25 of the present embodiment is cylindrical roller Bearing, second bearing 26 are flange bearing, and driven gear 23 is equipped with boss, and boss is equipped with threaded interior hole, with threaded rod 14 Worm drive, 23 boss of driven gear and cylinder roller bearing minor diameter fit are formed, cylinder roller bearing is mounted on preceding bearing 27 In bearing hole, flange bearing is mounted in 28 bearing hole of rear support, and one end of threaded rod 14 is fixed with nut 19, and each gear can only Rotation, cannot move axially, to which the rotation of driven gear 23 makes threaded rod 14 move axially.

In the present embodiment, as shown in Figure 1 to Figure 2, telescopic device 3 includes pedestal 31, the first telescopic rod 32 and second Telescopic rod 33, pedestal 31 are bolted on the lower end position of shell 5, and pedestal 31 is equipped with boss 34, and is opened on boss 34 There are internal thread hole, the both ends of the first telescopic rod 32 to be equipped with external screw thread, the second telescopic rod 33 is provided with internal thread hole, the first telescopic rod 32 One end and 31 boss internal thread hole of pedestal formed screw-thread fit, the other end and 33 internal thread hole of the second telescopic rod cooperation, pass through The length of the first telescopic rod 32 and the second telescopic rod 33 is adjusted in back-out or precession screw thread；The fruit of different height can be picked, only It only can be operated on ground, avoid the use for facility of ascending a height, improve safety, reduce labor intensity.

The specific implementation mode of the present embodiment is as follows：

First, by precession or screw out the screw thread coordinated between pedestal 31 and the first telescopic rod 32, the first telescopic rod 32 with The screw thread coordinated between second telescopic rod 33 adjusts the length of telescopic device 3, to adapt to the fruit of picking different height；Hand The second telescopic rod 33 is held, the fruit that the alignment of gripper 13 of opening will be picked moves 13 position of gripper of opening To surrounding fruit.

Then, it presses the transmission of Digiplex 42 and tightens signal, infrared receiving device 41 receives signal and drives direct current 21 motor shaft of machine rotates counterclockwise, to which driving gear 22 rotates counterclockwise, by being engaged with double-layer gear 24, and driven gear 23 It rotates counterclockwise and threaded rod 14 forms worm drive, so that threaded rod 14 is moved along the axial direction of telescopic device 3, make fixation The first disk 16 and first base 11 in 14 one end of threaded rod are also moved axially with threaded rod 14, are tensed by connector 15 a Gripper 13 tightens, and when gripper 13 encounters fruit, continues thereafter with to tighten to form small space and clamp fruit, uses wireless remote control Device 42 sends stop signal, and a gripper 13 is made to keep compact state.

Finally, it holds the second telescopic rod 33 and pulls, the fruit picking clamped is got off, then operation adjusts gripper 13, so that gripper 13 is opened, takes out fruit, put fruits into basket, the picking of fruit is completed with this, it is above-mentioned later to repeat to walk Suddenly next fruit picking is carried out.

Obviously, above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the art, in above description On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments It is exhaustive.All any modification, equivalent and improvement made within the spirit and principle of the present invention etc., should be included in Within the protection domain of the utility model claims.

Claims (10)

1. a kind of radio remote manipulator for fruit-picking, which is characterized in that including picker（1）, transmission device （2）, telescopic device（3）, controllable picker（1）The control system of folding（4）And shell（5）, the picker（1） With the transmission device（2）Flexible connection；The transmission device（2）With the control system（4）Communication connection, is installed on shell （5）It is interior；The picker（1）Set on shell（5）One end, the telescopic device（3）Set on shell（5）The other end；Institute State control system（4）Infrared receiving device including communication connection（41）With Digiplex（42）, the infrared receiving device （41）Receive Digiplex（42）The signal of transmission, to the transmission device（2）Transmission is rotated clockwise or is rotated counterclockwise Signal.

2. the radio remote manipulator according to claim 1 for fruit-picking, which is characterized in that the picker （1）Including first base（11）, second base（12）And several grippers being distributed on the first base periphery（13）； The first base（11）With the second base（12）Between be connected with and transmission device（2）The threaded rod of connection（14）, institute State gripper（13）With the first base（11）It is hinged, the second base（12）With the gripper（13）Between hingedly connect It is connected to connector（15）.

3. the radio remote manipulator according to claim 2 for fruit-picking, which is characterized in that the first base （11）Circular first connecting seat is encompassed equipped with several, the first disk is fixed between several first connecting seats （16）, the gripper（13）One end and first connecting seat it is hinged；The second base（12）It is equipped with several surround At circular second connecting seat, the second disk is fixed between several second connecting seats（17）, the connector（15）'s One end is hinged with second connecting seat.

4. the radio remote manipulator according to claim 2 or 3 for fruit-picking, which is characterized in that the machinery Pawl（13）One end be equipped with eave tile（18）, several eave tiles（18）Between around formed with fruit cooperation cavity.

5. the radio remote manipulator according to claim 1 for fruit-picking, which is characterized in that the transmission device （2）Including direct current generator（21）, driving gear（22）And driven gear（23）, the driving gear（22）It is connected to described straight Galvanic electricity machine（21）Output shaft, the driving gear（22）With the driven gear（23）Cooperation, threaded rod（14）It is installed in institute State driven gear（23）Central axis at.

6. the radio remote manipulator according to claim 5 for fruit-picking, which is characterized in that the driving gear （22）With the driven gear（23）Between be connected with double-layer gear（24）, the double-layer gear（24）Including first gear and second Gear；The first gear and the driving gear（22）Engagement, the second gear and the driven gear（23）Engagement.

7. the radio remote manipulator according to claim 5 for fruit-picking, which is characterized in that the driven gear （23）With the threaded rod（14）Junction be equipped with first bearing（25）And second bearing（26）, the first bearing（25）With The second bearing（26）It is respectively arranged on the driven gear（23）Both ends.

8. being used for the radio remote manipulator of fruit-picking according to claim 5 to 7 any one of them, which is characterized in that institute State transmission device（2）It further include preceding bearing（27）, rear support（28）And motor support base（29）, the preceding bearing（27）It is equipped with With first bearing（25）Matched bearing hole, the rear support（28）It is equipped with and second bearing（26）Matched bearing Hole, the direct current generator（21）It is installed in the motor support base（29）On；The preceding bearing（27）With the rear support（28）Outside Surface, which tightens to be sticked, outer support（6）, the outer support（6）With the shell（5）It is fixedly connected.

9. the radio remote manipulator according to claim 1 for fruit-picking, which is characterized in that the telescopic device （3）Including pedestal（31）, the first telescopic rod（32）And second telescopic rod（33）, first telescopic rod（32）One end and institute State pedestal（31）Connection, the other end and second telescopic rod（33）Flexible connection；The pedestal（31）With shell（5）One end Flexible connection.

10. the radio remote manipulator according to claim 9 for fruit-picking, which is characterized in that the pedestal （31）It is equipped with to shell（5）The boss of outer extension（34）, the boss（34）With first telescopic rod（32）Flexible connection.