CN208001562U - A kind of coconut picking robot - Google Patents

Abstract

The utility model discloses a kind of coconut picking robots,The housing cavity is installed with power supply,It is installed with electrical control cabinet on the right side of the power supply,The electrical control cabinet inner cavity, which is inlayed, is equipped with control core plate,And the power supply is fixedly connected by controlling core plate with electrical control cabinet,Bottom end surface is fixedly connected with signal receiver on the right side of the electrical control cabinet,It is installed with connector above the signal receiver,The connector left-hand face is fixedly connected with electrical control cabinet right lateral surface,The shearing property body main surface is installed with photographic device,It is installed with placement fixed frame on the left of the photographic device,The placement fixed frame bottom end is installed with compression and places net,Compression placement Netcom crosses placement fixed frame and is flexibly connected with shearing property body,Lower-left arm bottom end is flexibly connected by left first joint with left mechanical principal arm.The apparatus structure is simple, performance efficiency, can put into widely available use.

Description

A kind of coconut picking robot

Technical field

The utility model belongs to robotic technology field, and in particular to a kind of coconut picking robot.

Background technology

Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind The work of work, such as production industry, construction industry, or dangerous work.

Nowadays the characteristics of robot develops can be summarized as：In transverse direction, application surface is more and more wider.Expanded by 95% commercial Application Open up the non-industrial applications to more areas.As perform an operation, fruit-picking, beta pruning, tunnelling, investigation, the removal of mines, also space machine Device people, Qian Hai robots.Robot application is without limitation, as long as thinkable, so that it may be realized with going to create；On longitudinal direction, robot Type can be more and more, as enter human body microrobot, it has also become a new direction may diminish to as a grain of rice Size；Robot automtion is strengthened, and robot can be more clever.

Utility model content

It is mentioned above in the background art to solve the purpose of this utility model is to provide a kind of coconut picking robot Problem.

To achieve the above object, the utility model provides the following technical solutions：A kind of coconut picking robot, including shell With shearing property body, the housing cavity is installed with power supply, electrical control cabinet is installed on the right side of the power supply, described Electrical control cabinet inner cavity, which is inlayed, is equipped with control core plate, and the power supply is fixedly connected by controlling core plate with electrical control cabinet, Bottom end surface is fixedly connected with signal receiver, the signal receiver top company of being installed on the right side of the electrical control cabinet Junctor, the connector left-hand face are fixedly connected with electrical control cabinet right lateral surface, and activity installation on the right side of the connector There are rotating basis, the rotating basis right lateral surface to be installed with right mechanical principal arm, the right mechanical principal arm right end passes through the right side First joint is flexibly connected with bottom right arm, and the bottom right arm is flexibly connected by the right second joint in top with right upper arm, the right side Top arm's tip is connected with universal joint, and the universal joint upper end is installed with gear device, and the gear drives Dynamic device upper surface is installed with shearing property body, is fixedly connected with driving gear on the left of the shearing property intracoelomic cavity, institute Stating key connection in the middle part of driving gear inner cavity has driving shaft, the driving shaft top to be installed with main shearing stage property, and the master cuts Incisor path tool side is equipped with secondary shearing tool, and the pair shearing tool is fixedly connected by bottom end driven shaft with driven gear, institute It states driven gear to be movably connected on the right side of shearing property intracoelomic cavity, the shearing property body main surface is installed with camera shooting dress It sets, placement fixed frame is installed on the left of the photographic device, the placement fixed frame bottom end is installed with compression and places Net, compression placement Netcom crosses placement fixed frame and is flexibly connected with shearing property body, and the driving gear and driven gear Engagement connection, and left upper arm is installed on the left of the right upper arm, the left upper arm bottom end is lived by left second joint and lower-left arm Dynamic connection, the lower-left arm bottom end be flexibly connecteds by left first joint with left mechanical principal arm, the left machinery principal arm bottom end and It is fixedly connected on the left of rotating basis, is fixedly connected with electrical control cabinet by connector on the right side of the rotating basis, it is described electrical Switch board right lateral surface is fixedly connected by controlling core plate with power supply, and the power supply is fixedly mounted on housing cavity, the shell Inner cavity rolls and is connected with Antiskid rolling wheel, and the shell side is respectively welded fixed hinge bearing, the fixed hinge bearing Pass through holddown spring and housing hinge.

Preferably, it is hinged by fixed hinge bearing that six groups of holddown springs are set, and the pressure between shell described in two groups Tight spring materials are alloy spring steel, and eight groups of Antiskid rolling wheels are arranged in the housing cavity, and the Antiskid rolling wheel material is synthesis Rubber.

Preferably, the right mechanical principal arm is fixedly connected by bottom right arm with right upper arm, and the left mechanical principal arm passes through Lower-left arm is fixedly connected with left upper arm, and the left upper arm is identical as right upper arm size specification, and the lower-left arm and bottom right arm are big Small dimension is identical, and the left mechanical principal arm is identical as right mechanical principal arm size specification and is in sustained height.

Preferably, electrical control cabinet is fixedly connected with connector on the left of the holddown spring, and on the right side of the holddown spring Connector bottom end be installed with signal receiver, and the control core plate is inlayed respectively mounted on power supply and electrical control cabinet Surface.

Preferably, the main shearing stage property is identical as secondary shearing tool size specification, the pair shearing tool and main shearing Stage property material is abrasion-resistant stee, and the driven shaft length is longer than driving shaft, and shearing property side end passes through setting Two groups of placement fixed frames are placed net with compression and are fixedly connected, and it is synthetic fibers that web material matter is placed in the compression.

The technique effect and advantage of the utility model：The coconut picking robot, holddown spring on device is from shell one It is removed on the fixed hinge bearing at end, the shell that the shell that left mechanical principal arm is fixedly mounted is fixedly mounted with right mechanical principal arm is pressed from both sides Tight coco places, and is then hinged the fixed hinge bearing of holddown spring and the other end in an end housing, anti-skidding rolling Wheel is close to coco, and then operating personnel make device signal receiver receive signal and utilize Antiskid rolling wheel to coconut palm by controller Subtree upper direction makes device can be applied to the coconut picking work of the coco of different height, can be passed back by photographic device The picture observation device position advanced, adjust left mechanical principal arm and the right side first by adjusting rotating basis when marching to coconut The position of mechanical principal arm then adjusts lower-left arm, left upper arm, bottom right arm and right upper arm to adjust the position of shearing property body, incites somebody to action When shearing property gymnastics is made to coconut bottom end, gear device will drive driving gear to drive driven gear movement, driving tooth Wheel and driven gear drive main shearing stage property clockwise movement and secondary shearing tool counterclockwise movement to complete coconut cutting and adopt respectively Work is plucked, makes device that can be carried out at the same time two groups of picking work, improves the efficiency of picking work, coconut picks coconut palm after the completion of work Son will enter the compression for placing fixed frame inner cavity and place net, and coconut is placed net by compression and will slowly be tumbled to ground, picked Operating personnel's operating device moves downwardly to ground using Antiskid rolling wheel along trunk after finishing, and keeps the coconut after picking safe Lossless falls to the ground.The apparatus structure is simple, performance efficiency, can put into widely available use.

Description of the drawings

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the shear structure schematic cross-section of the utility model.

In figure：Fixed frame, 4 compression placement nets, 5 driving shafts, 6 secondary shear knives are placed in 1 driven shaft, 2 main shearing tools, 3 Tool, 7 photographic devices, 8 gear devices, 9 right upper arms, 10 right second joints, 11 bottom right arms, 12 right first joints, 13 right machines Tool principal arm, 14 signal receivers, 15 fixed hinge bearings, 16 Antiskid rolling wheels, 17 power supplys, 18 rotating basis, 19 left first joints, 20 lower-left arms, 21 left mechanical principal arms, 22 left second joints, 23 left upper arms, 24 universal joints, 25 shearing property bodies, 26 electric-controlleds Cabinet processed, 27 shells, 28 holddown springs, 29 control core plates, 30 connectors, 31 driving gears, 32 driven gears.

Specific implementation mode

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work The every other embodiment obtained, shall fall within the protection scope of the present invention.

Referring to Fig. 1, Fig. 1 is the structural schematic diagram of the utility model, a kind of coconut picking robot, including 27 He of shell Shearing property body 25,27 inner cavity of the shell are installed with power supply 17, and 17 right side of the power supply is installed with electrical control Cabinet 26,26 inner cavity of the electrical control cabinet, which is inlayed, is equipped with control core plate 29, and the power supply 17 is by controlling core plate 29 and electricity Gas switch board 26 is fixedly connected, and 26 right side bottom end surface of the electrical control cabinet is fixedly connected with signal receiver 14, the letter 14 top of number receiver is installed with connector 30, and 30 left-hand face of the connector is solid with 26 right lateral surface of electrical control cabinet Fixed connection, and 30 right side of the connector is movably installed with rotating basis 18,18 right lateral surface of the rotating basis is fixedly mounted There are right mechanical principal arm 13, right mechanical 13 right end of principal arm to be flexibly connected with bottom right arm 11 by right first joint 12, the right side Underarm 11 is flexibly connected by the right second joint 10 in top with right upper arm 9, and 9 top of the right upper arm is connected with Universal connector First 24,24 upper end of the universal joint is installed with gear device 8, and peace is fixed in 8 upper surface of the gear device Equipped with shearing property body 25, driving gear 31, the driving gear 31 are fixedly connected on the left of 25 inner cavity of shearing property body Key connection has driving shaft 5,5 top of the driving shaft to be installed with main shearing stage property 2, the main shearing stage property 2 in the middle part of inner cavity Side is equipped with secondary shearing tool 6, and the pair shearing tool 6 is fixedly connected by bottom end driven shaft 1 with driven gear 32, described Driven gear 32 is movably connected on the right side of 25 inner cavity of shearing property body, and 25 main surface of shearing property body is installed with camera shooting Device 7,7 left side of the photographic device, which is installed with, places fixed frame 3, and 3 bottom end of placement fixed frame is installed with pressure Scaling sets net 4, and the compression is placed net 4 and is flexibly connected with shearing property body 25 by placing fixed frame 3, and the driving tooth Wheel 31 engages connection with driven gear 32, and 9 left side of the right upper arm is equipped with left upper arm 23, and 23 bottom end of the left upper arm passes through Left second joint 22 is flexibly connected with lower-left arm 20, and 20 bottom end of lower-left arm passes through the first joint of a left side 19 and left mechanical principal arm 21 flexible connections, left mechanical 21 bottom end of principal arm are fixedly connected with 18 left side of rotating basis, and 18 right side of the rotating basis is logical It crosses connector 30 to be fixedly connected with electrical control cabinet 26,26 right lateral surface of the electrical control cabinet is by controlling core plate 29 and power supply 17 are fixedly connected, and the power supply 17 is fixedly mounted on 27 inner cavity of shell, and 27 inner cavity of the shell rolls and is connected with Antiskid rolling wheel 16, and 27 side of the shell is respectively welded fixed hinge bearing 15, the fixed hinge bearing 15 passes through holddown spring 28 It is hinged with shell 27.

Referring to Fig. 2, Fig. 2 is the shear structure schematic cross-section of the utility model, it is arranged between shell 27 described in two groups Six groups of holddown springs 28 are hinged by fixed hinge bearing 15, and 28 material of the holddown spring is alloy spring steel, and described Eight groups of Antiskid rolling wheels 16 are arranged in 27 inner cavity of shell, and 16 material of the Antiskid rolling wheel is synthetic rubber, and the right mechanical principal arm 13 is logical It crosses bottom right arm 11 to be fixedly connected with right upper arm 9, and the left mechanical principal arm 21 is fixedly connected by lower-left arm 20 with left upper arm 23, The left upper arm 23 is identical as 9 size specification of right upper arm, and the lower-left arm 20 is identical as 11 size specification of bottom right arm, and institute It is identical as right mechanical 13 size specification of principal arm and electrical on the left of sustained height, the holddown spring 28 to state left mechanical principal arm 21 Switch board 26 is fixedly connected with connector 30, and 30 bottom end of connector on 28 right side of the holddown spring is installed with signal and connects Device 14 is received, and the control core plate 29 is inlayed respectively mounted on power supply 17 and 26 surface of electrical control cabinet, the main shearing stage property 2 Identical as 6 size specification of secondary shearing tool, the pair shearing tool 6 and main 2 material of shearing stage property are abrasion-resistant stee, and it is described from 1 length of moving axis is longer than driving shaft 5, and 25 side of shearing property body is put by the way that two groups of placement fixed frames 3 are arranged with compression It sets net 4 to be fixedly connected, it is synthetic fibers that 4 material of net is placed in the compression.

Operation principle：Operating personnel are first by device holddown spring 28 from the fixed hinge bearing 15 of 27 one end of shell when use On remove, the shell 27 that the shell 27 that left mechanical principal arm 21 is fixedly mounted is fixedly mounted with right mechanical principal arm 13 is clamped into coconut Tree is steady to place, and is then hinged the fixed hinge bearing 15 of holddown spring 28 and the other end in an end housing 27, anti-skidding Idler wheel 16 is close to coco, and then operating personnel make device signal receiver 14 receive signal and utilize anti-skidding rolling by controller Wheel 16 to coco upper direction, operating personnel below coco can by the picture that the photographic device 7 on device is passed back into Row observation adjusts left mechanical principal arm 21 and right mechanical principal arm by adjusting rotating basis 18 first when device marches to coconut 13 position, then adjusts lower-left arm 20, left upper arm 23, bottom right arm 11 and right upper arm 9 adjust the position of shearing property body 25, When shearing property body 25 is operated to coconut bottom end, gear device 8 will drive driving gear 31 that driven gear 32 is driven to transport Dynamic, driving gear 31 and driven gear 32 drive 6 counterclockwise movement of main 2 clockwise movement of shearing stage property and secondary shearing tool respectively Coconut cutting picking work is completed, coconut places net by the compression for placing 3 inner cavity of fixed frame is entered after the completion of coconut picks work 4, coconut is placed net 4 by compression and will slowly be tumbled to ground, and operating personnel's operating device utilizes Antiskid rolling wheel after picking 16 move downwardly to ground along trunk.

Finally it should be noted that：The above descriptions are merely preferred embodiments of the present invention, is not limited to this Utility model, although the utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art For, it still can be with technical scheme described in the above embodiments is modified, or to which part technical characteristic Equivalent replacement is carried out, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on, It should be included within the scope of protection of this utility model.

Claims (5)

1. a kind of coconut picking robot, including shell (27) and shearing property body (25), it is characterised in that：The shell (27) Inner cavity is installed with power supply (17), and electrical control cabinet (26), the electrical control are installed on the right side of the power supply (17) Cabinet (26) inner cavity, which is inlayed, is equipped with control core plate (29), and the power supply (17) is by controlling core plate (29) and electrical control cabinet (26) it is fixedly connected, bottom end surface is fixedly connected with signal receiver (14), the signal on the right side of the electrical control cabinet (26) Connector (30), connector (30) left-hand face and electrical control cabinet (26) right side are installed with above receiver (14) Surface is fixedly connected, and rotating basis (18) is movably installed on the right side of the connector (30), on the right side of the rotating basis (18) Surface is installed with right mechanical principal arm (13), and right mechanical principal arm (13) right end passes through right first joint (12) and bottom right arm (11) it is flexibly connected, the bottom right arm (11) is flexibly connected by the right second joint in top (10) with right upper arm (9), the upper right Arm (9) top is connected with universal joint (24), and universal joint (24) upper end is installed with gear device (8), gear device (8) upper surface is installed with shearing property body (25), shearing property body (25) inner cavity Left side is fixedly connected with driving gear (31), and key connection has driving shaft (5), the active in the middle part of driving gear (31) inner cavity Axis (5) top is installed with main shearing stage property (2), and main shearing stage property (2) side is equipped with secondary shearing tool (6), institute It states secondary shearing tool (6) to be fixedly connected with driven gear (32) by bottom end driven shaft (1), driven gear (32) activity is even It is connected on the right side of shearing property body (25) inner cavity, shearing property body (25) main surface is installed with photographic device (7), described It is installed on the left of photographic device (7) and places fixed frame (3), placement fixed frame (3) bottom end is installed with compression and puts Net (4) is set, the compression is placed net (4) and is flexibly connected with shearing property body (25) by placing fixed frame (3), and the active Gear (31) engages connection with driven gear (32), and is equipped with left upper arm (23), the left upper arm on the left of the right upper arm (9) (23) bottom end is flexibly connected by left second joint (22) with lower-left arm (20), and lower-left arm (20) bottom end is closed by a left side first Section (19) is flexibly connected with left mechanical principal arm (21), and left mechanical principal arm (21) bottom end connects with fixed on the left of rotating basis (18) It connects, is fixedly connected with electrical control cabinet (26) by connector (30) on the right side of the rotating basis (18), the electrical control cabinet (26) right lateral surface is fixedly connected by controlling core plate (29) with power supply (17), and the power supply (17) is fixedly mounted on shell (27) Inner cavity, shell (27) inner cavity rolls and is connected with Antiskid rolling wheel (16), and the shell (27) side is respectively welded fixation Rocker bar bearing (15), the fixed hinge bearing (15) are hinged by holddown spring (28) and shell (27).

2. a kind of coconut picking robot according to claim 1, it is characterised in that：It is set between shell (27) described in two groups It is hinged by fixed hinge bearing (15) to set six groups of holddown springs (28), and the holddown spring (28) material is alloy spring Steel, and eight groups of Antiskid rolling wheels (16) are arranged in the shell (27) inner cavity, Antiskid rolling wheel (16) material is synthetic rubber.

3. a kind of coconut picking robot according to claim 1, it is characterised in that：The right mechanical principal arm (13) passes through Bottom right arm (11) is fixedly connected with right upper arm (9), and the left mechanical principal arm (21) passes through lower-left arm (20) and left upper arm (23) It is fixedly connected, the left upper arm (23) is identical as right upper arm (9) size specification, and the lower-left arm (20) and bottom right arm (11) are big Small dimension is identical, and the left mechanical principal arm (21) is identical as right mechanical principal arm (13) size specification and is in sustained height.

4. a kind of coconut picking robot according to claim 1, it is characterised in that：Electricity on the left of the holddown spring (28) Gas switch board (26) is fixedly connected with connector (30), and peace is fixed in connector (30) bottom end on the right side of the holddown spring (28) Equipped with signal receiver (14), and the control core plate (29) is inlayed respectively mounted on power supply (17) and electrical control cabinet (26) table Face.

5. a kind of coconut picking robot according to claim 1, it is characterised in that：The main shearing stage property (2) and pair Shearing tool (6) size specification is identical, and the pair shearing tool (6) and main shearing stage property (2) material are abrasion-resistant stee, and described Driven shaft (1) length is longer than driving shaft (5), and shearing property body (25) side is by being arranged two groups of placement fixed frames (3) it places net (4) with compression to be fixedly connected, it is synthetic fibers that net (4) material is placed in the compression.