CN207911376U - Rail mounted harvests beta pruning robot - Google Patents
Rail mounted harvests beta pruning robot Download PDFInfo
- Publication number
- CN207911376U CN207911376U CN201820226870.4U CN201820226870U CN207911376U CN 207911376 U CN207911376 U CN 207911376U CN 201820226870 U CN201820226870 U CN 201820226870U CN 207911376 U CN207911376 U CN 207911376U
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- China
- Prior art keywords
- mechanical arm
- harvest
- driving
- trimming
- clamping
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- 238000003306 harvesting Methods 0.000 title claims abstract description 85
- 238000013138 pruning Methods 0.000 title claims abstract description 26
- 238000009966 trimming Methods 0.000 claims abstract description 49
- 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 abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims description 81
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 235000010799 Cucumis sativus var sativus Nutrition 0.000 abstract description 26
- 244000299906 Cucumis sativus var. sativus Species 0.000 abstract 1
- 240000008067 Cucumis sativus Species 0.000 description 26
- 238000010586 diagram Methods 0.000 description 4
- 241000219112 Cucumis Species 0.000 description 3
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 3
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 3
- 241000345998 Calamus manan Species 0.000 description 2
- 230000018044 dehydration Effects 0.000 description 2
- 238000006297 dehydration reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 235000012950 rattan cane Nutrition 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
Abstract
The utility model discloses a kind of rail mounted harvest beta pruning robot, including trimming harvest guide rail, trimming harvest guide rail is equipped with trimming harvesting robot；The trimming harvesting robot includes pedestal, base bottom is equipped with multigroup the first directive wheel with trimming harvest guide rail cooperation, on pedestal third driving motor and lever item are provided with through branch, above pedestal base deck is connected with through mounting bracket, base deck upper end is connected with lifting crotch fixed plate through mechanical arm rotation unit, lifting crotch dead plate upper end is connected with lifting seat bottom plate through lifting crotch component, and lifting seat bottom plate is equipped with the first mechanical arm once connected, second mechanical arm and clamping clipping device.The utility model can be automatically performed trimming and harvesting work to cucumber, and have the characteristics that high degree of automation, operation cost are low.
Description
Technical field
The utility model is related to a kind of cucumber to assist culture apparatus, especially a kind of rail mounted harvest beta pruning robot.
Background technology
With the growth of social demand, China's green cucumber area also gradually increases, and large-scale plantation trend is apparent；But by
It is had a single function mostly in conventional green cucumber equipment, makes farmer that can not be realized by single mechanical equipment and cucumber is repaiied
It cuts and picks, so as to cause being trimmed at present to the side shoot of cucumber, losing leaf removal, harvest picking work still by being accomplished manually, cause
The problem of high labor cost during green cucumber, great work intensity, and with increasingly serious, the agricultural of China's aging
Pursuer be even more constantly reduce and it is very different, cause the mode of artificial growth to seriously affect the plantation efficiency and kind of cucumber
Plant quality, it is difficult to meet the needs of public.Therefore, the existing planting patterns to cucumber there are the degree of automation low, operation cost
High problem.
Utility model content
The purpose of the utility model is to provide a kind of rail mounted harvest beta pruning robots.It can be automatically performed to Huang
The trimming of melon and harvesting work, and have the characteristics that high degree of automation, operation cost are low.
The technical solution of the utility model：Rail mounted harvests beta pruning robot, including trimming harvest guide rail, trimming harvest are led
Rail is equipped with trimming harvesting robot；The trimming harvesting robot includes pedestal, and base bottom is equipped with multigroup and trimming and harvests
First directive wheel of guide rail cooperation, is provided with third driving motor and lever item on pedestal through branch, and third driving motor one end connects
It is connected to eccentric wheel, is bonded to each other with lever bottom at the top of eccentric wheel, compressed spring, lever both ends warp are equipped at the top of lever item
Fourth link is connected with lifting idler pulley, and pedestal top is connected with base deck through mounting bracket, and base deck lower end is equipped with mechanical arm
Rotating device, base deck upper end are connected with lifting crotch fixed plate through mechanical arm rotation unit, lift crotch dead plate upper end
It is connected with lifting seat bottom plate through lifting crotch component, lifting seat bottom plate is equipped with lifting shell, and lifting shell upper end first is pacified
Dress bar is connected with first mechanical arm, and the second mounting rod of first mechanical arm upper end is connected with second mechanical arm, second mechanical arm end
Portion is connected with clamping clipping device through third mounting rod, and lifting case inside is equipped with the motor being fixed on lifting seat bottom plate and fixes
Frame is respectively equipped with first driving means, the second driving device and third driving device on motor fixing frame.
In rail mounted harvest beta pruning above-mentioned robot, the trimming harvest guide rail includes the linear guide, the linear guide two
End is equipped with arc board group, and arc board group includes the arc panel being symmetricly set in the linear guide, and the linear guide both sides are equipped with symmetrical
Ring-shaped guide rail, ring-shaped guide rail both ends are equipped with track pad, and backing plate spring is equipped between track pad and ring-shaped guide rail.
In rail mounted harvest beta pruning above-mentioned robot, the lifting crotch component includes being disposed side by side on lifting crotch to consolidate
Crotch connection rod set on fixed board, crotch connection rod set include multiple sequentially connected crotch connecting rods, through cross bar phase between crotch connecting rod
It connects, cross bar is equipped with flexible electric cylinders.
In rail mounted harvest beta pruning above-mentioned robot, the clamping clipping device includes being arranged on third mounting rod
Link block, link block one end are connected with end clamping motor, and the link block other end is connected with rotation bevel gear and rotatable in turn
Gripper brackets, connecting rod clamping group is equipped on the inside of gripper brackets, connecting rod clamping group one end is pressed from both sides through turbine and worm connection end
Hold motor, gripper brackets side is connected with shear motor, shear motor one end through sequentially connected second active synchronization belt wheel,
Second synchronous belt and the second driven synchronous pulley are connected with the first lead screw, and the first lead screw end is connected with second through shaft coupling
On bar, the first lead screw and the second lead screw symmetrically arranged electrical knife is connected with through feed screw nut.
In rail mounted harvest beta pruning above-mentioned robot, the machinery arm rotation unit includes fixing bracket, fixing bracket
There is rotary shaft at both ends through flanged joint, and the first driven synchronous pulley, the first driven synchronous pulley outside are connected in the middle part of rotary shaft
It is connected with the first active synchronization belt wheel through the first synchronous belt, is connected with positioned at rotary shaft side on the inside of the first active synchronization belt wheel
4th driving motor, rotary shaft upper end connection lifting crotch fixed plate.
In rail mounted harvest beta pruning above-mentioned robot, it is equipped between first directive wheel and is disposed side by side on pedestal lower end
Driven shaft and drive shaft, driven shaft and drive shaft both ends be equipped with mobile wheel, be equipped in the middle part of drive shaft be connected with each other from
Moving gear and differential mechanism, driven gear upper end are equipped with driving gear, and the second driving motor is connected on the inside of driving gear, and second drives
Dynamic motor lower end is fixed on the base through holder.
In rail mounted harvest beta pruning above-mentioned robot, the mounting bracket side is connected with harvest case, harvest bottom portion four
It is equipped with universal wheel week, harvest case bottom centre is equipped with the second directive wheel with trimming harvest guide rail cooperation.
In rail mounted harvest beta pruning above-mentioned robot, the first driving means include being mounted on motor fixing frame
First mechanical arm driving motor, first mechanical arm driving motor is through sequentially connected first mechanical arm synchronous belt driving wheel, first
Mechanical arm driving synchronous belt connects the first mounting rod with first mechanical arm synchronous belt driven wheel.
In rail mounted harvest beta pruning above-mentioned robot, second driving device includes being mounted on motor fixing frame
Second mechanical arm driving motor, second mechanical arm driving motor is through sequentially connected second mechanical arm synchronous belt driving wheel, second
It is synchronous with second mechanical arm that mechanical arm connects synchronous belt, second mechanical arm duplex synchronous pulley, second mechanical arm driving synchronous belt
Band driven wheel connects the second mounting rod, and the second mechanical arm duplex synchronous pulley is arranged on the first mounting rod.
In rail mounted harvest beta pruning above-mentioned robot, the third driving device includes being disposed side by side on motor fixing frame
The clamping clipping device driving motor of both sides, clamping clipping device driving motor is through sequentially connected clamping clipping device synchronous belt
Driving wheel, the first clamping clipping device synchronous belt, the first clamping clipping device duplex synchronous pulley, the second clamping clipping device are same
Step band, the second clamping clipping device duplex synchronous pulley, third clamping clipping device synchronous belt and clamping clipping device bevel gear
Connection clamping clipping device, the first clamping clipping device duplex synchronous pulley are arranged on the first mounting rod, and described second
Clipping device duplex synchronous pulley is clamped to be arranged on the second mounting rod, the clamping clipping device bevel gear setting is pacified in third
It fills on bar, clamping clipping device bevel gear outside and rotation bevel gear intermeshing.
Compared with prior art, the utility model is by lifting crotch component, first mechanical arm, second mechanical arm and clamping
The cooperation of clipping device allows trimming harvesting robot to be trimmed to cucumber in 5 degree of freedom and pick work, and respectively drives
Dynamic device is arranged in mechanical arm, can be effectively reduced the occupied space of mechanical arm and be prevented external dust from being rotated to mechanical arm
Caused by influence, high degree of automation, good operating stability；It can make folder by connecting rod clamping group and the respective outer side edges of electrical knife
It holds clipping device to be completed at the same time the trimming to rattan seedling side shoot and harvest the picking of cucumber, human assistance is not necessarily in the course of work,
The cooperation of high degree of automation, worm and gear and connecting rod clamping group can make clamp distance of the connecting rod clamping group with 35mm, electricity
The cutting mode of hot knife can effectively prevent rattan seedling cut-off part the phenomenon that dehydration or infection occur, to improve cucumber stem seedling
Planting effect；By trimming the cooperation of harvesting robot and trimming harvest guide rail, allow trimming harvesting robot in cucumber stem
Seedling surrounding moves freely, and so that trimming harvesting robot is moved as needed by the cooperation of lifting idler pulley and arc board group
To adjacent ring-shaped guide rail Huang is reduced to allow a trimming harvesting robot to be applied to multiple rows of cucumber stem seedling simultaneously
The production of melon plantation and operation cost.In addition, the utility model can be harvested to avoid ring-shaped guide rail in trimming by track pad
Obstruction when robot turns to, obstruction that can be to avoid track pad to directive wheel by backing plate spring make the utility model have
There is good job stability.So the utility model can be automatically performed trimming and harvesting work to cucumber, and with certainly
The feature that dynamicization degree is high, operation cost is low.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram for trimming harvesting robot；
Fig. 3 is the structural schematic diagram of first driving means, the second driving device and third driving device；
Fig. 4 is the structural schematic diagram that clipping device is clamped；
Fig. 5 is the outline drawing of connecting rod clamping group.
Label in attached drawing be：13- trimming harvest guide rails, 14- trim harvesting robot, 15- pedestals, and 16- first is oriented to
Wheel, 17- driven shafts, 18- drive shafts, 19- mobile wheels, 20- differential mechanisms, 21- driving gears, the second driving motors of 22-, 23-
Holder, 24- third driving motors, 25- eccentric wheels, 26- lever items, 27- fourth links, 28- lifting idler pulleys, 29- mounting brackets,
30- base decks, 31- fixing brackets, 32- flanges, 33- rotary shafts, the first driven synchronous pulleys of 34-, the first synchronous belts of 35-,
The first active synchronization belt wheels of 36-, the 4th driving motors of 37-, 39- lift crotch fixed plate, and 40- lifts crotch component, 41- liftings
Seat bottom plate, 42- lifting shells, the first mounting rods of 43-, 44- first mechanical arms, the second mounting rods of 45-, 46- second mechanical arms,
47- third mounting rods, 48- clamping clipping devices, 49- motor fixing frames, 50- first driving means, the second driving devices of 51-,
52- third driving devices, 53- machinery arm rotation units, 71- harvest case, 72- universal wheels, the second directive wheels of 73-, the first machines of 74-
Tool arm driving motor, 75- first mechanical arm synchronous belt driving wheels, 76- first mechanical arms drive synchronous belt, 77- first mechanical arms
Synchronous belt driven wheel, 78- second mechanical arm driving motors, 79- second mechanical arm synchronous belt driving wheels, 80- second mechanical arms connect
Synchronous belt, 81- second mechanical arm duplex synchronous pulleys are connect, 82- second mechanical arms drive synchronous belt, 83- second mechanical arms to synchronize
Clipping device driving motor is clamped in band driven wheel, 84-, and clipping device synchronous belt driving wheel, the clamping trimmings of 86- first is clamped in 85-
Clipping device duplex synchronous pulley is clamped in device synchronous belt, 87- first, and clipping device synchronous belt, 89- second is clamped in 88- second
Clipping device duplex synchronous pulley is clamped, clipping device synchronous belt is clamped in 90- thirds, and clipping device bevel gear, 401- is clamped in 91-
Crotch connection rod set, 4011- crotch connecting rods, 402- cross bars, 403- stretch electric cylinders, 131- the linear guides, 132- arc board groups, 133-
Motor is clamped in arc panel, 134- ring-shaped guide rails, 135- track pads, 136- backing plate springs, 481- link blocks, the ends 482-,
483- gripper brackets, 484- connecting rod clamping groups, 485- shear motors, the second active synchronization belt wheels of 486-, 487- second are synchronized
Band, the second driven synchronous pulleys of 488-, the first lead screws of 489-, the second lead screws of 490-, 491- electrical knifes, 492- rotate bevel gear.
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.Rail mounted harvests beta pruning robot, constitutes as shown in Figure 1, harvesting guide rail 13, trimming harvest including trimming
Guide rail 13 is equipped with trimming harvesting robot 14；The trimming harvesting robot 14 includes pedestal 15, and 15 bottom of pedestal is equipped with more
The first directive wheel 16 that group coordinates with trimming harvest guide rail 13, through holder 23 equipped with third driving motor 48 and lever on pedestal 15
Item 26,48 one end of third driving motor are connected with eccentric wheel 25, and 25 top of eccentric wheel is bonded to each other with 26 bottom of lever item, lever
26 top of item is equipped with compressed spring, and 26 both ends of lever item are connected with lifting idler pulley 28 through fourth link 27, and 15 top of pedestal is through peace
It shelves 29 and is connected with base deck 30,30 lower end of base deck is equipped with mechanical arm rotation unit 53, and 30 upper end of base deck is through machine
Tool arm rotation unit 53 is connected with lifting crotch fixed plate 39, and 39 upper end of lifting crotch fixed plate is connected through lifting crotch component 40
There are lifting seat bottom plate 41, lifting seat bottom plate 41 to be equipped with lifting shell 42, lifting 42 the first mounting rod of upper end 43 of shell connection
There are first mechanical arm 44,44 the second mounting rod of upper end 45 of first mechanical arm to be connected with second mechanical arm 46, second mechanical arm 46
End is connected with clamping clipping device 48 through third mounting rod 47, and 42 inside of lifting shell, which is equipped with, to be fixed on lifting seat bottom plate 41
Motor fixing frame 49, first driving means 50, the second driving device 51 and third driving are respectively equipped on motor fixing frame 49
Device 52.
The trimming harvest guide rail 13 includes the linear guide 131, and 131 both ends of the linear guide are equipped with arc board group 132, arc
Board group 132 includes the arc panel 133 being symmetricly set in the linear guide 131, and 131 both sides of the linear guide are led equipped with symmetrical annular
Rail 134,134 both ends of ring-shaped guide rail are equipped with track pad 135, and backing plate bullet is equipped between track pad 135 and ring-shaped guide rail 134
Spring 136.
The lifting crotch component 40 includes the crotch connection rod set 401 being disposed side by side in lifting crotch fixed plate 39, fork
Frame connection rod set 401 includes multiple sequentially connected crotch connecting rods 4011, is connected with each other through cross bar 402 between crotch connecting rod 4011,
Cross bar 402 is equipped with flexible electric cylinders 403.
The clamping clipping device 48 includes the link block 481 being arranged on third mounting rod 47, and 481 one end of link block connects
It is connected to end clamping motor 482,481 other end of link block is connected with rotation bevel gear 492 and rotatable clamper branch in turn
Frame 483,483 inside of gripper brackets are equipped with connecting rod clamping group 484, and 484 one end of connecting rod clamping group connects end through turbine and worm
Motor 482 is clamped, 483 side of gripper brackets is connected with shear motor 485, and 485 one end of shear motor is through sequentially connected the
Two active synchronization belt wheels 486, the second synchronous belt 487 and the second driven synchronous pulley 488 are connected with the first lead screw 489, first
489 end of bar is connected with the second lead screw 490 through shaft coupling, is connected with through feed screw nut on the first lead screw 489 and the second lead screw 490
Symmetrically arranged electrical knife 491.
The machinery arm rotation unit 53 includes fixing bracket 31, and 31 both ends of fixing bracket are connected with rotary shaft through flange 32
33,33 middle part of rotary shaft is connected with the first driven synchronous pulley 34, and 34 outside of the first driven synchronous pulley is through the first synchronous belt 35
It is connected with the first active synchronization belt wheel 36,36 inside of the first active synchronization belt wheel is connected with the 4 wheel driven positioned at 33 side of rotary shaft
Dynamic motor 37,33 upper end of rotary shaft connection lifting crotch fixed plate 39.
The driven shaft 17 and drive shaft 18 for being disposed side by side on 15 lower end of pedestal are equipped between first directive wheel 16, it is driven
Axis 17 and 18 both ends of drive shaft are equipped with mobile wheel 19, and 18 middle part of drive shaft is equipped with the driven gear 63 and differential being connected with each other
Device 20,63 upper end of driven gear are equipped with driving gear 21, and 21 inside of driving gear is connected with the second driving motor 22, the second driving
22 lower end of motor is fixed on through holder 23 on pedestal 15.
29 side of the mounting bracket is connected with harvest case 71, and 71 bottom of harvest case is surrounded by universal wheel 72, harvests case 71
Bottom centre is equipped with the second directive wheel 73 coordinated with trimming harvest guide rail 13.
The first driving means 50 include be mounted on motor fixing frame 49 on first mechanical arm driving motor 74, first
Mechanical arm driving motor 74 is through sequentially connected first mechanical arm synchronous belt driving wheel 75,76 and of first mechanical arm driving synchronous belt
First mechanical arm synchronous belt driven wheel 77 connects the first mounting rod 43.
Second driving device 51 include be mounted on motor fixing frame 49 on second mechanical arm driving motor 78, second
Mechanical arm driving motor 78 through sequentially connected second mechanical arm synchronous belt driving wheel 79, second mechanical arm connection synchronous belt 80,
Second mechanical arm duplex synchronous pulley 81, second mechanical arm driving synchronous belt 82 and second mechanical arm synchronous belt driven wheel 83 connect
Second mounting rod 45, the second mechanical arm duplex synchronous pulley 81 are arranged on the first mounting rod 43.
The third driving device 52 includes being disposed side by side on the clamping clipping device driving electricity of 49 both sides of motor fixing frame
Machine 84, clamping clipping device driving motor 84 are repaiied through the clamping of sequentially connected clamping clipping device synchronous belt driving wheel 85, first
It cuts device synchronous belt 86, first and clipping device duplex synchronous pulley the 87, second clamping clipping device the 88, second folder of synchronous belt is clamped
Hold 91 connection clip of clipping device duplex synchronous pulley 89, third clamping clipping device synchronous belt 90 and clamping clipping device bevel gear
Clipping device 48 is held, the first clamping clipping device duplex synchronous pulley 87 is arranged on the first mounting rod 43, and described second
Clipping device duplex synchronous pulley 89 is clamped to be arranged on the second mounting rod 45, the setting of clamping clipping device bevel gear 91 exists
On third mounting rod 47,91 outside of clamping clipping device bevel gear is intermeshed with rotation bevel gear 492.
The operation principle of the utility model：Cucumber stem seedling is cultivated between the linear guide 131 and ring-shaped guide rail 134
Cultivation bed after, trimming harvesting robot 14 is by the cooperation of the first directive wheel 16 and trimming harvest guide rail 13 in circular orbit 11
Surrounding moves freely, and when trimming harvesting robot 14 is moved to 131 end of the linear guide, trimming harvesting robot 14 can lead to
The cooperation of overcompression spring and eccentric wheel 25 makes lever item 26 be rotated on holder 23 to heeling condition, to make side lifting lead
Wheel 28 contacts arc panel 133 after decline and drives trimming harvesting robot 14 toward moving on corresponding ring-shaped guide rail 134, makes to repair
Specified ring-shaped guide rail 134 can be freely accessible to as needed by cutting harvesting robot 14, more to make the utility model be suitable for
Trimming and the picking work for arranging cucumber stem seedling, reduce the production during green cucumber and operation cost；Trimming harvest machine
The movement of people 14 adjusts the high and low position of each mechanical arm by lifting crotch component 40 afterwards in place, right by mechanical arm rotation unit 53
Each mechanical arm is rotated, and is carried out pitching lifting to first mechanical arm 44 by first driving means 50, is filled by the second driving
It sets 51 pairs of second mechanical arms 45 and carries out pitching lifting, clamping clipping device 48 is rotated by third driving device 52, is made
Trimming harvesting robot 14 can operate cucumber side shoot or cucumber in 5 degree of freedom, enable clamping clipping device 48
It is enough to be moved to different location and angle on demand；Be clamped clipping device 48 in place afterwards by shear motor 485, the first lead screw 489,
The cooperation of shaft coupling and the second lead screw 490 can make electrical knife 491 be separated from each other or close up, to play shearing to cucumber side shoot
The cutting mode of effect, electrical knife 491 can prevent the cut-off part of cucumber stem seedling from the problem of dehydration or infection occur, improve cucumber
Growth result；The cooperation of motor 482 and worm and gear is clamped by end can make 484 pairs of cucumber of connecting rod clamping group realize folder
Picking work is held, the clamping range of connecting rod clamping group 484 can reach 35mm or more, to which the cucumber suitable for different in width is plucked
It takes, connecting rod clamping group 484 can be directly placed into after winning cucumber in harvest case 71, completed the collection work to cucumber and prevented Huang
There is the case where falling fragmentation in picking in melon.
Claims (10)
1. rail mounted harvests beta pruning robot, it is characterised in that：Including trimming harvest guide rail (13), trimming harvests on guide rail (13)
Equipped with trimming harvesting robot (14)；The trimming harvesting robot (14) includes pedestal (15), and pedestal (15) bottom is equipped with more
The first directive wheel (16) that group coordinates with trimming harvest guide rail (13), through holder (23) equipped with third driving motor on pedestal (15)
(24) and lever item (26), third driving motor (24) one end are connected with eccentric wheel (25), eccentric wheel (25) top and lever item
(26) bottom is bonded to each other, and compressed spring is equipped at the top of lever item (26), and lever item (26) both ends are connected through fourth link (27)
There are lifting idler pulley (28), pedestal (15) top to be connected with base deck (30) through mounting bracket (29), base deck (30) lower end is set
There are mechanical arm rotation unit (53), base deck (30) upper end to be connected with lifting crotch fixed plate through mechanical arm rotation unit (53)
(39), lifting crotch fixed plate (39) upper end is connected with lifting seat bottom plate (41), lifting seat bottom plate through lifting crotch component (40)
(41) it is equipped with lifting shell (42), lifting shell (42) the first mounting rod of upper end (43) is connected with first mechanical arm (44),
First mechanical arm (44) the second mounting rod of upper end (45) is connected with second mechanical arm (46), second mechanical arm (46) end
Three mounting rods (47) are connected with clamping clipping device (48), are equipped with and are fixed on lifting seat bottom plate (41) on the inside of lifting shell (42)
Motor fixing frame (49), be respectively equipped on motor fixing frame (49) first driving means (50), the second driving device (51) and
Third driving device (52).
2. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：The trimming harvest guide rail (13)
Including the linear guide (131), the linear guide (131) both ends are equipped with arc board group (132), and arc board group (132) includes symmetrically setting
The arc panel (133) in the linear guide (131) is set, the linear guide (131) both sides are equipped with symmetrical ring-shaped guide rail (134), ring
Shape guide rail (134) both ends are equipped with track pad (135), and backing plate bullet is equipped between track pad (135) and ring-shaped guide rail (134)
Spring (136).
3. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：The lifting crotch component (40)
Including the crotch connection rod set (401) being disposed side by side in lifting crotch fixed plate (39), crotch connection rod set (401) include it is multiple according to
The crotch connecting rod (4011) of secondary connection, is connected with each other through cross bar (402) between crotch connecting rod (4011), and cross bar (402) is equipped with
Flexible electric cylinders (403).
4. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：The clamping clipping device (48)
Including the link block (481) being arranged on third mounting rod (47), link block (481) one end is connected with end clamping motor
(482), link block (481) other end is connected with rotation bevel gear (492) and rotatable gripper brackets (483), folder in turn
Connecting rod clamping group (484) is equipped on the inside of holder holder (483), connecting rod clamping group (484) one end is pressed from both sides through turbine and worm connection end
Motor (482) is held, gripper brackets (483) side is connected with shear motor (485), and shear motor (485) one end through connecting successively
The second active synchronization belt wheel (486), the second synchronous belt (487) and the second driven synchronous pulley (488) connect is connected with first
Bar (489), the first lead screw (489) end are connected with the second lead screw (490), the first lead screw (489) and the second lead screw through shaft coupling
(490) on symmetrically arranged electrical knife (491) is connected with through feed screw nut.
5. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：The machinery arm rotation unit
(53) include fixing bracket (31), fixing bracket (31) both ends are connected with rotary shaft (33) through flange (32), in rotary shaft (33)
Portion is connected with the first driven synchronous pulley (34), and the is connected with through the first synchronous belt (35) on the outside of the first driven synchronous pulley (34)
One active synchronization belt wheel (36), the first active synchronization belt wheel (36) inside are connected with the 4th driving positioned at rotary shaft (33) side
Motor (37), rotary shaft (33) upper end connection lifting crotch fixed plate (39).
6. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：First directive wheel (16) it
Between be equipped with and be disposed side by side on the driven shaft (17) and drive shaft (18) of pedestal (15) lower end, driven shaft (17) and drive shaft (18) two
End is equipped with mobile wheel (19), and the driven gear (63) being connected with each other and differential mechanism (20) are equipped in the middle part of drive shaft (18), from
Moving gear (63) upper end is equipped with driving gear (21), and the second driving motor (22) is connected on the inside of driving gear (21), and second drives
Dynamic motor (22) lower end is fixed on through holder (23) on pedestal (15).
7. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：Mounting bracket (29) side connects
It is connected to harvest case (71), harvest case (71) bottom is surrounded by universal wheel (72), and harvest case (71) bottom centre is equipped with and trimming
Harvest the second directive wheel (73) that guide rail (13) coordinates.
8. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：The first driving means (50)
Including the first mechanical arm driving motor (74) being mounted on motor fixing frame (49), first mechanical arm driving motor (74) through according to
First mechanical arm synchronous belt driving wheel (75), first mechanical arm driving synchronous belt (76) and the first mechanical arm synchronous belt of secondary connection
Driven wheel (77) connects the first mounting rod (43).
9. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：Second driving device (51)
Including the second mechanical arm driving motor (78) being mounted on motor fixing frame (49), second mechanical arm driving motor (78) through according to
The second mechanical arm synchronous belt driving wheel (79) of secondary connection, second mechanical arm connection synchronous belt (80), second mechanical arm duplex are same
It walks belt wheel (81), second mechanical arm driving synchronous belt (82) and second mechanical arm synchronous belt driven wheel (83) and connects the second mounting rod
(45), the second mechanical arm duplex synchronous pulley (81) is arranged on the first mounting rod (43).
10. rail mounted harvest beta pruning according to claim 1 robot, it is characterised in that：The third driving device
(52) include the clamping clipping device driving motor (84) for being disposed side by side on motor fixing frame (49) both sides, clamping clipping device drive
Dynamic motor (84) is through sequentially connected clamping clipping device synchronous belt driving wheel (85), the first clamping clipping device synchronous belt
(86), the first clamping clipping device duplex synchronous pulley (87), the second clamping clipping device synchronous belt (88), the second clamping trimming
Device duplex synchronous pulley (89), third clamping clipping device synchronous belt (90) and clamping clipping device bevel gear (91) connection clip
Clipping device (48) is held, the first clamping clipping device duplex synchronous pulley (87) is arranged on the first mounting rod (43), institute
It states the second clamping clipping device duplex synchronous pulley (89) to be arranged on the second mounting rod (45), the clamping clipping device bores tooth
(91) are taken turns to be arranged on third mounting rod (47), it is mutual with rotation bevel gear (492) on the outside of clamping clipping device bevel gear (91)
Engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226870.4U CN207911376U (en) | 2018-02-08 | 2018-02-08 | Rail mounted harvests beta pruning robot |
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| CN201820226870.4U CN207911376U (en) | 2018-02-08 | 2018-02-08 | Rail mounted harvests beta pruning robot |
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| CN207911376U true CN207911376U (en) | 2018-09-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113615417A (en) * | 2021-08-23 | 2021-11-09 | 广东电网有限责任公司 | Liftable formula circular orbit beta pruning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113615417A (en) * | 2021-08-23 | 2021-11-09 | 广东电网有限责任公司 | Liftable formula circular orbit beta pruning device |
| CN113615417B (en) * | 2021-08-23 | 2022-04-15 | 广东电网有限责任公司 | Liftable formula circular orbit beta pruning device |
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Granted publication date: 20180928 |