CN207854546U - Tomato side shoot trimming machine cuts people - Google Patents
Tomato side shoot trimming machine cuts people Download PDFInfo
- Publication number
- CN207854546U CN207854546U CN201820086714.2U CN201820086714U CN207854546U CN 207854546 U CN207854546 U CN 207854546U CN 201820086714 U CN201820086714 U CN 201820086714U CN 207854546 U CN207854546 U CN 207854546U
- Authority
- CN
- China
- Prior art keywords
- wrist
- forearm
- sides
- arm seat
- pitching
- 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.)
- Expired - Fee Related
Links
- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 32
- 238000009966 trimming Methods 0.000 title claims abstract description 31
- 240000003768 Solanum lycopersicum Species 0.000 title description 31
- 210000000707 wrist Anatomy 0.000 claims abstract description 181
- 210000000245 forearm Anatomy 0.000 claims abstract description 72
- 241000227653 Lycopersicon Species 0.000 claims abstract 8
- 230000001360 synchronised effect Effects 0.000 claims description 91
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 238000007667 floating Methods 0.000 claims description 10
- 230000008961 swelling Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 239000013307 optical fiber Substances 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000003698 laser cutting Methods 0.000 claims 1
- 238000013138 pruning Methods 0.000 abstract description 6
- 210000000515 tooth Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 241000233855 Orchidaceae Species 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000009738 saturating Methods 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of tomato side shoot trimming machine cuts people, including running gear (100), hoistable platform (200) is equipped at the top of running gear (100), hoistable platform (200) is equipped with First look system (300) and lead screw slide rest device (201), it is connected with manipulator base (5) on lead screw slide rest device (201) in turn, big arm seat (8), large arm (22), forearm (35) and wrist (39), wrist (39) end is connected with laser disconnecting device (500) through laser disconnecting device mounting plate (44).The utility model can effectively be trimmed kind of a tomato side shoot by remote control, and have the characteristics that the pruning efficiency is high, flexibility is good.
Description
Technical field
The utility model is related to a kind of side shoot clipping device, especially a kind of tomato side shoot trimming machine cuts people.
Background technology
With the increase of social demand, the planting scale of tomato is also increasing, therefore right in the planting process of tomato
The trimming of side shoot is then the important process that current farmer is faced.Since tomato side shoot to flexibility and is repaiied during trimming
The more demanding of precision is cut, is caused on the market without a kind of mechanical equipment suitable for side shoot trimming, at present tomato in China plantation
In side shoot trimming work be finished artificially, lead to the great work intensity of worker, trimming is costly；Further, since in greenhouse
Temperature is high, humidity is big, and being chronically at stuffy state makes the content of carbon dioxide increase, and causes worker in warm interior length
Body can be had some impact on after phase work, and improve the illness rate of rheumatism.Therefore, it is necessary to one kind to pass through
The mechanical equipment that remote control effectively trims kind of tomato side shoot.
Utility model content
The purpose of the utility model is to provide a kind of tomato side shoot trimming machine cuts people.It can pass through remote control pair
Kind tomato side shoot is effectively trimmed, and has the characteristics that the pruning efficiency is high, flexibility is good.
The technical solution of the utility model：Tomato side shoot trimming machine cuts people, including running gear, running gear top are equipped with
Hoistable platform, hoistable platform are equipped with First look system and manipulator, and manipulator one end is connected with laser disconnecting device；It is described
Manipulator includes the lead screw slide rest device being fixed at the top of hoistable platform, and manipulator bottom is fixedly connected on lead screw slide rest device
Seat, manipulator base are equipped with pedestal mounting flange, servo motor, the output shaft of servo motor are equipped at the top of pedestal mounting flange
Outside is connected with driving gear, driving gear through bearing connect base mounting flange, output shaft one end of servo motor through flat key
Outside engagement is connected with external tooth type floating bearing, and the inner ring lower end of external tooth type floating bearing is fixed in manipulator base, external tooth
It is connected with big arm seat mounting flange on the inside of formula floating bearing, big arm seat mounting flange upper end is fixedly connected with big arm seat, big arm seat
Inside is equipped with large arm, and big arm seat both sides are respectively equipped with large arm pitching motor and forearm pitching motor, the output of large arm pitching motor
Shaft end is connected with the large arm connecting flange for being fixed on large arm lower end through flat key, and large arm connecting flange side is connected with solid through bearing
The first big arm seat connecting flange being scheduled on big arm seat, the output shaft end of the forearm pitching motor are connected with axis through flat key
Set, axle sleeve outside are connected with the second largest arm seat connecting flange being fixed on big arm seat through bearing, and axle sleeve one end, which is connected with, to be located at
Forearm synchronous belt driving wheel in the middle part of large arm lower end, forearm synchronous belt driving wheel outside is connected with through forearm synchronous belt to be arranged big
The forearm synchronous belt driven wheel of arm upper center, forearm synchronous belt driven wheel inside are connected with forearm central shaft, forearm through flat key
Central shaft both sides are connected with forearm connecting flange through flat key, are fixedly connected with forearm between the forearm connecting flange of both sides, both sides are small
Arm connecting flange side connects large arm through bearing；Large arm lower end both sides are respectively equipped with wrist pitching motor and wrist electric rotating machine,
The output shaft of wrist pitching motor and wrist electric rotating machine is connected separately with wrist pitching synchronous belt driving wheel and wrist through flat key
Rotation synchronization belt driving wheel, it is same that wrist pitching synchronous belt driving wheel through the first wrist pitching synchronous belt is connected with wrist pitching duplex
Belt wheel is walked, wrist rotation synchronization belt driving wheel is connected with the first wrist through the first wrist rotation synchronization belt and rotates duplex synchronous belt
Wheel, wrist pitching duplex synchronous pulley and the first wrist rotation duplex synchronous pulley are separately positioned on forearm synchronous belt driven wheel two
It is same through the second wrist pitching synchronous belt it to be connected with wrist pitching on the forearm central shaft of side, on the outside of wrist pitching duplex synchronous pulley
Step band driven wheel, wrist pitching synchronous belt driven wheel inside are connected with wrist central shaft through flat key, and wrist central shaft both sides are through flat
Key connection has wrist connecting flange, and wrist is fixedly connected on the wrist connecting flange of both sides, and the first wrist rotation duplex is same
Step belt wheel side the second wrist rotation synchronization belt is connected with the second wrist rotation positioned at wrist pitching synchronous belt driven wheel side
Turn duplex synchronous pulley, is connected with and is arranged in wrist through third wrist rotation synchronization belt on the second wrist rotation duplex synchronous pulley
The wrist rotation synchronization belt driven wheel of end, wrist rotation synchronization belt driven wheel inside are connected with wrist rotation center through flat key
Axis, wrist Pivot axle both sides are connected with the flange end cap being fixed in wrist through bearing, are passed through in wrist Pivot axle flat
Key connection has drive bevel gear, is engaged on the outside of drive bevel gear and is connected with driven wheel of differential, connected through flat key on the inside of driven wheel of differential
It is connected to wrist rotary shaft, is connected with the wrist rotary flange being fixed on the outside of wrist end, wrist in wrist rotary shaft through bearing
Rotary shaft end is fixedly connected with laser disconnecting device through laser disconnecting device mounting plate.
In tomato side shoot trimming machine cuts people above-mentioned, the big arm seat includes big arm seat pedestal, and big arm seat pedestal lower end is solid
Surely it is connected at the top of big arm seat mounting flange, big arm seat base top both sides are respectively equipped on the right side of big arm seat left plate and big arm seat
Plate, the large arm pitching motor and the first big arm seat connecting flange are separately fixed at big arm seat left plate both sides, and the forearm is bowed
It faces upward motor and the second largest arm seat connecting flange is separately fixed at big arm seat right plate both sides.
In tomato side shoot trimming machine cuts people above-mentioned, the large arm is equipped with multiple mounting blocks, and mounting blocks, which are equipped with, to be revolved
The swelling device turned, swelling device end are equipped with expansion tightening wheel.
In tomato side shoot trimming machine cuts people above-mentioned, the lead screw slide rest device includes the silk being fixed at the top of hoistable platform
Bar slid platform base, lead screw slid platform base top both sides are equipped with the linear guide, and lead screw slid platform base top center is equipped with lead screw, lead screw
One end is connected with lead screw motor through shaft coupling, and lead screw is equipped with feed screw nut, mounting plate is fixedly connected at the top of feed screw nut, pacifies
Loading board two bottom sides connect the linear guide through guide rail slide block, and the manipulator base is fixed at the top of mounting plate.
In tomato side shoot trimming machine cuts people above-mentioned, the laser disconnecting device includes the lithium being fixed at the top of hoistable platform
Battery pack and laser, laser are connected with the condenser lens being fixed on laser disconnecting device mounting plate, the hand through optical fiber
Wrist is equipped with the second vision system coordinated with condenser lens.
In tomato side shoot trimming machine cuts people above-mentioned, the running gear includes vehicle body, and body bottom is equipped with longitudinal walk
Device, longitudinal running gear both sides are equipped with horizontal walking device, and the longitudinal direction running gear includes being disposed side by side on body bottom
The adhesion wheel axis and driven wheel axis of both sides, adhesion wheel axis and driven wheel axis both ends connect vehicle body through unequal angle,
Driven wheel axis both sides are connected with driven wheel through bearing, and adhesion wheel axis both sides are connected separately with driven wheel and master through bearing
Motor car wheel, adhesion wheel side are connected with driven sprocket through flat key, and driven sprocket outside is connected with drive sprocket through chain, actively
The longitudinal movable motor being fixed in vehicle body is connected with through flat key on the inside of sprocket wheel；The horizontal walking device includes being fixed on vehicle body
Interior lateral movable motor is connected with traversing gear, traversing gear lower end engagement on the output shaft of lateral movable motor through flat key
It is connected with intermediate gear, intermediate gear inside is connected with longitudinal rod through flat key, and longitudinal rod both sides are fixed on vehicle through bearing block
Body bottom, the engagement of intermediate gear side are connected with driven gear, and driven gear inside is connected with transverse-roller axis through flat key, laterally
Roller shaft one end is connected with lateral driving roller through flat key, and outside is connected with long connecting rod through bearing in the middle part of transverse-roller axis, long to connect
Boom end is equipped with lateral driven roller, and long connecting rod both sides are rotatably connected to short connecting rod, and short connecting rod upper end is rotatably connected on vehicle body bottom
Portion, long connecting rod middle part are connected with the hydraulic cylinder in vehicle body.
Compared with prior art, the utility model is realized by running gear and is moved to the vertical and horizontal of robot, is led to
Lifting and the transverse shifting for crossing hoistable platform and lead screw slide rest device control machinery hand, by servo motor, large arm pitching motor,
The cooperation of forearm pitching motor, wrist pitching motor and wrist electric rotating machine allows manipulator to pass through in five degree of freedom
Lifting and rotation complete the trimming work to tomato side shoot, the pruning efficiency is high, flexibility is good；Pass through each motor and synchronous belt
Respective outer side edges between wheel make servo motor, large arm pitching motor, forearm pitching motor, wrist pitching motor and wrist rotation
Motor can centralized arrangement on big arm seat and large arm, the cabling for facilitating worker works and can reduce forearm and wrist
Weight makes forearm bow to improve the bonding strength of manipulator and reduce the torsion needed for forearm and wrist rotation and lifting
The motor of lower power can be selected by facing upward motor, wrist pitching motor and wrist electric rotating machine, saved robot production and
Operation cost, and each synchronous pulley and synchronous belt are arranged on the inside of large arm, forearm and wrist by the utility model, are reduced
The occupied space of manipulator simultaneously avoids extraneous impurity and dust from contacting synchronous belt in robot work, to improve machine
The job stability and service life of people, and manipulator is enable to be rotated between tomato side shoot flexibly；Pass through First look system
System allows worker remotely to observe the growth conditions that tomato plants ridge in real time when robot moves, and by the second vision system and swashs
It is saturating that the cooperation of light disconnecting device enables worker that focusing is adjusted flexibly according to the direction of side shoot when being trimmed to tomato side shoot
The clipped position of mirror further improves the trimming precision and the pruning efficiency of robot.In addition, the utility model passes through each connection
Flange and manipulator large arm, the connection structure of forearm and wrist make each connecting portion such as flat key, bearing of manipulator that can hide
In the case inside of large arm, forearm and wrist, improves the aesthetic appearance of robot and prevent extraneous dust into interconnecting piece
The problems such as causing clamping stagnation, the abnormal sound of manipulator behind position, further improves the job stability and service life of manipulator；Setting
Swelling device and expansion tightening wheel in large arm can also to forearm synchronous belt, wrist pitching synchronous belt and wrist rotation synchronization belt into
Row tensioner makes synchronous belt still be able to be close-coupled on synchronous pulley after long-term work, prevents the appearance of slipping phenomenon, improves
The rotating effect of each component on manipulator.
Description of the drawings
Fig. 1 is the outside drawing of the utility model；
Fig. 2 is the structural schematic diagram of big arm seat；
Fig. 3 is the outside drawing of large arm lower end；
Fig. 4 is the exploded perspective view of large arm lower end；
Fig. 5 is the structural schematic diagram of swelling device；
Fig. 6 is the structural schematic diagram of forearm junction；
Fig. 7 is the exploded perspective view of forearm junction；
Fig. 8 is the structural schematic diagram of wrist；
Fig. 9 is the exploded perspective view of wrist；
Figure 10 is the structural schematic diagram of lead screw slide rest device；
Figure 11 is the structural schematic diagram of laser disconnecting device；
Figure 12 is the structural schematic diagram of longitudinal running gear；
Figure 13 is the structural schematic diagram of horizontal walking device.
Label in attached drawing be：100- running gears, 200- hoistable platforms, 201- lead screw slide rest devices, 300- first are regarded
Feel system, 400- manipulators, 500- laser disconnecting devices, 1- servo motors, 2- pedestal mounting flanges, 3- driving gears, 5- machines
Tool at hand bow by seat, 6- external tooth type floating bearings, the big arm seat mounting flanges of 7-, the big arm seats of 8-, 9- wrist pitching motors, 10- large arm
Face upward motor, the big arm seat left plates of 11-, the first big arm seat connecting flanges of 12-, 14- large arm connecting flanges, the big arm seat right plates of 16-,
The big arm seat pedestals of 17-, 18- forearm synchronous belt driving wheels, 19- axle sleeves, 20- forearm pitching motors, 21- wrist electric rotating machines, 22-
Large arm, 23- mounting blocks, 24- swelling devices, 25- expansion tightening wheels, 26- forearm connecting flanges, 30- wrist pitching duplex synchronous pulleys,
35- forearms, 36- forearm synchronous belt driven wheels, 37- forearm central shafts, 38- drive bevel gears, 39- wrists, 40- wrist connection methods
Orchid, 41- wrist pitching synchronous belt driven wheels, 44- laser disconnecting device mounting plates, 45- wrist rotary shafts, 46- wrist rotary process
Orchid, 48- driven wheel of differential, 49- wrist Pivot axles, 50- flange end caps, 51- wrist rotation synchronization belt driven wheels, 52-
Two wrists rotation duplex synchronous pulley, 53- lead screw motors, 54- shaft couplings, 55- mounting plates, 56- feed screw nut, 57- lead screws,
58- guide rail slide blocks, 59- the linear guides, 60- lead screw slid platform bases, 61- vehicle bodies, 62- adhesion wheel axis, 63- driven wheel axis,
64- unequal angles, 65- driven wheels, 66- adhesion wheels, 67- driven sprockets, 68- chains, 69- drive sprockets, 70- are longitudinal
Movable motor, 71- transverse direction movable motors, 72- hydraulic cylinders, 73- lithium battery groups, 74- lasers, the second vision systems of 75-, 76-
Condenser lens, 80- optical fiber, the second largest arm seat connecting flanges of 81-, 82- forearm synchronous belts, 83- wrist pitching synchronous belt driving wheels,
84- wrist rotation synchronization belt driving wheels, 85- the first wrist pitching synchronous belts, 86- the first wrist rotation synchronization belts, the first wrists of 87-
Portion's rotation duplex synchronous pulley, 88- the second wrist pitching synchronous belts, 89- wrist central shafts, 90- the second wrist rotation synchronization belts,
91- third wrist rotation synchronization belts, the traversing gears of 92-, 93- intermediate gears, 94- longitudinal rods, 95- bearing blocks, 96- driven tooths
Wheel, 97- transverse-roller axis, 98- transverse direction driving rollers, 99- long connecting rods, 101- transverse direction driven rollers, 102- short connecting rods.
Specific implementation mode
The utility model is further described with reference to the accompanying drawings and examples, but is not intended as to the utility model
The foundation of limitation.
Embodiment.Tomato side shoot trimming machine cuts people is constituted as shown in Figure 1, including running gear 100, running gear 100 pushes up
Portion is equipped with hoistable platform 200, and hoistable platform 200 is equipped with First look system 300 and manipulator 400, and 400 one end of manipulator connects
It is connected to laser disconnecting device 500；The manipulator 400 includes the lead screw slide rest device 201 for being fixed on 200 top of hoistable platform,
Manipulator base 5 is fixedly connected on lead screw slide rest device 201, manipulator base 5 is equipped with pedestal mounting flange 2, and pedestal is solid
Determine the top of flange 2 and be equipped with servo motor 1, thrust ball bearing can be selected in bearing at this through bearing on the outside of the output shaft of servo motor 1
Output shaft one end of connect base mounting flange 2, servo motor 1 is connected with driving gear 3 through flat key, and 3 outside of driving gear is nibbled
Conjunction is connected with external tooth type floating bearing 6, and the inner ring lower end of external tooth type floating bearing 6 is fixed in manipulator base 5, and external tooth type returns
Shaft holds 6 insides and is connected with big arm seat mounting flange 7, and big 7 upper end of arm seat mounting flange is fixedly connected with big arm seat 8, big arm seat 8
Inside is equipped with large arm 22, and 8 both sides of big arm seat are respectively equipped with large arm pitching motor 10 and forearm pitching motor 20, large arm pitching motor
10 output shaft end is connected with the large arm connecting flange 14 for being fixed on 22 lower end of large arm, 14 side of large arm connecting flange through flat key
The big arm seat connecting flange 12 of first be fixed on big arm seat 8, the output shaft of the forearm pitching motor 20 are connected with through bearing
End is connected with axle sleeve 19 through flat key, and 19 outside of axle sleeve is connected with the second largest arm seat connection being fixed on big arm seat 8 through bearing
Flange 81,19 one end of axle sleeve are connected with the forearm synchronous belt driving wheel 18 in the middle part of 22 lower end of large arm, and forearm synchronous belt is actively
18 outside of wheel is connected with the forearm synchronous belt driven wheel 36 being arranged in 22 upper center of large arm through forearm synchronous belt 82, and forearm synchronizes
36 inside of band driven wheel is connected with forearm central shaft 37 through flat key, and 37 both sides of forearm central shaft are connected with forearm connection method through flat key
Orchid 26 is fixedly connected with forearm 35 between both sides forearm connecting flange 26, and forearm connecting flange 26 side in both sides is connected through bearing
Large arm 22；22 lower end both sides of large arm are respectively equipped with wrist pitching motor 9 and wrist electric rotating machine 21, wrist pitching motor 9 and wrist
The output shaft of portion's electric rotating machine 21 is connected separately with wrist pitching synchronous belt driving wheel 83 and wrist rotation synchronization belt master through flat key
Driving wheel 84, wrist pitching synchronous belt driving wheel 83 are connected with wrist pitching duplex synchronous pulley through the first wrist pitching synchronous belt 85
30, wrist rotation synchronization belt driving wheel 84 is connected with the first wrist through the first wrist rotation synchronization belt 86 and rotates duplex synchronous pulley
87, it is driven that wrist pitching duplex synchronous pulley 30 and the first wrist rotation duplex synchronous pulley 87 are separately positioned on forearm synchronous belt
It takes turns on the forearm central shaft 37 of 36 both sides, 30 outside of wrist pitching duplex synchronous pulley is connected through the second wrist pitching synchronous belt 88
There are wrist pitching synchronous belt driven wheel 41,41 inside of wrist pitching synchronous belt driven wheel to be connected with wrist central shaft 89 through flat key,
89 both sides of wrist central shaft are connected with wrist connecting flange 40 through flat key, and wrist is fixedly connected on both sides wrist connecting flange 40
39,87 side the second wrist rotation synchronization belt 90 of the first wrist rotation duplex synchronous pulley is connected with positioned at wrist pitching
The second wrist rotation duplex synchronous pulley 52 of 41 side of synchronous belt driven wheel, the second wrist rotates to pass through on duplex synchronous pulley 52
Third wrist rotation synchronization belt 91 is connected with the wrist rotation synchronization belt driven wheel 51 being arranged in 39 end of wrist, and wrist rotation is same
51 inside of step band driven wheel is connected with wrist Pivot axle 49 through flat key, and 49 both sides of wrist Pivot axle are connected with through bearing
The flange end cap 50 being fixed in wrist 39 is connected with drive bevel gear 38, initiative taper in wrist Pivot axle 49 through flat key
38 outside engagement of gear is connected with driven wheel of differential 48, and 48 inside of driven wheel of differential is connected with wrist rotary shaft 45, wrist through flat key
The wrist rotary flange 46 being fixed on the outside of 39 end of wrist, 45 end of wrist rotary shaft are connected in portion's rotary shaft 45 through bearing
It is fixedly connected with laser disconnecting device 500 through laser disconnecting device mounting plate 44.
The big arm seat 8 includes big arm seat pedestal 17, and big 17 lower end of arm seat pedestal is fixedly connected on big arm seat mounting flange 7
Top, 17 top both sides of big arm seat pedestal are respectively equipped with big arm seat left plate 11 and big arm seat right plate 16, the large arm pitching
Motor 10 and the first big arm seat connecting flange 12 are separately fixed at big 11 both sides of arm seat left plate, 20 He of forearm pitching motor
The second largest arm seat connecting flange 81 is separately fixed at big 16 both sides of arm seat right plate.
The large arm 22 is equipped with multiple mounting blocks 23, and mounting blocks 23 are equipped with rotatable swelling device 24, tensioner dress
It sets 24 ends and is equipped with expansion tightening wheel 25.
The lead screw slide rest device 201 includes the lead screw slid platform base 60 for being fixed on 200 top of hoistable platform, lead screw slide unit
60 top both sides of pedestal are equipped with the linear guide 59, and 60 top center of lead screw slid platform base is equipped with lead screw 57, and 57 one end of lead screw is through connection
Axis device 54 is connected with lead screw motor 53, and lead screw 57 is equipped with feed screw nut 56, and 56 top of feed screw nut is fixedly connected with mounting plate
55,55 two bottom sides of mounting plate connect the linear guide 59 through guide rail slide block 58, and the manipulator base 5 is fixed on the top of mounting plate 55
Portion.
The laser disconnecting device 500 includes the lithium battery group 73 and laser 74 for being fixed on 200 top of hoistable platform, is swashed
Light device 74 is connected with the condenser lens 76 being fixed on laser disconnecting device mounting plate 44 through optical fiber 80, and the wrist 39 is equipped with
The second vision system 75 coordinated with condenser lens 76.
The running gear 100 includes vehicle body 61, and 61 bottom of vehicle body is equipped with longitudinal running gear, longitudinal running gear both sides
Equipped with horizontal walking device, the longitudinal direction running gear includes 62 He of adhesion wheel axis for being disposed side by side on 61 two bottom sides of vehicle body
Driven wheel axis 63, adhesion wheel axis 62 and 63 both ends of driven wheel axis connect vehicle body 61, driven wheel through unequal angle 64
63 both sides of axis are connected with driven wheel 65 through bearing, and 62 both sides of adhesion wheel axis are connected separately with driven wheel 65 and master through bearing
Motor car wheel 66,66 side of adhesion wheel are connected with driven sprocket 67 through flat key, and 67 outside of driven sprocket is connected with master through chain 68
Movable sprocket 69,69 inside of drive sprocket are connected with the longitudinal movable motor 70 being fixed in vehicle body 61 through flat key；The lateral line
Walking apparatus includes the lateral movable motor 71 being fixed in vehicle body 61, is connected with through flat key on the output shaft of lateral movable motor 71
Traversing gear 92, the engagement of 92 lower end of traversing gear are connected with intermediate gear 93, and 93 inside of intermediate gear is connected with longitudinal direction through flat key
Connecting rod 94,94 both sides of longitudinal rod are fixed on 61 bottom of vehicle body through bearing block 95, and the engagement of 93 side of intermediate gear is connected with driven
Gear 96,96 inside of driven gear are connected with transverse-roller axis 97 through flat key, and 97 one end of transverse-roller axis is connected with cross through flat key
To driving roller 98, the middle part of transverse-roller axis 97 outside is connected with long connecting rod 99 through bearing, 99 end of long connecting rod be equipped with laterally from
Dynamic idler wheel 101,99 both sides of long connecting rod are rotatably connected to short connecting rod 102, and 102 upper end of short connecting rod is rotatably connected on 61 bottom of vehicle body,
99 middle part of long connecting rod is connected with the hydraulic cylinder 72 in vehicle body 61.
The application method of tomato side shoot trimming machine cuts people：The utility model is by running gear 100 in tomato plant surrounding
Laterally walking and longitudinal walking are carried out, worker is by First look system 300 in robot ambulation to the tomato plant of surrounding
It is observed；When the tomato side shoot for finding to need to trim, running gear 100 stops at tomato side shoot side, then through lifting
Manipulator 400 is lifted to suitable height by platform 200, and hoistable platform 200 passes through a group oil cylinder using double hinged scissor structures
The platform at the top of scissor is pushed to carry out vertical lifting；The lifting of manipulator 400 passes through the lead screw on lead screw slide rest device 201 afterwards in place
The rotation of motor 53 drives 55 transverse shifting of mounting plate on feed screw nut 56, makes the manipulator base being fixed on mounting plate 55 5
The lateral position of itself can be freely adjusted with manipulator 400；Driving tooth is passed through by servo motor 1 after the fixation of manipulator base 5
The cooperation of wheel 3 and external tooth type floating bearing 6 drives large arm seat mounting flange 7 to be rotated, and makes to be fixed on big arm seat mounting flange 7
On manipulator 400 can be rotated along the center of circle of big arm seat mounting flange 7；After the output shaft rotation of large arm pitching motor 10
It drives large arm 22 to carry out rotary luffing through large arm connecting flange 14, is synchronized through forearm after the output shaft rotation of forearm pitching motor 20
Cooperation with driving wheel 18, forearm synchronous belt 82, forearm synchronous belt driven wheel 36, forearm central shaft 37 and forearm connecting flange 26
Forearm 35 is driven to carry out rotary luffing, through wrist pitching synchronous belt driving wheel 83, the after the output shaft rotation of wrist pitching motor 9
One wrist pitching synchronous belt 85, wrist pitching duplex synchronous pulley 30, the second wrist pitching synchronous belt 88, wrist pitching synchronous belt
The mating band of driven wheel 41, wrist central shaft 89 and wrist connecting flange 40 start wrist 39 carry out rotary luffing, wrist electric rotating
It is rotated through wrist rotation synchronization belt driving wheel 84, the first wrist rotation synchronization belt 86, the first wrist after the output shaft rotation of machine 21
Duplex synchronous pulley 87, the second wrist rotation synchronization belt 90, the second wrist rotation duplex synchronous pulley 52, the rotation of third wrist are same
Walk band 91, wrist rotation synchronization belt driven wheel 51, wrist Pivot axle 49, drive bevel gear 38, driven wheel of differential 48 and portion
The cooperation of rotary shaft 45 drives the condenser lens 76 on laser disconnecting device mounting plate 44 to be rotated, to make manipulator 400
The cutting position of condenser lens 76 can be adjusted in 5 degree of freedom, and pass through hoistable platform 200 and lead screw slide rest device 201
Cooperation make robot running gear 100 fixation after with 7 degree of freedom regulating power, to make condenser lens 76 in work
With high flexibility and accuracy when making, and the pruning efficiency of condenser lens 76 can be improved, and due to each synchronous belt
Wheel, synchronous belt and connection structure are arranged at 400 interior of manipulator, make manipulator 400 will not be by adjusting and trimming
To the influence of dust and impurity, there is good job stability and service life；By controlling after the adjusting in place of condenser lens 76
System, which sends out signal, makes laser 74 generate laser, and laser reaches condenser lens 76 by the conduction of optical fiber 80, then saturating by focusing
For mirror 76 by laser beam focus on side shoot to be cut, the high temperature generated by laser beam moment cuts off side shoot, and worker is in trimming
Can just can to make worker be not necessarily to enter in greenhouse by the shearing situation of 75 close-ups side shoot of the second vision system
By tele-control system, accurate Manipulation of the machine people carries out trimming work, and the degree of automation and the pruning efficiency are higher.Manipulator 400
Original position is returned to after the completion of trimming, then re-moves and finds by running gear 100 and First look system 300 and wait trimming
Side shoot, manipulator 400 can prevent from contacting the destruction for causing limb with tomato plant ridge after the reset, ensure that tomato is planting ridge just
It is frequently grown.
The utility model is provided with walking track between adjacent tomato plants ridge, after being rotated by longitudinal movable motor 70
Cooperation through drive sprocket 69, chain 68, driven sprocket 67 drives adhesion wheel 66 to rotate, and allows robot in tomato plant
Between track on carry out lengthwise rows walk；When robot needs replacing track, matching for guide rail and longitudinal running gear is first passed through
Robot is moved on the cement flooring of guide rail one end by conjunction, then so that long connecting rod 99 is dropped to low level by the stretching of hydraulic cylinder 72,
Due to forming deformable parallelogram sturcutre between long connecting rod 99, short connecting rod 102 and vehicle body 61, long connecting rod 99 is made to decline
When remain horizontality and the driven gear 96 of 99 one end of long connecting rod made to be kept when long connecting rod 99 declines and intermediate gear
93 engagement；Lateral driving roller 98 and lateral driven roller 101 is set to contact ground simultaneously after the head of hydraulic cylinder 72 is fully extended
Vehicle body 61 is jacked up, vehicle body 61 the lateral rotation of movable motor 71 and passes through traversing gear 92, intermediate gear 93 and driven after jacking up
The cooperation of gear 96 drives lateral driving roller 98 to rotate, and realizes the transverse shifting to robot, liquid after robot movement in place
The head of cylinder pressure 72, which retracts original position, makes long connecting rod 99 shrink, and finally drives robot injection by longitudinal running gear, realizes
Robot walks between different tomatoes plants ridge.
Claims (6)
1. tomato side shoot trimming machine cuts people, it is characterised in that：Including running gear (100), it is equipped with and rises at the top of running gear (100)
Platform (200) drops, and hoistable platform (200) is equipped with First look system (300) and manipulator (400), manipulator (400) one end
It is connected with laser disconnecting device (500)；The manipulator (400) includes the lead screw slide unit being fixed at the top of hoistable platform (200)
Device (201), manipulator base (5) is fixedly connected on lead screw slide rest device (201), and manipulator base (5) is equipped with pedestal
Mounting flange (2), pedestal mounting flange (2) top are equipped with servo motor (1), and the output shaft outside of servo motor (1) is through bearing
Output shaft one end of connect base mounting flange (2), servo motor (1) is connected with driving gear (3), driving gear through flat key
(3) outside engagement is connected with external tooth type floating bearing (6), and the inner ring lower end of external tooth type floating bearing (6) is fixed on manipulator bottom
On seat (5), it is connected with big arm seat mounting flange (7) on the inside of external tooth type floating bearing (6), big arm seat mounting flange (7) upper end is solid
Surely it is connected with big arm seat (8), is equipped with large arm (22) on the inside of big arm seat (8), big arm seat (8) both sides are respectively equipped with large arm pitching motor
(10) and forearm pitching motor (20), the output shaft end of large arm pitching motor (10) is connected with through flat key is fixed on large arm (22)
The large arm connecting flange (14) of lower end, large arm connecting flange (14) side are connected be fixed on big arm seat (8) through bearing
One big arm seat connecting flange (12), the output shaft end of the forearm pitching motor (20) are connected with axle sleeve (19), axis through flat key
The second largest arm seat connecting flange (81) being fixed on big arm seat (8), axle sleeve (19) one end are connected with through bearing on the outside of set (19)
The forearm synchronous belt driving wheel (18) being connected in the middle part of large arm (22) lower end, forearm synchronous belt driving wheel (18) outside is through small
Arm synchronous belt (82) is connected with the forearm synchronous belt driven wheel (36) being arranged in large arm (22) upper center, and forearm synchronous belt is driven
It is connected with forearm central shaft (37) through flat key on the inside of wheel (36), forearm central shaft (37) both sides are connected with forearm connection method through flat key
Blue (26) are fixedly connected with forearm (35), both sides forearm connecting flange (26) side warp between both sides forearm connecting flange (26)
Bearing connects large arm (22)；Large arm (22) lower end both sides are respectively equipped with wrist pitching motor (9) and wrist electric rotating machine (21), wrist
The output shaft of portion's pitching motor (9) and wrist electric rotating machine (21) is connected separately with wrist pitching synchronous belt driving wheel through flat key
(83) and wrist rotation synchronization belt driving wheel (84), wrist pitching synchronous belt driving wheel (83) is through the first wrist pitching synchronous belt
(85) it is connected with wrist pitching duplex synchronous pulley (30), wrist rotation synchronization belt driving wheel (84) is rotated through the first wrist to be synchronized
Band (86) is connected with the first wrist rotation duplex synchronous pulley (87), wrist pitching duplex synchronous pulley (30) and the rotation of the first wrist
Turn duplex synchronous pulley (87) to be separately positioned on the forearm central shaft (37) of forearm synchronous belt driven wheel (36) both sides, wrist is bowed
It faces upward and is connected with wrist pitching synchronous belt driven wheel (41) through the second wrist pitching synchronous belt (88) on the outside of duplex synchronous pulley (30),
It is connected with wrist central shaft (89) through flat key on the inside of wrist pitching synchronous belt driven wheel (41), wrist central shaft (89) both sides are through flat
Key connection has wrist connecting flange (40), and wrist (39), first wrist are fixedly connected on both sides wrist connecting flange (40)
Portion rotation duplex synchronous pulley (87) side the second wrist rotation synchronization belt (90) be connected with positioned at wrist pitching synchronous belt from
The second wrist rotation duplex synchronous pulley (52) of driving wheel (41) side, the second wrist rotate on duplex synchronous pulley (52) through the
Three wrist rotation synchronization belts (91) are connected with setting in the wrist rotation synchronization belt driven wheel (51) of wrist (39) end, wrist rotation
Turn to be connected with wrist Pivot axle (49), wrist Pivot axle (49) both sides warp through flat key on the inside of synchronous belt driven wheel (51)
Bearing is connected with the flange end cap (50) being fixed in wrist (39), is connected with actively through flat key in wrist Pivot axle (49)
Bevel gear (38), the engagement of drive bevel gear (38) outside are connected with driven wheel of differential (48), and warp is flat on the inside of driven wheel of differential (48)
Key connection has wrist rotary shaft (45), is connected with the wrist being fixed on the outside of wrist (39) end in wrist rotary shaft (45) through bearing
Portion's rotary flange (46), wrist rotary shaft (45) end are fixedly connected with laser cutting through laser disconnecting device mounting plate (44) and fill
It sets (500).
2. tomato side shoot trimming machine cuts people according to claim 1, it is characterised in that：The big arm seat (8) includes large arm
Seat pedestal (17), big arm seat pedestal (17) lower end are fixedly connected at the top of big arm seat mounting flange (7), big arm seat pedestal (17) top
Portion both sides are respectively equipped with big arm seat left plate (11) and big arm seat right plate (16), and the large arm pitching motor (10) and first is greatly
Arm seat connecting flange (12) is separately fixed at big arm seat left plate (11) both sides, the forearm pitching motor (20) and the second large arm
Seat connecting flange (81) is separately fixed at big arm seat right plate (16) both sides.
3. tomato side shoot trimming machine cuts people according to claim 1, it is characterised in that：The large arm (22) is equipped with multiple
Mounting blocks (23), mounting blocks (23) are equipped with rotatable swelling device (24), and swelling device (24) end is equipped with expansion tightening wheel
(25)。
4. tomato side shoot trimming machine cuts people according to claim 1, it is characterised in that：The lead screw slide rest device (201)
Including the lead screw slid platform base (60) being fixed at the top of hoistable platform (200), both sides are equipped with straight at the top of lead screw slid platform base (60)
Line guide rail (59), lead screw slid platform base (60) top center are equipped with lead screw (57), and lead screw (57) one end is connected through shaft coupling (54)
There are lead screw motor (53), lead screw (57) to be equipped with feed screw nut (56), mounting plate is fixedly connected at the top of feed screw nut (56)
(55), mounting plate (55) two bottom sides are fixed on through guide rail slide block (58) connection the linear guide (59), the manipulator base (5)
At the top of mounting plate (55).
5. tomato side shoot trimming machine cuts people according to claim 1, it is characterised in that：The laser disconnecting device (500)
Including the lithium battery group (73) being fixed at the top of hoistable platform (200) and laser (74), laser (74) connects through optical fiber (80)
It is connected to the condenser lens (76) being fixed on laser disconnecting device mounting plate (44), the wrist (39) is equipped with and condenser lens
(76) the second vision system (75) coordinated.
6. tomato side shoot trimming machine cuts people according to claim 1, it is characterised in that：The running gear (100) includes
Vehicle body (61), vehicle body (61) bottom are equipped with longitudinal running gear, and longitudinal running gear both sides are equipped with horizontal walking device, described vertical
Include the adhesion wheel axis (62) and driven wheel axis (63) for being disposed side by side on vehicle body (61) two bottom sides to running gear, actively
Axletree (62) and driven wheel axis (63) both ends are through unequal angle (64) connection vehicle body (61), driven wheel axis (63) both sides
It is connected with driven wheel (65) through bearing, adhesion wheel axis (62) both sides are connected separately with driven wheel (65) and active through bearing
Wheel (66), adhesion wheel (66) side are connected with driven sprocket (67) through flat key, and driven sprocket (67) outside is through chain (68)
It is connected with drive sprocket (69), the longitudinal movable motor being fixed in vehicle body (61) is connected with through flat key on the inside of drive sprocket (69)
(70)；The horizontal walking device includes the lateral movable motor (71) being fixed in vehicle body (61), lateral movable motor (71)
Output shaft on through flat key be connected with traversing gear (92), traversing gear (92) lower end engagement is connected with intermediate gear (93), in
Between be connected with longitudinal rod (94) through flat key on the inside of gear (93), longitudinal rod (94) both sides are fixed on vehicle body through bearing block (95)
(61) bottom, the engagement of intermediate gear (93) side are connected with driven gear (96), are connected with through flat key on the inside of driven gear (96)
Transverse-roller axis (97), transverse-roller axis (97) one end are connected with lateral driving roller (98), transverse-roller axis (97) through flat key
It is connected with long connecting rod (99) through bearing on the outside of middle part, long connecting rod (99) end is equipped with lateral driven roller (101), long connecting rod (99)
Both sides are rotatably connected to short connecting rod (102), and short connecting rod (102) upper end is rotatably connected on vehicle body (61) bottom, in long connecting rod (99)
Portion is connected with the hydraulic cylinder (72) in vehicle body (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820086714.2U CN207854546U (en) | 2018-01-18 | 2018-01-18 | Tomato side shoot trimming machine cuts people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820086714.2U CN207854546U (en) | 2018-01-18 | 2018-01-18 | Tomato side shoot trimming machine cuts people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207854546U true CN207854546U (en) | 2018-09-14 |
Family
ID=63462304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820086714.2U Expired - Fee Related CN207854546U (en) | 2018-01-18 | 2018-01-18 | Tomato side shoot trimming machine cuts people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207854546U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328690A (en) * | 2019-07-15 | 2019-10-15 | 扬州市神力吊具制造有限公司 | A kind of yaw lifting device |
| CN110574553A (en) * | 2019-09-23 | 2019-12-17 | 南京林业大学 | suzuki ball picking device |
| CN112318481A (en) * | 2020-10-22 | 2021-02-05 | 吴智强 | Manipulator transport mechanism |
-
2018
- 2018-01-18 CN CN201820086714.2U patent/CN207854546U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328690A (en) * | 2019-07-15 | 2019-10-15 | 扬州市神力吊具制造有限公司 | A kind of yaw lifting device |
| CN110574553A (en) * | 2019-09-23 | 2019-12-17 | 南京林业大学 | suzuki ball picking device |
| CN112318481A (en) * | 2020-10-22 | 2021-02-05 | 吴智强 | Manipulator transport mechanism |
| CN112318481B (en) * | 2020-10-22 | 2022-07-12 | 北京华力必维科技股份有限公司 | Manipulator transport mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108184473A (en) | Tomato side shoot trimming machine cuts people | |
| CN207854546U (en) | Tomato side shoot trimming machine cuts people | |
| CN110035262B (en) | Farmland growth information monitoring device | |
| CN109514524B (en) | Working width and a height of Adjustable agricultural robot platform | |
| WO2022068254A1 (en) | Fully automatic intelligent rubber tapping robot | |
| CN110614622A (en) | Intelligent fruit picking robot and implementation method thereof | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN104476567A (en) | Six-degree-of-freedom parallel mechanism with rope-driven linear joint | |
| CN202489000U (en) | Self-propelled landscape tree trimmer | |
| CN112514656A (en) | Fruit picking method | |
| CN117699673B (en) | Transplanting crane for urban garden construction | |
| CN214228973U (en) | Fruit picking machine | |
| CN113196972A (en) | Self-propelled layering jujube tree trimming machine | |
| CN205694490U (en) | The dynamic counter weight device of a kind of high branch trimming machinery | |
| CN107864725A (en) | A kind of garden shrub species transplant robot | |
| CN207854534U (en) | Tomato side shoot trimming machine cuts people's running gear | |
| CN216650598U (en) | Fruit tree profiling pruning device and fruit tree pruning machine comprising same | |
| CN209572474U (en) | A kind of vermillion orange picking robot | |
| CN114342648A (en) | Planetary gear train type clamping end effector for rape bolts | |
| CN108901425B (en) | Adjustable rose pruning machine | |
| CN114600655B (en) | Garden trimming equipment | |
| CN220799205U (en) | Tree pruning tool | |
| CN114147692B (en) | Parallel robot with adjustable working space | |
| CN219330080U (en) | Double-acting opposite-cutting type safflower picking end effector | |
| CN216383496U (en) | Monitoring equipment for greenhouse |
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: 20180914 |