CN208016373U - A kind of mechanical device of intelligence picking mangosteen - Google Patents

Abstract

The utility model discloses a kind of mechanical devices of intelligence picking mangosteen, including picking vehicle module, shoulder joint module, elbow joint module, wrist joint module and shear module；Picking vehicle module is the foundation location and moving parts of whole device；Shoulder joint module is fixed on by bottom plate with the picking vehicle of picking vehicle module；Elbow joint module side is connected with the kinematic chain bearing end seat of two kinematic chains of shoulder joint module respectively with lower end；Wrist joint module is fixed on by silent flatform on elbow joint module forearm connecting plate；Shear module is fixed on by shear motor holder on the moving platform of wrist joint module.The utility model shoulder joint module uses the sphere parallel mechanism of two degree of freedom, wrist joint module to use the parallel institution of symmetrical structure design, have the advantages that bearing capacity is strong, working space is big；The structure that serial-parallel mirror is used by the mechanical arm that three shoulder, elbow, wrist joints form, has six-freedom degree, mechanism kinematic is flexible, compact-sized.

Description

A kind of mechanical device of intelligence picking mangosteen

Technical field

The utility model is related to mechanical arm picked technology fields, more specifically, more particularly to a kind of intelligence picking mangosteen The mechanical device of fruit.

Background technology

A kind of important daily technology application of the vegetables and fruits picking as intelligent robot, the advanced degree of equipment to agriculture and forestry and Orchard picking industry plays the role of key.Mangosteen is cultivated, China extensively as pip fruit in Asia and African torrid areas There are plantation in Taiwan, Fujian, Guangdong, Guangxi and Yunnan Province.

Mangosteen tree is dungarunga, and high 12-20m, stem is straight, and bark is coarse, dark brown, there is the resin juice of yellow bitter taste, tree Hat is in cone.Mangosteen branch item is interacted to life, makees reflective symmetry.Branch is sturdy and more and intensive, and sprig generally tool is apparent Vertical edges items.Mangosteen tree fruit is that berry is sub- spherical, diameter 3.5-7cm, persistent calyx, pericarp thickness 0.6-1cm, and cellulosic is ripe Fruit aubergine.There is 0-4, seed in fruit, 1-2 general, brown, grain is rough, surface tool fiber lines, well-developed kind Son is about 2-2.5cm, wide about 1.5-2cm, thick 0.7-1.2cm, grain weight 0.1-2.29, and average grain weighs 19.Because of the spy of its fruit tree Point, the equipment for picking mangosteen, which need to have, adapts to intensive landform operation, and Picker arm can freely adjust height and average picking is vertical It is highly larger, it can bear to load the features such as larger.And at this stage and find no the farming machine picked specifically for mangosteen People.

Application No. is 201520271638.9 Chinese utility model patents to disclose fruit and vegetable picking robot mechanical arm and machine Device people is obtained the image information of target fruits and vegetables by visual unit and distance measuring unit, provides the precision guarantee picked automatically；Application Number a kind of mechanical arm suitable for orchard picking is disclosed for 201611053141.5 Chinese utility model patents, use is telescopic Mechanical arm, after blade cuts fruit, fruit falls into splicing basket and enters storage box, and the automation for realizing orchard picking adopts It plucks；Application No. is 201510977552.2 Chinese utility model patents to disclose tendril class single fruit fruit and vegetable picking machinery arm, utilizes The gravity of fruit itself completes the action of flexible reception, the transport with tendril class single fruit fruits and vegetables of mechanical arm.

But the mechanical device that is related to of above three fruit and vegetable picking robot be all made of single Softening with it is blocking Design, degree of freedom is less, mechanism kinematic underaction when picking, meanwhile, mechanical arm rigidity is smaller, and load is little, and specific aim is not Enough height, are not suitable for the feature of certain extreme terrain and different fruit trees.

Against the above deficiency, a kind of mechanical device of intelligence picking mangosteen is designed and develops, it is above-mentioned each to make up foot Disadvantage, it appears particularly necessary.

Utility model content

A kind of mechanical device of intelligence picking mangosteen is provided utility model aims to solve the above problem, it should Device can be picked for intensive landform fruit tree.

The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of machinery dress of intelligence picking mangosteen It sets, including picking vehicle module, shoulder joint module, elbow joint module, wrist joint module and shear module；The picking vehicle module is The foundation location and moving parts of whole device；The shoulder joint module is fixed on the picking vehicle body of picking vehicle module by bottom plate On；Elbow joint module side is connected with the kinematic chain bearing end seat of two kinematic chains of shoulder joint module respectively with lower end It connects；The wrist joint module is fixed on by silent flatform on elbow joint module forearm connecting plate；The shear module passes through shearing Electric machine support is fixed on the moving platform of wrist joint module.

The picking vehicle module includes picking vehicle body, rotation axis, picking wheel, picking vehicle crawler belt, track drive motor, the One connecting key contains fruit case and delivery tube；The picking vehicle body is whole in a rectangular parallelepiped shape, and the front end of the top surface for picking vehicle body is provided with one Rectangular recess；The Sheng fruit case is whole in a rectangular parallelepiped shape, contains the rectangle that fruit case is integrally placed to picking vehicle body front end of the top surface It on groove, picks and opens a square indentations on the left of the top surface middle-end of vehicle body, two sides for picking vehicle body are opened three through-holes and passed through Wear vehicle body；An annular groove is respectively set in rotation axis axle body both ends, and rotation axis is passed through by picking the through-hole of vehicle body side Vehicle body is picked, a rectangular recess is provided in the circular curved surface of the picking wheel center, picks length of the wheel by center Square groove is matched with rotation axis axle body annular groove；The track drive motor connects three rotation axis and drives the rotation The movement of axis；The picking vehicle crawler belt is spliced by single crawler belt fritter, what each two crawler belt fritter top surface link block was constituted Shape is matched with wheel crest top land；The picking vehicle crawler attachment is in picking felloe；First connecting key is in integrally Ring-shaped is placed between rotation axis axle body annular groove and wheel center rectangular recess；One end of the delivery tube is in circle Bar shape, in a tubular form, the one end of delivery tube in a tubular form is placed on contains in fruit case the other end of delivery tube.

The shoulder joint module includes bottom plate, riser, base bearing seat, base bearing end cap, pedestal connection bearing, pedestal Input shaft, the first kinematic chain, the second kinematic chain, third kinematic chain, kinematic chain bearing end seat, kinematic chain bearing (ball) cover, sports platform Rotation axis, kinematic chain connecting shaft, kinematic chain deep groove ball bearing and riser stepper motor；The bottom plate is integrally L-shaped, in bottom plate The heart is semicircular top surface, and there are five through-holes for setting on the semicircular top surface in bottom plate center, and bottom plate is by passing through this five through-holes Screw be fixed on picking vehicle, there are two annular groove, another side ends of bottom plate to open for the side plate end set of bottom plate Four through-holes；There are two the riser settings, and the bottom surface of every piece of riser is respectively provided with there are four through-hole, and one of riser passes through spiral shell Nail nut is fixed on the side plate end of bottom plate, and another piece of riser is fixed by screws in another side end of bottom plate；Every piece A circular trough and four through-holes are arranged in riser trailing flank；There are two the base bearing seats, and each base bearing seat is in integrally circle Four through-holes are arranged in cylindricality, bottom surface, and two base bearing seats are separately fixed at by screw on two riser trailing flanks, Mei Geji Seat bearing block be provided centrally with a circular trough and four counter sinks are opened in top surface；There are two the base bearing end caps, pedestal axis Socket end lid is integrally cylinder, and the base bearing end cap heart is provided with a cylindrical shape boss, the cylinder on base bearing end cap Shape boss is matched with base bearing seat central circular slot, and there are four through-holes for the setting of base bearing end cover, with base bearing Seat center top surface four counter sink matches, and base bearing end cap is fixed on by holding screw on base bearing seat；The base Totally four, seat connection bearing, two are placed between base bearing end cap and base bearing seat, and two are placed on base bearing seat Between riser；The pedestal input shaft totally two, it is whole cylinder, it is each passed through two base bearing seat centers；Pedestal The side front end of input shaft is provided with a circle convex platform, and the side axle body of pedestal input shaft opens an annular groove；Pedestal input shaft Bottom surface open a round new pass combined with rectangle；First kinematic chain is integrally L-shaped, and one end of the first kinematic chain is Cylinder, which opens a round new pass with rectangle composition, solid by pedestal input shaft side front end circle convex platform It is scheduled on pedestal input shaft；The other end of first kinematic chain is U-shaped, which is two cylinders, and a cylinder is opened at center The lateral surface of slot, two cylinders respectively opens four counter sinks；Second kinematic chain is integrally L-shaped, the both ends point of the second kinematic chain Wei not be cylindrical, a round new pass with rectangle composition is opened at both ends center respectively, and second kinematic chain one end is placed on first Between the U-shaped top end face cylinder of kinematic chain；The third kinematic chain is in integrally L types, and third kinematic chain both ends are respectively cylinder A round new pass with rectangle composition is opened at shape, both ends center respectively, and third kinematic chain one end passes through pedestal input shaft side Front end circle convex platform is fixed on pedestal input shaft；There are two the kinematic chain bearing end seats, and each kinematic chain bearing end seat is whole Body is cylinder, and four through-holes are arranged in kinematic chain bearing end seat bottom surface, and kinematic chain bearing end seat is provided centrally with a circular trough, Four counter sinks are opened in top surface, two kinematic chain bearing end seats respectively with the cylinder and third kinematic chain one of second kinematic chain one end The cylinder at end is connected；There are two the kinematic chain bearing (ball) covers, and whole cylinder, kinematic chain bearing (ball) cover is provided centrally with One cylindrical shape boss；The boss is matched with kinematic chain bearing end seat central circular slot；Kinematic chain bearing (ball) cover bottom surface is arranged There are four through-hole, four through-holes are matched with four, face of kinematic chain bearing end seat central term counter sink, are fixed by holding screw In kinematic chain bearing end seat；The sports platform rotation axis totally two, whole cylinder, sports platform rotation axis is each passed through two A kinematic chain bearing end seat center；Open an annular groove in sports platform rotation axis side；The kinematic chain connecting shaft is in integrally cylinder Shape passes through the first kinematic chain two cylinders of U-shaped top end face；Kinematic chain connecting shaft side front end is provided with a circle convex platform, fortune Open an annular groove in dynamic chain link axis side；It is whole cylinder there are six the kinematic chain deep groove ball bearing is total, two placements Between kinematic chain bearing (ball) cover and kinematic chain bearing end seat, two are placed on kinematic chain bearing end seat bottom, and another two is placed In U-shaped two cylinder of top end face of the first kinematic chain；The riser stepper motor totally two, in a rectangular parallelepiped shape, riser walks entirety Stepper motor top is connected together by the new pass in pedestal input shaft bottom surface with pedestal input shaft；One of riser stepper motor is put It sets in the square indentations of picking vehicle body top surface.

The elbow joint module include upper arm outside plate, upper arm inner panel, upper arm top plate, forearm plate, rotation driving lever, rotation from Lever, connection deep groove ball bearing, upper arm bearing (ball) cover, upper arm connecting plate, principal and subordinate's bar connecting shaft, is gone forward at upper arm driving lever connecting shaft Arm rotary shaft, upper forearm rotary shaft axle sleeve, principal and subordinate's bar connecting shaft axle sleeve, forearm follower lever connecting shaft, upper arm electric machine support, upper arm Stepper motor, planetary reduction gear, forearm follower lever connecting shaft axle sleeve, conical gear, upper arm driving lever connecting shaft axle sleeve and forearm Connecting plate；The upper arm outside plate is whole in a rectangular parallelepiped shape, and the outer front edge of board semicircular in shape of upper arm is simultaneously arranged that there are three through-holes；Outside upper arm Plate middle-end is centrally disposed, and there are one circular trough, two annular grooves and four through-holes；The top surface back-end central of upper arm outside plate is provided with One circular trough and six through-holes are fixed together across four through-holes with kinematic chain bearing end seat by screw-nut；It is described Upper arm inner panel and upper arm outside plate are symmetrical；Front edge of board is provided with three through-holes in upper arm；There are one upper arm inner panel middle-end is centrally disposed Circular trough, two annular grooves and four through-holes；There are four through-holes for the back-end central setting of upper arm inner panel bottom surface；The upper arm top plate is whole Body is U-shaped, and a circular trough and four through-holes are arranged in upper arm roof center bottom surface, and four through-holes and fortune are passed through by screw-nut Dynamic chain bearing end seat is fixed together；Two through-holes are arranged in upper arm top plate side, are fixed on by screw-nut and upper arm outside plate Together；Four through-holes are arranged in the upper arm top plate other side, are fixed together by screw-nut and upper arm inner panel；The forearm plate has Two pieces, in a rectangular parallelepiped shape, forearm plate rear end is semicircle to entirety；There are one circular troughs for the setting of forearm plate top surface back-end central, preceding There are one through-holes for the setting of arm plate middle-end, and there are four through-holes for the setting of forearm front edge of board；There are one forearm board bottom surface rear end is centrally disposed Hollow cylindrical boss, the boss are separately fixed at the inside of upper arm outside plate and upper arm inner panel；The rotation driving lever is whole In camber shape, rotation driving lever front end two sides are each provided with a cylindrical boss, which opens a circular counterbore, separately Open a circular through hole in side；Rotation active rod rear end opens a round new pass with rectangle composition；The rotation follower lever is whole Body in a ring open two rectangular slots, rotate follower lever front end both sides counter sink central through hole by shape, rotation follower lever side；Rotation Driven rod rear end is provided with two through-holes；The upper arm driving lever connecting shaft is multi-diameter shaft, rear end in upper arm driving lever connecting shaft There are two annular groove, one of annular groove is matched with the new pass of rotation driving lever for side setting, by connecting key and Rotation driving lever is fixed together；The connection deep groove ball bearing shares seven；Two are individually positioned in upper arm outside plate and upper arm In the circular trough at inner panel middle-end center；One is placed between the driven rod rear end two through hole of rotation, and through hole is fixed on washer On principal and subordinate's bar connecting shaft axle body；Two are individually positioned in the circular trough of two pieces of forearm plate back-end centrals；Another two is placed respectively In rotation follower lever front end both sides counter sink；There are two the upper arm bearing (ball) cover is total；Upper arm bearing (ball) cover is in integrally cylinder Shape, upper arm bearing (ball) cover is centrally disposed, and there are one circular trough and four through-holes, pass through four through-holes solid respectively by holding screw It is scheduled on upper arm outside plate and upper arm inner panel outside；The upper arm connecting plate is integrally U-shaped, and upper arm connecting plate both sides are respectively set that there are two logical Hole is fixed by screw-nut and washer with upper arm outside plate and upper arm inner panel respectively；Principal and subordinate's bar connecting shaft is multi-diameter shaft, axis It wears and rotates driven rod rear end through-hole；The upper forearm rotary shaft is multi-diameter shaft, and axle body penetrates forearm plate top surface back-end central Circular trough and front edge of board through-hole in upper arm outside plate and upper arm；The upper forearm rotary shaft axle sleeve is in cylindrical shape, upper forearm rotation Axis axle sleeve is placed in the circular trough of forearm plate top surface rear end；Principal and subordinate's bar connecting shaft axle sleeve is in cylindrical shape, and principal and subordinate's bar connects Spindle axle sleeve is placed in principal and subordinate's bar connecting shaft；The forearm follower lever connecting shaft is in cylindrical shape, and it is driven that axle body penetrates rotation The through-hole of the counter sink and through-hole of bar front end and two pieces of forearm plate middle-ends；The upper arm electric machine support is integrally U-shaped, upper arm motor There are one circular trough and four through-holes for cradle top surface setting；Upper arm electric machine support two sides are respectively set there are two through-hole, pass through Soket head cap screw, hex nut and gasket are separately fixed on the inside of upper arm outside plate and upper arm inner panel；The upper arm stepper motor is whole In a rectangular parallelepiped shape, there are four through-holes for the setting of upper arm stepper motor front end top surface for body；Upper arm stepper motor is centrally disposed, and there are one circles Cylindrical end tangs；In a rectangular parallelepiped shape with front end, middle-end is in cylindrical shape for the planetary reduction gear rear end；Planetary reduction gear rear end bottom surface There are four through-holes for setting, are fixed together by holding screw and upper arm stepper motor；Planetary reduction gear bottom center is provided with Cylinder shape groove is matched with upper arm stepper motor front end end face center cylindrical boss；Planetary reduction gear front end top surface is provided with Four through-holes are fixed on by holding screw on upper arm electric machine support bottom surface；Planetary reduction gear is centrally disposed, and there are one cylindrical Boss and cylindrical, hollow montant；There are two the forearm follower lever connecting shaft axle sleeve is total, whole is in cylindrical shape, and forearm is driven Bar connecting shaft axle sleeve is placed in forearm plate between end side surface and rotation follower lever front end side；The conical gear shares two It is a；One conical gear central through hole is matched with planetary reduction gear front end end face center cylindrical, hollow montant；Another circle Bevel gear is provided centrally with the round new pass with rectangle composition, is passed through in new pass and upper arm driving lever connecting shaft by key Another annular groove of rear end side matches, and conical gear is fixed on upper arm driving lever connecting shaft axle body；Two conical gears Vertically coordinated by boring tooth；The upper arm driving lever connecting shaft axle sleeve is in integrally cylindrical shape, upper arm driving lever connecting shaft axle sleeve Two through-holes are opened in side, and by slotting, tapered end holding screw is fixed on rear end side two in upper arm driving lever connecting shaft across through-hole Between a annular groove；The forearm connecting plate is integrally U-shaped, and there are four through-hole, forearm connections for the setting of forearm connecting plate bottom surface Plate two sides are respectively set there are four through-hole, and two blocks of forearm plates are separately fixed at by soket head cap screw, hex nut and washer Leading inside.

The wrist joint module include silent flatform, Hooke hinge, linear motor, center spherical hinge, support shaft, spherical hinge, Moving platform, linear motor connector, push rod connector and hinge connector；The silent flatform is in integrally triangular prism shape, silent flatform There are four through-holes for bottom center's setting, are fixed on the through-hole of forearm connecting plate bottom surface by screw-nut and washer；Silent flatform bottom Through-hole there are one being respectively set on the angle of three, face；It is whole by two pieces of U-shaped connectors and square there are three the Hooke hinge is total Shape connector forms；There are one through-hole, the settings of Hooke hinge bottom center for two pieces of U-shaped connector side settings up and down for Hooke hinge There are one circular grooves；The linear motor rear end is semiannular shape boss, and there are one through-holes for the setting of linear motor center side； Linear motor front end is whole in a rectangular parallelepiped shape, and middle-end is ladder cuboid, and there are one through-holes for the setting of linear motor center side；Institute It states center spherical hinge front end and is provided with cylindrical montant on bulb；Center spherical hinge middle-end is cylinder boss, on the boss Cylindrical end cap is placed, is fixed by screw-nut；Spherical hinge middle-end two cylinder in center is respectively arranged with circular trough and spherical shape Bulb is placed in groove, the inside；Center spherical hinge rear end is cylinder, and there are four through-holes for the setting of center spherical hinge bottom surface；The branch Support axis center in a rectangular parallelepiped shape, for the setting of support shaft top there are one circular groove, groove is perpendicular with center spherical hinge front end cylinder Bar matches；There are two through-holes for the setting of support shaft side, are fixed by holding screw and center spherical hinge；Lower end side in support shaft Face is the support column of four triangular shapes, and support shaft bottom end is rectangular-shape fixed plate, and there are four through-holes for setting in fixed plate, pass through Screw is fixed on washer on the through-hole of silent flatform bottom surface；There are three the spherical hinge is total；Spherical hinge front end is arranged on bulb There is cylindrical montant；Spherical hinge middle-end is cylinder boss, and cylindrical end cap is placed on the boss, is fixed by screw-nut； Two cylinder of spherical hinge middle-end is respectively arranged with circular trough and spherical groove, and bulb is placed in the inside；Spherical hinge rear end is cylinder, Spherical hinge bottom surface is oblique to be cut one piece and forms new bottom surface, and there are four through-holes for setting on new bottom surface；The moving platform is in integrally trigone Column, there are four through-holes for the setting of moving platform bottom center, are fixed on by screw and washer on the through-hole of center spherical hinge bottom surface； Be respectively set on the angle of moving platform bottom surface three there are four through-hole, by screw and washer respectively with the new bottom surface in three spherical hinge rear ends Through-hole be fixed together；The U-shaped shape in linear motor connector front end, linear motor connector two sides are respectively arranged with One through-hole passes through through-hole and the through-hole of linear motor rear end boss side surfaces to be fixed together by screw, nuts and washers；Directly Line motor contact rear end is in cylindrical shape, is matched with Hooke hinge upper connector bottom center circular groove, passes through tightening Screw is fixed together with Hooke hinge；There are three the push rod connector is total；Whole is in cylindrical shape, push rod connector bottom end There are one circular groove, grooves to be matched with linear motor front end rectangular shape for setting；Open one in push rod connector bottom end side A through-hole is fixed together by the through-hole of screw, nuts and washers and linear motor front end center side；Before push rod connector Hold top surface setting there are one through-hole, through-hole is matched with spherical hinge front end cylinder montant respectively；Push rod connector side is arranged There are two through-holes, are fixed together with spherical hinge front end montant across through-hole by holding screw；The hinge connector is shared Three；Whole is in ladder circle bar shape；Hinge connector front end cylinder axis wore the through-hole on the angle of silent flatform bottom surface three, Hinge connector axle body is matched with the circular groove of connector bottom center under Hooke hinge；Hinge connector passes through clamp screw Nail through-hole of connector side under Hooke hinge is fixed together with Hooke hinge.

The shear module includes shear motor holder, distance measuring unit, distance measuring unit bearing support, CCD camera, CCD camera Bearing support, rack support, gear, scissors, short connecting rod, long connecting rod, contains fruit basket and shearing stepper motor at rack；It is described to cut It is whole in a rectangular parallelepiped shape to cut electric machine support, there are four through-holes for the setting of shear motor holder trailing flank, pass through screw, nuts and washers It is fixed together across through-hole and the through-hole of moving platform bottom center；Shear motor holder left side is centrally disposed, and there are one round Slot and four through-holes, shear motor holder upper side are provided with eight through-holes；The distance measuring unit is whole in a rectangular parallelepiped shape, the survey Unit front end is provided with cylindrical boss；There are four through-holes for the setting of distance measuring unit bottom side；Distance measuring unit can be Laser Measuring Distance meter etc. has the instrument for determining space length function；The distance measuring unit bearing support is whole in a rectangular parallelepiped shape, distance measuring unit branch The positive side of bolster is provided centrally with rectangular slot；Distance measuring unit bearing top of support be provided with four through-holes, by bolt and nut with The through-hole of distance measuring unit bottom side is fixed together；There are four through-holes for the setting of distance measuring unit bearing support bottom surface, pass through screw, nut It is fixed together with the through-hole of washer and surface rear end on the upside of shear motor holder；The CCD camera front end is in cylindrical shape；Front end There are four through-holes for top surface setting, are fixed together by bolt and nut and the through-hole of CCD camera rear end bottom surface；CCD camera rear end In cube-shaped, there are four through-holes for CCD camera bottom surface setting；The CCD camera bearing support is integrally stepped, CCD cameras There are four through-holes for the setting of bearing support rear end bottom surface, pass through the logical of screw, nuts and washers and shear motor holder upper side front end Hole is fixed together；The rack front end is U-shaped, and center side is provided with rectangular slot, and there are two through-holes for upper side setting；Tooth Middle-end is in cylindrical shape；Rack rear end is in cylindrical shape, and rear end axle body tail end is provided with tooth-like recesses；The rack support is whole Body is T-shaped, rack support front end shape in a ring, and rack support both sides are respectively set that there are one rectangular slot, rack support top surfaces Through-hole there are one being respectively set；Rack support rear end side is provided with a circular trough, the circular trough and rack back end cylindrical body Shape montant form matches；There are four through-holes for the setting of rack support top surface, pass through screw, nuts and washers and shear motor holder Through-hole, the rack rear end montant of upper side are fixed together；The gear centre is provided with the round new bore with rectangle composition Type；The tooth of gear is matched with the tooth-like recesses of rack rear end axle body tail end；There are two the scissors is total；Whole semicircular in shape, There are one trapezoidal groove and a through-holes for the setting of scissors top surface；There are four the short connecting rod is total, whole shape in a ring；Short connection Bar top surface both ends are respectively set there are one through-hole, are separately fixed on rack front end across through-hole by screw, nuts and washers The inside of side through-hole；The long connecting rod altogether there are two, whole shape in a ring is held before, during and after long connecting rod top surface and is set respectively It sets there are one through-hole, front end through-hole passes through front end through-hole and the through-hole of scissors top surface to be fixed on one by bolt, nuts and washers It rises；Middle-end through-hole is fixed by bolt, nuts and washers across through-hole of the middle-end through-hole respectively with the short connecting rod top surface other end Together；Rear end through-hole passes through rear end through-hole and the through-hole of rack support front end top surface to be fixed on by bolt, nuts and washers Together；Sheng fruit basket front end is in rounded shape, and lower end is justified for the gradient；The Sheng fruit basket rear end is Z-type bar, solid by welding It is scheduled on the inside of shear motor cradle bottom surface；The circle for containing fruit basket bottom end is matched with the tube head of delivery tube one end cylindrical shape；Institute It is whole in a rectangular parallelepiped shape to state shearing stepper motor；Shearing the setting of stepper motor front end top surface, there are four through-holes, pass through screw-nut It is fixed together across through-hole and the through-hole at shear motor holder left side center；Shearing stepper motor is centrally disposed, and there are one circles Cylindrical end tangs and cylindrical bar；The cylindrical bar is matched with the circular trough at shear motor holder left side center；Shear stepping Motor shaft is fixed together across the new pass of gear centre with gear by key.

Further, the base bearing seat is by being separately connected third kinematic chain and the first kinematic chain, the second kinematic chain, It is connected respectively with kinematic chain bearing end seat again.Realize two chain movements of shoulder joint.

Further, the kinematic chain bearing end seat respectively it is horizontal with upper arm outside plate, vertical pass through screw with upper arm top plate It is connected, two kinematic chain bearing end seats are in 90 degree.

Further, the rotation active rod rear end is fixed in upper arm driving lever connecting shaft, passes through upper arm stepper motor It is connected with planetary reduction gear and is rotated again with the vertical cooperation of two conical gears.

Further, the rotation follower lever is linked together by principal and subordinate's bar connecting shaft and rotation driving lever, with rotation Driving lever, upper arm inner and outer plates, forearm board group are at parallelogram mechanism structure.

Further, the silent flatform is triangular in shape, and be connected through the hinge part and Hooke hinge connection respectively on three angles Together.Realize three chain movements of wrist joint.

Further, it is in certain naturally when the spherical hinge is fixed together in such a way that bottom surface is chamfer with moving platform Angle realizes the movement of push rod connector and bulb by linear motor.

Further, the tooth-like recesses of the rack axle body tail end are together with the tooth engagement of gear, by shearing stepping Motor connection gear realizes that rack movement drives scissor motion, reaches shear effect.

Further, the distance measuring unit passes through distance measuring unit bearing support with CCD camera camera lens not in same level With the difference in height of CCD camera bearing support, realizes that cooperation captures and measure.

The operation principle of the utility model mangosteen picking is as follows：When needing approaching, sailing out of fruit tree, by picking vehicle Total motor-driven rotation axis rotation, drives picking vehicle wheel rotation, when totally six wheels move simultaneously for both sides, drives picking vehicle crawler belt It travels forward, then picking vehicle is opened forward, shrinks back.

By two riser stepper motors of shoulder joint under the connection function that pedestal connects bearing, third movement is driven respectively Chain and the first movement chain movement.The connection of first kinematic chain kinematic chain deep groove ball bearing drives the second movement chain movement.Third is transported Dynamic chain and the second kinematic chain are moved with kinematic chain bearing end seat respectively.Realize two degree of freedom rotations of shoulder joint.Two movements Level drives the upper arm outside plate of elbow joint and the vertical upper arm top plate for driving elbow joint to chain bearing end seat respectively.By in elbow joint Upper arm stepper motor connects planetary reduction gear, and connects horizontal conical gear by planetary reduction gear, by horizontal conical gear with The engagement of vertical conical gear, driving upper arm driving lever connecting shaft rotation.Rotation active rod rear end is connected to upper arm actively It in bar connecting shaft, and is driven and is rotated by upper arm driving lever connecting shaft, and moved by the connect band turn of principal and subordinate's bar connecting shaft driven Bar moves.To drive entire forearm to move, the movement of elbow joint one degree of freedom is realized.Forearm connecting plate is also in the upper of elbow joint It is moved under the driving of arm stepper motor.It is moved by carpal linear motor driving push rod connector, and then drives spherical hinge Bulb rotates.Support shaft, which is fixed on silent flatform, plays entire carpal supporting role.Linear motor is connected by linear motor Fitting connection Hooke hinge is fixed on silent flatform.Three spherical hinges move simultaneously, drive moving platform movement, realize wrist joint three A degree of freedom movement.

When needing to pick mangosteen, by shoulder joint, elbow joint, wrist joint aggregate motion, the shearing of shearing part is driven Electric machine support moves.The shearing stepper motor sliding tooth wheel rotation being fixed on shear motor holder, in the tooth and rack of gear Under the action of engagement, band carry-over bar extension and retraction.Scissors is driven to realize shearing branch by short connecting rod and long connecting rod Dry function.The image of target mangosteen is taken pictures and obtained by the camera of CCD camera, and distance measuring unit calculating position parameter is simultaneously Determine mangosteen position.

After limb by scissor cut mangosteen tree, mangosteen, which is fallen into, to be contained in fruit basket, and containing fruit basket inside has sponge sheet to falling Enter fruit therein and play buffering and protecting effect, final mangosteen is collected into along delivery tube and contains in fruit case.

The beneficial effects of the utility model are：The utility model picking vehicle inside modules are provided with accumulator and are driven with crawler belt Dynamic motor, drives the advance and retrogressing of picking robot, and power and energy safeguard are provided for entirety mechanical arm；Shoulder joint module is adopted With the sphere parallel mechanism of two degree of freedom, wrist joint module uses the parallel institution of symmetrical structure design, has bearing capacity By force, the big advantage of working space；The structure of serial-parallel mirror is used by the mechanical arm that three shoulder, elbow, wrist joints form, there are six tools Degree of freedom, mechanism kinematic is flexible, compact-sized, and the fruit that space any position may be implemented is won, and can guarantee persistent movement； Shear module drives scissor motion by the way of rack-and-pinion cooperation, by shearing stepper motor, and uses CCD camera and ranging The Dual positioning of unit has the characteristics that accurate, efficient, intelligence；Entire mechanism is suitble to be formed under mangosteen tree growing environment close Collect landform and the larger tree of vertical height is high, it is with strong points, finally facilitate the picking for realizing mangosteen；The utility model, which has, to be set Meter is reasonable, the advantage that processing and assembly technology well wait.

Description of the drawings

Fig. 1 is a kind of overall structure diagram of the mechanical device of intelligence picking mangosteen of the utility model.

Fig. 2 is the structural schematic diagram of the utility model shoulder joint module.

Fig. 3 is the structural schematic diagram of the utility model elbow joint module.

Fig. 4 is the structural schematic diagram of the utility model wrist joint module.

Fig. 5 is the structural schematic diagram of the utility model shear module.

In figure, 1- picks wheel, 2- rotation axis, 3- connecting keys, 4- picking vehicles crawler belt, 5- pickings vehicle body, 6- bottom plates, 7- Riser, 8- risers stepper motor, 9- base bearings seat, 10- thirds kinematic chain, 11- base bearings end cap, 12- upper arm stepping electricity Machine, 13- planetary reduction gears, 14- upper arm electric machine support, 15- conical gears, 16- upper arm connecting plate, 17- forearms plate, 18- silent flatforms, 19- support shafts, 20- distance measuring units, 21-CCD cameras, 22- scissors, 23- contain fruit basket, 24- delivery tubes, 25- spherical hinges, 26- recklessly Gram hinge, 27- rotations follower lever, 28- contain fruit case, the second kinematic chains of 29-, 30- kinematic chain bearings end seat, 31- pedestal connecting shafts It holds, 32- upper arm outside plate, 33- upper arm top plate, 34- pedestals input shaft, 35- kinematic chains connecting shaft, the first kinematic chains of 36-, 37- fortune Dynamic platform rotation axis, 38- kinematic chains deep groove ball bearing, 39- kinematic chains bearing (ball) cover, 40- upper arm driving lever connecting shafts axle sleeve, 41- The upper forearm rotary shaft of upper arm inner panel, 42-, the upper forearm rotary shaft axle sleeves of 43-, 44- forearm follower lever connecting shafts axle sleeve, 45- hexagonals Nut, 46- forearms connecting plate, 47- soket head cap screws, 48- forearm follower levers connecting shaft, 49- washers, 50- principal and subordinate's bar connecting shafts Axle sleeve, 51- principal and subordinate's bars connecting shaft, 52- rotations driving lever, 53- upper arm bearing (ball) cover, 54- upper arm driving levers connecting shaft, 55- connect Connect deep groove ball bearing, 56- linear motors connector, 57- push rod connectors, 58- moving platforms, the centers 59- spherical hinge, 60- straight lines Motor, 61- hinge connectors, 62- shear motors holder, 63- gears, 64- distance measuring units bearing support, 65- shearing stepping electricity Machine, 66- rack supports, 67-CCD cameras bearing support, 68- racks, the short connecting rods of 69-, 70- long connecting rods.

Specific implementation mode

The utility model is described in further detail below in conjunction with the accompanying drawings：

As shown in Fig. 1~5, it is a kind of intelligence picking mangosteen mechanical device, including picking vehicle module, shoulder joint module, Elbow joint module, wrist joint module and shear module.The picking vehicle module is the foundation location and moving parts of whole device； The shoulder joint module is fixed on by bottom plate 6 on the picking vehicle body 5 of picking vehicle module；Elbow joint module side and lower end It is connected respectively with the kinematic chain bearing end seat 30 of two kinematic chains of shoulder joint module；The wrist joint module passes through silent flatform 18 are fixed on elbow joint module forearm connecting plate 46；The shear module is fixed on wrist joint mould by shear motor holder 62 On the moving platform 58 of block.

The picking vehicle module includes picking vehicle body 5, rotation axis 2, picking wheel 1, track drive motor, picking vehicle crawler belt 4, the first connecting key 3, Sheng fruit case 28 and delivery tube 24；The picking vehicle body 5 is whole in a rectangular parallelepiped shape, before the top surface for picking vehicle body End is provided with a rectangular recess；The Sheng fruit case 28 is whole in a rectangular parallelepiped shape, contains fruit case and is integrally placed to 5 top surface of picking vehicle body In the rectangular recess of front end, picks and open a square indentations on the left of the top surface middle-end of vehicle body 5, pick two sides of vehicle body 5 It opens three through-holes and runs through vehicle body；An annular groove is respectively set in 2 axle body both ends of the rotation axis, and rotation axis 2 passes through picking vehicle The through-hole of 5 side of body passes through picking vehicle body 5；It is provided with a rectangular recess in the circular curved surface at 1 center of the picking wheel, is adopted Wheel 1 is plucked to match with 2 axle body annular groove of rotation axis by the rectangular recess at center；The track drive motor connection three Root rotation axis and the movement for driving the rotation axis 2；The picking vehicle crawler belt 4 is spliced by single crawler belt fritter, and each two is carried out The shape constituted with fritter top surface link block is matched with 1 crest top land of wheel；4 device of picking vehicle crawler belt is in picking wheel 1 Periphery；The whole shape in a ring of first connecting key 3, is placed on 2 axle body annular groove of rotation axis and 1 center rectangle of wheel is recessed Between slot；One end of the delivery tube 24 be in cylindrical shape, the other end of delivery tube 24 in a tubular form, delivery tube 24 in a tubular form one End, which is placed on, contains in fruit case 28.

The shoulder joint module includes bottom plate 6, riser 7, base bearing seat 9, base bearing end cap 11, pedestal connection bearing 31, pedestal input shaft 34, the first kinematic chain 36, the second kinematic chain 29, third kinematic chain 10, kinematic chain bearing end seat 30, movement Chain bearing (ball) cover 39, sports platform rotation axis 37, kinematic chain connecting shaft 35, kinematic chain deep groove ball bearing 38 and riser stepper motor 8；The bottom plate 6 is whole L-shaped, and the center of bottom plate 6 is semicircular top surface, and 6 center of bottom plate is provided on semicircular top surface Five through-holes, by being fixed on picking vehicle body 5 across the screw of this five through-holes, the side plate end of bottom plate 6 is set bottom plate 6 It sets there are two annular groove, another side end of bottom plate 6 opens four through-holes；There are two the settings of the riser 7, every piece of riser 7 Bottom surface is respectively provided with there are four through-hole, and one of riser 7 is fixed on the side plate end of bottom plate 6 by screw-nut, another piece Riser 7 is fixed by screws in another side end of bottom plate 6；A circular trough and four through-holes are arranged in every piece of 7 trailing flank of riser； There are two the base bearing seats 9, and each base bearing seat 9 is whole cylinder, and four through-holes, two pedestal axis are arranged in bottom surface Bearing 9 is separately fixed at by screw on two 7 trailing flanks of riser, and each base bearing seat 9 is provided centrally with a circular trough And four counter sinks are opened in top surface；There are two the base bearing end caps 11, whole cylinder, the pedestal axis of base bearing end cap 11 The socket end lid heart 11 is provided with a cylindrical shape boss, in the cylindrical shape boss on base bearing end cap 11 and base bearing seat 9 Heart circular trough matches, and there are four through-holes for the setting of 11 bottom surface of base bearing end cap, with base bearing seat 9 center top surface four countersunk head Hole matches, and base bearing end cap 11 is fixed on by holding screw on base bearing seat 9；Pedestal connection bearing 31 totally four A, two are placed between base bearing end cap 11 and base bearing seat 9, two be placed on base bearing seat 9 and riser 7 it Between；The pedestal input shaft 34 totally two, it is whole cylinder, it is each passed through two 9 centers of base bearing seat；Pedestal input shaft 34 side front end is provided with a circle convex platform, and the side axle body of pedestal input shaft 34 opens an annular groove；Pedestal input shaft 34 Bottom surface open a round new pass combined with rectangle；First kinematic chain 36 is whole L-shaped, the first kinematic chain 36 One end is cylinder, which opens a round new pass with rectangle composition, justified by 34 side front end of pedestal input shaft Ring convex platform is fixed on pedestal input shaft 34；The other end of first kinematic chain 36 is U-shaped, which is two cylinders, in The heart opens a cylindrical groove, and the lateral surface of two cylinders respectively opens four counter sinks；Second kinematic chain 29 is whole L-shaped, and second The both ends of kinematic chain 29 are respectively cylinder, and a round new pass with rectangle composition, the second movement are opened in both ends center respectively 29 one end of chain is placed between the first kinematic chain 36U type top end face cylinders；Whole L-shaped, the third of the third kinematic chain 10 10 both ends of kinematic chain are respectively cylinder, and a round new pass with rectangle composition, third kinematic chain are opened in both ends center respectively 10 one end are fixed on by 34 side front end circle convex platform of pedestal input shaft on pedestal input shaft 34；The kinematic chain bearing end seat There are two 30, each kinematic chain bearing end seat 30 is whole cylinder, and four through-holes are arranged in 30 bottom surface of kinematic chain bearing end seat, Kinematic chain bearing end seat 30 is provided centrally with a circular trough, and four counter sinks are opened in top surface, and two kinematic chain bearing end seats 30 are divided It is not connected with the cylinder of the cylinder of 29 one end of the second kinematic chain and 10 one end of third kinematic chain；The kinematic chain bearing (ball) cover There are two 39, whole cylinder, kinematic chain bearing (ball) cover 39 is provided centrally with a cylindrical shape boss；The boss and kinematic chain 30 central circular slot of bearing end seat matches；There are four through-hole, four through-holes and movements for the setting of 39 bottom surface of kinematic chain bearing (ball) cover Chain bearing end seat 30 center top surface four counter sink matches, and is fixed in kinematic chain bearing end seat 30 by holding screw；Institute Sports platform rotation axis 37 totally two is stated, whole cylinder, sports platform rotation axis 37 is each passed through two kinematic chain bearing end seats 30 centers；Open an annular groove in 37 side of sports platform rotation axis；The kinematic chain connecting shaft 35 is whole cylinder, passes through first Kinematic chain 36U types two cylinders of top end face；35 side front end of kinematic chain connecting shaft is provided with a circle convex platform, moves chain link Open an annular groove in 35 side of axis；There are six the kinematic chain deep groove ball bearing 38 is total, whole cylinder, two are placed on fortune Between dynamic chain bearing (ball) cover 39 and kinematic chain bearing end seat 30, two are placed on 30 bottom of kinematic chain bearing end seat, and another two is put It sets in two cylinder of the first kinematic chain 36U types top end face；The riser stepper motor 8 totally two, entirety in a rectangular parallelepiped shape, are erected 8 top of plate stepper motor is connected together by the new pass in 34 bottom surface of pedestal input shaft with pedestal input shaft 34；One of riser Stepper motor 8 is placed in picking 5 top surface square indentations of vehicle body.

The elbow joint module includes upper arm outside plate 32, upper arm inner panel 41, upper arm top plate 33, forearm plate 17, rotation active Bar 52, rotation follower lever 27, upper arm driving lever connecting shaft 54, connection deep groove ball bearing 55, upper arm bearing (ball) cover 53, upper arm connecting plate 16, principal and subordinate's bar connecting shaft 51, upper forearm rotary shaft 42, upper forearm rotary shaft axle sleeve 43, principal and subordinate's bar connecting shaft axle sleeve 50, forearm from Lever connecting shaft 48, upper arm electric machine support 14, upper arm stepper motor 12, planetary reduction gear 13, forearm follower lever connecting shaft axle sleeve 44, conical gear 15, upper arm driving lever connecting shaft axle sleeve 40 and forearm connecting plate 46；The whole upper arm outside plate 32 is in cuboid There are three through-holes for shape, 32 front end semicircular in shape of upper arm outside plate and setting；32 middle-end of upper arm outside plate it is centrally disposed there are one circular trough, Two annular grooves and four through-holes；There are one circular trough and six through-holes for the top surface back-end central setting of upper arm outside plate 32, pass through Screw-nut is fixed together across four through-holes with kinematic chain bearing end seat 30；The upper arm inner panel 41 is right with upper arm outside plate 32 Claim；There are three through-holes for the setting of 41 front end of upper arm inner panel；41 middle-end of upper arm inner panel is centrally disposed, and there are one circular trough, two annular grooves With four through-holes；There are four through-holes for the 41 bottom surface back-end central setting of upper arm inner panel；Whole U-shaped, the upper arm of the upper arm top plate 33 A circular trough and four through-holes are arranged in 33 center bottom surface of top plate, and four through-holes and kinematic chain bearing are passed through by screw-nut End seat 30 is fixed together；Two through-holes are arranged in 33 side of upper arm top plate, and one is fixed on by screw-nut and upper arm outside plate 32 It rises；Four through-holes are arranged in 33 other side of upper arm top plate, are fixed together by screw-nut and upper arm inner panel 41；The forearm plate 17 have two pieces, and in a rectangular parallelepiped shape, 17 rear end of forearm plate is semicircle to entirety；There are one circles for the 17 top surface back-end central setting of forearm plate Shape slot, there are one through-holes for the setting of 17 middle-end of forearm plate, and there are four through-holes for the setting of 17 front end of forearm plate；In 17 bottom surface rear end of forearm plate There are one hollow cylindrical boss, which is separately fixed at the inside of upper arm outside plate 32 and upper arm inner panel 41 for heart setting；Institute It is in camber shape that it is whole, which to state rotation driving lever 52, and 52 front end two sides of rotation driving lever are each provided with a cylindrical boss, the boss A circular counterbore is opened in side, and a circular through hole is opened in the other side；It is round and rectangle composition that 52 rear end of rotation driving lever opens one New pass；The whole shape in a ring of the rotation follower lever 27,27 side of rotation follower lever open two rectangular slots, rotate follower lever 27 front end both sides counter sink central through holes；Rotating the setting of 27 rear end of follower lever, there are two through-holes；The upper arm driving lever connecting shaft 54 be multi-diameter shaft, and rear end side is provided with two annular grooves in upper arm driving lever connecting shaft 54, one of annular groove with turn The new pass of dynamic driving lever 52 matches, and is fixed together by the second connecting key and rotation driving lever 52；The connection zanjon Ball bearing 55 shares seven；Two are individually positioned in upper arm outside plate 32 and the circular trough at 41 middle-end center of upper arm inner panel；One It is placed between rotation 27 rear end two through hole of follower lever, through hole washer 49 is fixed on 51 axle body of principal and subordinate's bar connecting shaft；Two It is a to be individually positioned in the circular trough of two pieces of 17 back-end centrals of forearm plate；Another two is individually positioned in 27 front end two of rotation follower lever In the counter sink of side；There are two the upper arm bearing (ball) cover 53 is total；Whole cylinder, the upper arm bearing end of upper arm bearing (ball) cover 53 It covers centrally disposed there are one circular trough and four through-holes, upper arm outside plate 32 is separately fixed at across four through-holes by holding screw With 41 outside of upper arm inner panel；The upper arm connecting plate 16 is whole U-shaped, and upper arm connecting plate both sides are respectively set that there are two through-holes, pass through Screw-nut and washer 49 are fixed respectively with upper arm outside plate 32 and upper arm inner panel 41；Principal and subordinate's bar connecting shaft 51 is multi-diameter shaft, Axle body penetrates rotation 27 rear end through-hole of follower lever；The upper forearm rotary shaft 42 is multi-diameter shaft, and axle body penetrates 17 top surface of forearm plate Back-end central circular trough and 41 front end through-hole of upper arm outside plate 32 and upper arm inner panel；The upper forearm rotary shaft axle sleeve 43 is in cylinder Body shape, upper forearm rotary shaft axle sleeve are placed in the circular trough of 17 top surface rear end of forearm plate；Principal and subordinate's bar connecting shaft axle sleeve 50 In cylindrical shape, principal and subordinate's bar connecting shaft axle sleeve is placed in principal and subordinate's bar connecting shaft 51；The forearm follower lever connecting shaft 48 is in circle Bar shape, axle body penetrate the through-hole of the counter sink and through-hole and two pieces of 17 middle-ends of forearm plate of 27 front end of rotation follower lever；On described Arm electric machine support 14 is whole U-shaped, and there are one circular trough and four through-holes for the setting of upper arm electric machine support top surface；Upper arm electric machine support 14 two sides are respectively set there are two through-hole, are separately fixed at outside upper arm by soket head cap screw 47, hex nut 45 and gasket Plate 32 and 41 inside of upper arm inner panel；The upper arm stepper motor 12 is whole in a rectangular parallelepiped shape, and upper arm stepper motor front end top surface is set Through-hole there are four setting；Upper arm stepper motor 12 is centrally disposed, and there are one cylindrical boss；13 rear end of the planetary reduction gear is with before In a rectangular parallelepiped shape, middle-end is in cylindrical shape at end；The setting of 13 rear end bottom surface of planetary reduction gear there are four through-hole, by holding screw with Upper arm stepper motor 12 is fixed together；13 bottom center of planetary reduction gear is provided with cylinder shape groove and upper arm stepper motor 12 Front end end face center cylindrical boss matches；There are four through-holes for the setting of 13 front end top surface of planetary reduction gear, pass through holding screw It is fixed on 14 bottom surface of upper arm electric machine support；Planetary reduction gear 13 is centrally disposed, and there are one cylindrical boss and cylindrical, hollow to erect Bar；There are two the forearm follower lever connecting shaft axle sleeve 44 is total, whole is in cylindrical shape, and forearm follower lever connecting shaft axle sleeve is placed In forearm plate 17 between 27 front end side of end side surface and rotation follower lever；There are two the conical gear 15 is total；One circular cone 15 central through hole of gear is matched with 13 front end end face center cylindrical, hollow montant of planetary reduction gear；Another conical gear 15 It is provided centrally with the round new pass with rectangle composition, after being passed through in new pass and upper arm driving lever connecting shaft 54 by key Another annular groove of end side surface matches, and conical gear 15 is fixed on 54 axle body of upper arm driving lever connecting shaft；Two circular cone teeth Wheel 15 is vertically coordinated by boring tooth；The whole upper arm driving lever connecting shaft axle sleeve 40 is in cylindrical shape, the connection of upper arm driving lever Two through-holes are opened in 40 side of axis axle sleeve, and by slotting, tapered end holding screw is fixed on across through-hole in upper arm driving lever connecting shaft 54 Between the annular groove of rear end side two；The forearm connecting plate 46 is whole U-shaped, and there are four logical for the setting of forearm connecting plate bottom surface Hole, 46 two sides of forearm connecting plate are respectively set there are four through-hole, pass through soket head cap screw 47, hex nut 45 and washer 49 It is separately fixed at two pieces of 17 leading insides of forearm plate.

The wrist joint module includes silent flatform 18, Hooke hinge 26, linear motor 60, center spherical hinge 59, support shaft 19, spherical hinge 25, moving platform 58, linear motor connector 56, push rod connector 57 and hinge connector 61；The silent flatform 18 Whole is in triangular prism shape, and there are four through-holes for the setting of 18 bottom center of silent flatform, and forearm is fixed on by screw-nut and washer 49 On 46 bottom surface through-hole of connecting plate；Through-hole there are one being respectively set on the angle of silent flatform 18 bottom surface three；The Hooke hinge 26 is shared It is three, whole to be made of with cube-shaped connector two pieces of U types connectors；About 26 two pieces of U-shaped connector sides of Hooke hinge There are one through-holes for setting, and there are one circular grooves for the setting of Hooke hinge bottom center；60 rear end of the linear motor is semi-circular Shape boss, there are one through-holes for the setting of linear motor center side；60 front end of linear motor is whole in a rectangular parallelepiped shape, and middle-end is ladder Cuboid, there are one through-holes for the setting of 60 center side of linear motor；59 front end of center spherical hinge is provided with circle on bulb Cylindricality montant；Spherical hinge 59 middle-end in center is cylinder boss, and cylindrical end cap is placed on the boss, solid by screw-nut It is fixed；59 middle-end of center spherical hinge, two cylinder is respectively arranged with circular trough and spherical groove, and bulb is placed in the inside；Center spherical hinge 59 rear ends are cylinder, and there are four through-holes for the setting of center spherical hinge bottom surface；19 center of the support shaft in a rectangular parallelepiped shape, support shaft There are one circular groove, groove is matched with 59 front end cylinder montant of center spherical hinge for top setting；19 side of support shaft is set It sets there are two through-hole, is fixed by holding screw and center spherical hinge 59；Lower end side is four triangular shapes in support shaft 19 Support column, 19 bottom end of support shaft are rectangular-shape fixed plate, are arranged in fixed plate there are four through-hole, solid by screw and washer 49 It is scheduled on the through-hole of 18 bottom surface of silent flatform；There are three the spherical hinge 25 is total；25 front end of spherical hinge is provided with cylinder on bulb Shape montant；25 middle-end of spherical hinge is cylinder boss, and cylindrical end cap is placed on the boss, is fixed by screw-nut；Flexural pivot 25 middle-end of chain, two cylinder is respectively arranged with circular trough and spherical groove, and bulb is placed in the inside；25 rear end of spherical hinge is cylinder, Spherical hinge bottom surface is oblique to be cut one piece and forms new bottom surface, and there are four through-holes for setting on new bottom surface；The whole moving platform 58 is in three Prism-shaped, there are four through-holes for the setting of moving platform bottom center, and 59 bottom surface of center spherical hinge is fixed on by screw and washer 49 On through-hole；Be respectively set on the angle of moving platform 58 bottom surface three there are four through-hole, by screw and washer 49 respectively with three flexural pivots The through-hole of the new bottom surface in 25 rear end of chain is fixed together；The U-shaped shape in 56 front end of linear motor connector, linear motor connector Two sides are respectively set there are one through-hole, and 60 rear end boss side of through-hole and linear motor is passed through by screw, nuts and washers 49 The through-hole in face is fixed together；56 rear end of linear motor connector is in cylindrical shape, with 26 upper connector bottom surface of Hooke hinge Heart circular groove matches, and is fixed together by holding screw and Hooke hinge 26；The push rod connector 57 shares three It is a；Whole is in cylindrical shape, and there are one circular groove, groove and 60 front end cuboids of linear motor for the setting of push rod connector bottom end Shape matches；A through-hole is opened in 57 bottom end side of push rod connector, before screw, nuts and washers 49 and linear motor 60 The through-hole at end side surface center is fixed together；The setting of 57 front end top surface of push rod connector there are one through-hole, through-hole respectively with flexural pivot 25 front end cylinder montant of chain matches；There are two through-holes for the setting of 57 side of push rod connector, and through-hole is passed through by holding screw It is fixed together with 25 front end montant of spherical hinge；There are three the hinge connector 61 is total；Whole is in ladder circle bar shape；Hinge 61 front end cylinder axis of chain fitting wore the through-hole on the angle of silent flatform 18 bottom surface three, and hinge connector axle body is cut with scissors with Hooke The circular groove of 26 times connector bottom center of chain matches；Hinge connector 61 is passed through by holding screw under Hooke hinge 26 The through-hole of connector side is fixed together with Hooke hinge 26.

The shear module includes shear motor holder 62, distance measuring unit 20, distance measuring unit bearing support 64, CCD cameras 21, CCD camera bearing support 67, rack 68, rack support 66, gear 63, scissors 22, short connecting rod 69, long connecting rod 70, Sheng Guo Basket 23 and shearing stepper motor 65；The shear motor holder 62 is whole in a rectangular parallelepiped shape, the setting of shear motor holder trailing flank There are four through-holes, pass through through-hole and the through-hole of 58 bottom center of moving platform to be fixed together by screw, nuts and washers 49； 62 left side of shear motor holder is centrally disposed there are one circular trough and four through-holes, and 62 upper side of shear motor holder is provided with Eight through-holes；The distance measuring unit 20 is whole in a rectangular parallelepiped shape, which is provided with cylindrical boss；Distance measuring unit There are four through-holes for the setting of 20 bottom sides；Distance measuring unit 20, which can be laser range finder etc., has the instrument for determining space length function Device；The distance measuring unit bearing support 64 is whole in a rectangular parallelepiped shape, and 64 positive side of distance measuring unit bearing support is provided centrally with rectangle Slot；There are four through-holes for the setting of 64 top surface of distance measuring unit bearing support, solid by the through-hole of bolt and nut and 20 bottom side of distance measuring unit It is scheduled on together；There are four through-holes for the setting of 64 bottom surface of distance measuring unit bearing support, pass through screw, nuts and washers 49 and shear motor branch The through-hole of 62 upside surface rear end of frame is fixed together；21 front end of the CCD camera is in cylindrical shape；There are four the settings of front end top surface Through-hole is fixed together by bolt and nut and the through-hole of 21 rear end bottom surface of CCD camera；21 rear end of CCD camera in cube-shaped, There are four through-holes for 21 bottom surface of CCD camera setting；Whole stepped, the CCD camera bearing support 67 of the CCD camera bearing support 67 There are four through-holes for the setting of rear end bottom surface, pass through screw, the through-hole of nuts and washers 49 and 62 upper side front end of shear motor holder It is fixed together；68 front end of the rack is U-shaped, and center side is provided with rectangular slot, and there are two through-holes for upper side setting； 68 middle-end of rack is in cylindrical shape；68 rear end of rack is in cylindrical shape, and rear end axle body tail end is provided with tooth-like recesses；The tooth Holder 66 is whole T-shaped, and shape, 66 both sides of rack support are respectively set there are one rectangular slot in a ring for rack support front end, 66 top surface of rack support is respectively set there are one through-hole；66 rear end side of rack support is provided with a circular trough, the circular trough It is matched with 68 back end cylindrical body shape montant form of rack；There are four through-holes for the setting of 66 top surface of rack support, pass through screw, spiral shell Female and washer 49 and through-hole, the 68 rear end montant of rack of 62 upper side of shear motor holder are fixed together；In the gear 63 The heart is provided with the round new pass with rectangle composition；The tooth of gear 63 matches with the tooth-like recesses of 68 rear end axle body tail end of rack It closes；There are two the scissors 22 is total；Whole semicircular in shape, there are one trapezoidal groove and a through-holes for the setting of 22 top surface of scissors；Institute State short connecting rod 69 altogether there are four, whole shape in a ring；Short connecting rod top surface both ends are respectively set there are one through-hole, pass through spiral shell Nail, nuts and washers 49 are separately fixed at the inside of 68 front end upper side through-hole of rack across through-hole；The long connecting rod 70 is total There are two, whole shape in a ring, end is respectively set there are one through-hole before, during and after long connecting rod top surface, and front end through-hole passes through spiral shell Bolt, nuts and washers 49 pass through front end through-hole and the through-hole of 22 top surface of scissors to be fixed together；Middle-end through-hole passes through bolt, nut It is fixed together across through-hole of the middle-end through-hole respectively with the 69 top surface other end of short connecting rod with washer 49；Rear end through-hole passes through spiral shell Bolt, nuts and washers 49 pass through rear end through-hole and the through-hole of 66 front end top surface of rack support to be fixed together；The Sheng fruit basket 23 Front end is in rounded shape, and lower end is justified for the gradient；23 rear ends of Sheng fruit basket are Z-type bar, are fixed on shear motor by welding 62 inside bottom surface of holder；The circle for containing 23 bottom ends of fruit basket is matched with the tube head of 24 one end cylindrical shape of delivery tube；The shearing Stepper motor 65 is whole in a rectangular parallelepiped shape；Shearing the setting of stepper motor front end top surface, there are four through-holes, are passed through by screw-nut Through-hole and the through-hole at 62 left side center of shear motor holder are fixed together；Shearing stepper motor 65 is centrally disposed, and there are one circles Cylindrical end tangs and cylindrical bar；The cylindrical bar is matched with the circular trough at 62 left side center of shear motor holder；Shearing step 65 shaft of stepper motor is fixed together across the new pass in 63 center of gear with gear 63 by key.

The base bearing seat 9 by being separately connected third kinematic chain 10 and the first kinematic chain 36, the second kinematic chain 29, then It is connected respectively with kinematic chain bearing end seat 30.Realize two chain movements of shoulder joint.

The kinematic chain bearing end seat 30 respectively it is horizontal with upper arm outside plate 32, vertical pass through screw phase with upper arm top plate 33 Even, two kinematic chain bearing end seats 30 are in 90 degree.

52 rear end of rotation driving lever is fixed in upper arm driving lever connecting shaft 54, passes through upper arm stepper motor 12 and row Star retarder 13 is connected to be rotated with the vertical cooperation of two conical gears 15 again.

The rotation follower lever 27 is linked together by principal and subordinate's bar connecting shaft 51 and rotation driving lever 52, actively with rotation Bar 52, upper arm inner and outer plates, forearm plate 17 form parallelogram mechanism structure.

The silent flatform 18 is triangular in shape, and the part 61 that is connected through the hinge respectively on three angles is connected to Hooke hinge 26 Together.Realize three chain movements of wrist joint.

The spherical hinge 25 is in such a way that bottom surface is chamfer, when being fixed together with moving platform 58, naturally at an angle, The movement of push rod connector 57 and bulb is realized by linear motor 60.

The tooth-like recesses of 68 axle body tail end of the rack are together with the tooth engagement of gear 63, by shearing stepper motor 65 Connection gear 63 realizes that the movement of rack 68 drives scissors 22 to move, reaches shear effect.

The distance measuring unit 20 and 21 camera lens of CCD camera not in same level, by distance measuring unit bearing support 64 with The difference in height of CCD camera bearing support 67 is realized that cooperation captures and is measured.

The operation principle of the utility model mangosteen picking is as follows：When needing approaching, sailing out of fruit tree, by picking vehicle Total motor-driven rotation axis rotation, drives picking wheel 1 to rotate, and when totally six wheels move simultaneously for both sides, picking vehicle is driven to carry out Band 4 travels forward, then picking vehicle is opened forward, shrinks back.

By two riser stepper motors 8 of shoulder joint under the connection function that pedestal connects bearing 31, third is driven respectively Kinematic chain 10 and the first kinematic chain 36 move.The connection of first kinematic chain, 36 kinematic chain deep groove ball bearing 38 drives the second movement Chain 29 moves.Third kinematic chain 10 and the second kinematic chain 29 are moved with kinematic chain bearing end seat 30 respectively.Realize shoulder joint two A degree of freedom rotation.The horizontal upper arm outside plate 32 for driving elbow joint closes two kinematic chain bearing end seats 30 with vertical drive elbow respectively The upper arm top plate 33 of section.Planetary reduction gear 13 is connected by the upper arm stepper motor 12 in elbow joint, and is connected by planetary reduction gear 13 Water receiving flat round bevel gear 15 drives upper arm driving lever by the engagement of horizontal conical gear 15 and vertical conical gear 15 Connecting shaft 54 rotates.52 rear end of rotation driving lever is connected in upper arm driving lever connecting shaft 54, and by upper arm driving lever connecting shaft 54 drive rotation, and move follower lever 27 by the connect band turn of principal and subordinate's bar connecting shaft 51 and move.To drive entire forearm to transport It is dynamic, realize the movement of elbow joint one degree of freedom.Forearm connecting plate 46 is also transported under the driving of the upper arm stepper motor 12 of elbow joint It is dynamic.It is moved by 60 driving push rod connector 57 of carpal linear motor, and then drives the bulb rotation of spherical hinge 25.Support shaft 19 are fixed on silent flatform 18 and play entire carpal supporting role.Linear motor 60 is connected by linear motor connector 56 Hooke hinge 26 is fixed on silent flatform 18.Three spherical hinges 25 move simultaneously, and moving platform 58 is driven to move, and realize wrist joint three A degree of freedom movement.

When needing to pick mangosteen, by shoulder joint, elbow joint, wrist joint aggregate motion, the shearing of shearing part is driven Electric machine support 62 moves.The shearing stepper motor 65 being fixed on shear motor holder 62 drives gear 63 to rotate, in gear 63 Tooth and 68 engagement of rack under the action of, band carry-over bar 68 extension and retraction.Pass through short connecting rod 69 and long connecting rod 70 Scissors 22 is driven to realize the function of shearing limb.The image of target mangosteen is taken pictures and obtained by the camera of CCD camera 21, 20 calculating position parameter of distance measuring unit simultaneously determines mangosteen position.

After limb by scissor cut mangosteen tree, mangosteen, which is fallen into, to be contained in fruit basket 23, and containing 23 inside of fruit basket has sponge sheet Buffering and protecting effect are played to falling into fruit therein, final mangosteen is collected into along delivery tube 24 and contains in fruit case 28.

Above-described embodiment is the preferred embodiment of the utility model, is not the limit to technical solutions of the utility model System, as long as without the technical solution that creative work can be realized on the basis of the above embodiments, is regarded as falling into In the rights protection scope of the utility model patent.

Claims (9)

1. a kind of mechanical device of intelligence picking mangosteen, it is characterised in that：It is closed including picking vehicle module, shoulder joint module, elbow Save module, wrist joint module and shear module；The picking vehicle module is the foundation location and moving parts of whole device；It is described Shoulder joint module is fixed on by bottom plate (6) on the picking vehicle body (5) of picking vehicle module；Elbow joint module side and lower end It is connected respectively with the kinematic chain bearing end seat (30) of two kinematic chains of shoulder joint module；The wrist joint module passes through quiet flat Platform (18) is fixed on elbow joint module forearm connecting plate (46)；The shear module is fixed on by shear motor holder (62) On the moving platform (58) of wrist joint module；

The picking vehicle module includes picking vehicle body (5), rotation axis (2), picking wheel (1), picking vehicle crawler belt (4), crawler belt drive Dynamic motor, contains fruit case (28) and delivery tube (24) at the first connecting key (3)；The picking vehicle body (5) is whole in a rectangular parallelepiped shape, adopts The front end of the top surface for plucking vehicle body (5) is provided with a rectangular recess；The Sheng fruit case (28) is whole in a rectangular parallelepiped shape, contains fruit case (28) It is integrally placed in the rectangular recess of picking vehicle body (5) front end of the top surface, a pros is opened on the left of the top surface middle-end of picking vehicle body (5) Three through-holes are opened through vehicle body in two sides of connected in star, picking vehicle body (5)；Rotation axis (2) the axle body both ends are set respectively An annular groove is set, rotation axis (2) passes through picking vehicle body (5), the picking wheel by picking the through-hole of vehicle body (5) side (1) rectangular recess, the rectangular recess and rotation axis that picking wheel (1) passes through center are provided in the circular curved surface at center (2) axle body annular groove matches；The track drive motor connects three rotation axis (2) and drives the fortune of the rotation axis (2) It is dynamic；The picking vehicle crawler belt (4) is spliced by single crawler belt fritter, the shape that each two crawler belt fritter top surface link block is constituted It is matched with wheel crest top land；Picking vehicle crawler belt (4) device is in picking wheel (1) periphery；First connecting key (3) is whole Body shape in a ring, is placed between rotation axis (2) axle body annular groove and wheel center rectangular recess；The delivery tube (24) One end be in cylindrical shape, the other end of delivery tube (24) in a tubular form, the one end of delivery tube (24) in a tubular form be placed on contain fruit case (28) in；

The shoulder joint module includes bottom plate (6), riser (7), base bearing seat (9), base bearing end cap (11), pedestal connection Bearing (31), pedestal input shaft (34), the first kinematic chain (36), the second kinematic chain (29), third kinematic chain (10), movement chain rivet Socket end seat (30), kinematic chain bearing (ball) cover (39), sports platform rotation axis (37), kinematic chain connecting shaft (35), kinematic chain deep-groove ball Bearing (38) and riser stepper motor (8)；The bottom plate (6) is whole L-shaped, and the center of bottom plate (6) is semicircular top surface, bottom There are five through-holes, bottom plate (6) to be adopted by being fixed on across the screw of this five through-holes for setting on plate (6) semicircular top surface in center Pluck on vehicle body (5), the side plate end set of bottom plate (6) there are two annular groove, another side end of bottom plate (6) open four it is logical Hole；There are two riser (7) settings, and the bottom surface of every piece of riser (7) is respectively provided with there are four through-hole, and one of riser (7) is logical The side plate end that screw-nut is fixed on bottom plate (6) is crossed, another piece of riser (7) is fixed by screws in the another of bottom plate (6) Side end；A circular trough and four through-holes are arranged in every piece of riser (7) trailing flank；There are two the base bearing seats (9), each Base bearing seat (9) is whole cylinder, and four through-holes are arranged in bottom surface, and two base bearing seats (9) are fixed respectively by screw On two riser (7) trailing flanks, each base bearing seat (9) be provided centrally with a circular trough and four countersunk heads are opened in top surface Hole；There are two the base bearing end caps (11), whole cylinder, base bearing end cap (11) heart of base bearing end cap (11) It is provided with a cylindrical shape boss, the cylindrical shape boss on base bearing end cap (11) and base bearing seat (9) central circular Slot matches, and there are four through-holes for the setting of base bearing end cap (11) bottom surface, with base bearing seat (9) center top surface four counter sink It matches, base bearing end cap (11) is fixed on by holding screw on base bearing seat (9)；The pedestal connection bearing (31) Totally four, two are placed between base bearing end cap (11) and base bearing seat (9), and two are placed on base bearing seat (9) Between riser (7)；The pedestal input shaft (34) totally two, it is whole cylinder, it is each passed through two base bearing seats (9) Center；The side front end of pedestal input shaft (34) is provided with a circle convex platform, and the side axle body of pedestal input shaft (34) opens a ring Connected in star；Open a round new pass combined with rectangle in the bottom surface of pedestal input shaft (34)；First kinematic chain (36) is whole Body is L-shaped, and one end of the first kinematic chain (36) is cylinder, which opens a round new pass with rectangle composition, lead to Pedestal input shaft (34) side front end circle convex platform is crossed to be fixed on pedestal input shaft (34)；The other end of first kinematic chain (36) U-shaped, which is two cylinders, and a cylindrical groove is opened at center, and the lateral surface of two cylinders respectively opens four counter sinks；Institute State that the second kinematic chain (29) is whole L-shaped, the both ends of the second kinematic chain (29) are respectively cylinder, and a circle is opened at both ends center respectively The new pass of shape and rectangle composition, the second kinematic chain (29) one end is placed on the U-shaped top end face cylinder of the first kinematic chain (36) Between；The third kinematic chain (10) is whole L-shaped, and third kinematic chain (10) both ends are respectively cylinder, both ends center difference A round new pass with rectangle composition is opened, third kinematic chain (10) one end passes through pedestal input shaft (34) side front end annulus Boss is fixed on pedestal input shaft (34)；There are two the kinematic chain bearing end seats (30), each kinematic chain bearing end seat (30) whole cylinder, four through-holes are arranged in kinematic chain bearing end seat (30) bottom surface, and kinematic chain bearing end seat (30) center is set Be equipped with a circular trough, four counter sinks are opened in top surface, two kinematic chain bearing end seats (30) respectively with the second kinematic chain (29) one The cylinder at end is connected with the cylinder of third kinematic chain (10) one end；There are two the kinematic chain bearing (ball) covers (39), whole Cylinder, kinematic chain bearing (ball) cover (39) is provided centrally with a cylindrical shape boss；The boss and kinematic chain bearing end seat (30) central circular slot matches；There are four through-hole, four through-holes and movement chain rivets for the setting of kinematic chain bearing (ball) cover (39) bottom surface Socket end seat (30) center top surface four counter sink matches, and is fixed in kinematic chain bearing end seat (30) by holding screw；Institute Sports platform rotation axis (37) totally two is stated, whole cylinder, sports platform rotation axis (37) is each passed through two kinematic chain bearings End seat (30) center；Open an annular groove in sports platform rotation axis (37) side；The kinematic chain connecting shaft (35) is in integrally cylinder Shape passes through the first kinematic chain (36) two cylinders of U-shaped top end face；Kinematic chain connecting shaft (35) side front end is provided with an annulus An annular groove is opened in boss, kinematic chain connecting shaft (35) side；There are six the kinematic chain deep groove ball bearing (38) is total, it is in integrally Cylinder, two are placed between kinematic chain bearing (ball) cover (39) and kinematic chain bearing end seat (30), and two are placed on kinematic chain Bearing end seat (30) bottom, another two are placed in U-shaped two cylinder of top end face of the first kinematic chain (36)；The riser stepping electricity Totally two, machine (8), it is whole in a rectangular parallelepiped shape, riser stepper motor (8) top by the new pass in pedestal input shaft (34) bottom surface with Pedestal input shaft (34) connects together；One of riser stepper motor (8) is placed on picking vehicle body (5) top surface square indentations It is interior；

The elbow joint module includes upper arm outside plate (32), upper arm inner panel (41), upper arm top plate (33), forearm plate (17), rotation Driving lever (52), rotation follower lever (27), upper arm driving lever connecting shaft (54), connection deep groove ball bearing (55), upper arm bearing end Cover (53), upper arm connecting plate (16), principal and subordinate's bar connecting shaft (51), upper forearm rotary shaft (42), upper forearm rotary shaft axle sleeve (43), master From bar connecting shaft axle sleeve (50), forearm follower lever connecting shaft (48), upper arm electric machine support (14), upper arm stepper motor (12), row Star retarder (13), forearm follower lever connecting shaft axle sleeve (44), conical gear (15), upper arm driving lever connecting shaft axle sleeve (40) and Forearm connecting plate (46)；The upper arm outside plate (32) is whole in a rectangular parallelepiped shape, and upper arm outside plate (32) front end semicircular in shape is simultaneously arranged There are three through-holes；Upper arm outside plate (32) middle-end is centrally disposed, and there are one circular trough, two annular grooves and four through-holes；Upper arm outside plate (32) there are one circular trough and six through-holes for top surface back-end central setting, and four through-holes and kinematic chain are passed through by screw-nut Bearing end seat (30) is fixed together；The upper arm inner panel (41) is symmetrical with upper arm outside plate (32)；Upper arm inner panel (41) front end is set Through-hole there are three setting；Upper arm inner panel (41) middle-end is centrally disposed, and there are one circular trough, two annular grooves and four through-holes；In upper arm There are four through-holes for the back-end central setting of plate (41) bottom surface；Whole U-shaped, upper arm top plate (33) center bottom of the upper arm top plate (33) A circular trough and four through-holes are arranged in face, are fixed on kinematic chain bearing end seat (30) across four through-holes by screw-nut Together；Two through-holes are arranged in upper arm top plate (33) side, are fixed together by screw-nut and upper arm outside plate (32)；Upper arm top Four through-holes are arranged in plate (33) other side, are fixed together by screw-nut and upper arm inner panel (41)；The forearm plate (17) There are two pieces, in a rectangular parallelepiped shape, forearm plate (17) rear end is semicircle to entirety；There are one the back-end central settings of forearm plate (17) top surface Circular trough, there are one through-holes for the setting of forearm plate (17) middle-end, and there are four through-holes for the setting of forearm plate (17) front end；Forearm plate (17) bottom Surface rear end is centrally disposed there are one hollow cylindrical boss, which is separately fixed at upper arm outside plate (32) and upper arm inner panel (41) inside；The rotation driving lever (52) is in integrally camber shape, and rotation driving lever (52) front end two sides are each provided with one A circular counterbore is opened in cylindrical boss, the boss side, and a circular through hole is opened in the other side；Open one in rotation driving lever (52) rear end The round new pass with rectangle composition；The whole shape in a ring of the rotation follower lever (27), rotation follower lever (27) side are opened Two rectangular slots rotate follower lever (27) front end both sides counter sink central through hole；Rotation follower lever (27) rear end is provided with two A through-hole；The upper arm driving lever connecting shaft (54) is multi-diameter shaft, and rear end side is provided in upper arm driving lever connecting shaft (54) Two annular grooves, one of annular groove are matched with the new pass of rotation driving lever (52), by the second connecting key and are turned Dynamic driving lever (52) is fixed together；The connection deep groove ball bearing (55) shares seven；Two are individually positioned in upper arm outside plate (32) and in the circular trough at upper arm inner panel (41) middle-end center；One is placed between rotation follower lever (27) rear end two through hole, Through hole is fixed on washer (49) on principal and subordinate's bar connecting shaft (51) axle body；Two are individually positioned in two pieces of forearm plate (17) rear ends In the circular trough at center；Another two is individually positioned in rotation follower lever (27) front end both sides counter sink；The upper arm bearing end There are two lid (53) is total；Upper arm bearing (ball) cover (53) is whole cylinder, and upper arm bearing (ball) cover (53) is centrally disposed, and there are one circles Shape slot and four through-holes are separately fixed at upper arm outside plate (32) and upper arm inner panel (41) outside by holding screw across four through-holes Side；The upper arm connecting plate (16) is whole U-shaped, and upper arm connecting plate (16) both sides are respectively set that there are two through-holes, pass through screw-nut It is fixed respectively with washer (49) and upper arm outside plate (32) and upper arm inner panel (41)；Principal and subordinate's bar connecting shaft (51) is multi-diameter shaft, Axle body penetrates rotation follower lever (27) rear end through-hole；The upper forearm rotary shaft (42) is multi-diameter shaft, and axle body penetrates forearm plate (17) top surface back-end central circular trough and upper arm outside plate (32) and upper arm inner panel (41) front end through-hole；The upper forearm rotary shaft axis It is in cylindrical shape to cover (43), and upper forearm rotary shaft axle sleeve (43) is placed in the circular trough of forearm plate (17) top surface rear end；It is described Principal and subordinate's bar connecting shaft axle sleeve (50) is in cylindrical shape, and principal and subordinate's bar connecting shaft axle sleeve (50) is placed in principal and subordinate's bar connecting shaft (51)； The forearm follower lever connecting shaft (48) be in cylindrical shape, axle body penetrate rotation follower lever (27) front end counter sink and through-hole with The through-hole of two pieces of forearm plate (17) middle-ends；The upper arm electric machine support (14) is whole U-shaped, and upper arm electric machine support (14) top surface is set Circular trough and four through-holes there are one setting；Upper arm electric machine support (14) two sides are respectively set there are two through-hole, pass through interior hexagonal Screw (47), hex nut (45) and gasket are separately fixed at upper arm outside plate (32) and upper arm inner panel (41) inside；The upper arm Stepper motor (12) is whole in a rectangular parallelepiped shape, and there are four through-holes for the setting of upper arm stepper motor (12) front end top surface；Upper arm stepping electricity Machine (12) is centrally disposed, and there are one cylindrical boss；In a rectangular parallelepiped shape with front end, middle-end is in for planetary reduction gear (13) rear end Cylindrical shape；There are four through-holes for the setting of planetary reduction gear (13) rear end bottom surface, pass through holding screw and upper arm stepper motor (12) It is fixed together；Planetary reduction gear (13) bottom center is provided in cylinder shape groove and upper arm stepper motor (12) front end top surface Heart cylindrical boss matches；There are four through-holes for the setting of planetary reduction gear (13) front end top surface, are fixed on by holding screw On arm electric machine support (14) bottom surface；Cylindrical boss and cylindrical, hollow montant there are one planetary reduction gear (13) is centrally disposed； There are two the forearm follower lever connecting shaft axle sleeve (44) is total, whole is in cylindrical shape, forearm follower lever connecting shaft axle sleeve (44) It is placed in forearm plate (17) between end side surface and rotation follower lever (27) front end side；The conical gear (15) shares two It is a；One conical gear (15) central through hole is matched with planetary reduction gear (13) front end end face center cylindrical, hollow montant； Another conical gear (15) is provided centrally with the round new pass with rectangle composition, and new pass and upper arm master are passed through by key Another annular groove of rear end side matches in lever connecting shaft (54), and conical gear (15) is fixed on upper arm driving lever connecting shaft (54) on axle body；Two conical gears (15) are vertically coordinated by boring tooth；The upper arm driving lever connecting shaft axle sleeve (40) is whole In cylindrical shape, two through-holes are opened in upper arm driving lever connecting shaft axle sleeve (40) side, are passed through by tapered end holding screw of slotting logical Hole is fixed in upper arm driving lever connecting shaft (54) between the annular groove of rear end side two；The forearm connecting plate (46) is whole U-shaped, for the setting of forearm connecting plate (46) bottom surface there are four through-hole, forearm connecting plate (46) two sides are respectively set that there are four logical Hole is separately fixed at by soket head cap screw (47), hex nut (45) and washer (49) in two pieces of forearm plate (17) front ends Side；

The wrist joint module includes silent flatform (18), Hooke hinge (26), linear motor (60), center spherical hinge (59), branch Support axis (19), spherical hinge (25), moving platform (58), linear motor connector (56), push rod connector (57) and hinge connector (61)；The silent flatform (18) is in integrally triangular prism shape, and there are four through-holes for the setting of silent flatform (18) bottom center, pass through screw spiral shell Female and washer (49) is fixed on the through-hole of forearm connecting plate (46) bottom surface；Silent flatform (18) bottom surface three is respectively arranged with one on angle A through-hole；It is whole to be made of with cube-shaped connector two pieces of U-shaped connectors there are three the Hooke hinge (26) is total；Hooke There are one through-holes for two pieces of U-shaped connector side settings up and down for hinge (26), and there are one circles for the setting of Hooke hinge (26) bottom center Connected in star；Linear motor (60) rear end is semiannular shape boss, and there are one through-holes for the setting of linear motor (60) center side； Linear motor (60) front end is whole in a rectangular parallelepiped shape, and middle-end is ladder cuboid, and linear motor (60) center side is provided with one A through-hole；Center spherical hinge (59) front end is provided with cylindrical montant on bulb；Center spherical hinge (59) middle-end is circle Cylinder boss is placed cylindrical end cap on the boss, is fixed by screw-nut；Two cylinder of center spherical hinge (59) middle-end point It is not provided with circular trough and spherical groove, bulb is placed in the inside；Center spherical hinge (59) rear end is cylinder, center spherical hinge (59) there are four through-holes for bottom surface setting；In a rectangular parallelepiped shape, there are one the settings of support shaft (19) top at support shaft (19) center Circular groove, groove are matched with center spherical hinge (59) front end cylinder montant；There are two logical for the setting of support shaft (19) side Hole, it is fixed by holding screw and center spherical hinge (59)；Lower end side is the support column of four triangular shapes in support shaft (19), Support shaft (19) bottom end is rectangular-shape fixed plate, is arranged in fixed plate there are four through-hole, fixed by screw and washer (49) On the through-hole of silent flatform (18) bottom surface；There are three the spherical hinge (25) is total；Spherical hinge (25) front end is provided on bulb Cylindrical montant；Spherical hinge (25) middle-end is cylinder boss, and cylindrical end cap is placed on the boss, solid by screw-nut It is fixed；Two cylinder of spherical hinge (25) middle-end is respectively arranged with circular trough and spherical groove, and bulb is placed in the inside；After spherical hinge (25) End is cylinder, and spherical hinge (25) bottom surface is oblique to be cut one piece and form new bottom surface, and there are four through-holes for setting on new bottom surface；It is described dynamic Platform (58) is in integrally triangular prism shape, and there are four through-holes for the setting of moving platform (58) bottom center, solid by screw and washer (49) It is scheduled on the through-hole of center spherical hinge (59) bottom surface；Through-hole there are four being respectively set on the angle of moving platform (58) bottom surface three, passes through The through-hole of screw and washer (49) respectively with the new bottom surface in three spherical hinge (25) rear ends is fixed together；The linear motor connection The U-shaped shape in part (56) front end, linear motor connector (56) two sides are respectively set there are one through-hole, by screw, nut and Washer (49) passes through through-hole and the through-hole of linear motor (60) rear end boss side surfaces to be fixed together；Linear motor connector (56) Rear end is in cylindrical shape, is matched with Hooke hinge (26) upper connector bottom center circular groove, pass through holding screw with recklessly Gram hinge (26) is fixed together；There are three the push rod connector (57) is total；Whole is in cylindrical shape, push rod connector (57) There are one circular groove, groove is matched with linear motor (60) front end rectangular shape for bottom end setting；Push rod connector (57) A through-hole is opened in bottom end side, solid by screw, nuts and washers (49) and the through-hole of linear motor (60) front end center side It is scheduled on together；For the setting of push rod connector (57) front end top surface there are one through-hole, through-hole is cylindrical with spherical hinge (25) front end respectively Montant matches；There are two through-holes for the setting of push rod connector (57) side, and through-hole and spherical hinge (25) are passed through by holding screw Front end montant is fixed together；There are three the hinge connector (61) is total；Whole is in ladder circle bar shape；Hinge connector (61) front end cylinder axis wore the through-hole on the angle of silent flatform (18) bottom surface three, and hinge connector (61) axle body is cut with scissors with Hooke The circular groove of connector bottom center matches under chain (26)；Hinge connector (61) passes through Hooke hinge by holding screw (26) through-hole of connector side is fixed together with Hooke hinge (26) under；

The shear module includes shear motor holder (62), distance measuring unit (20), distance measuring unit bearing support (64), CCD camera (21), CCD camera bearing support (67), rack (68), rack support (66), gear (63), scissors (22), short connecting rod (69), Long connecting rod (70) contains fruit basket (23) and shearing stepper motor (65)；The shear motor holder (62) is whole in a rectangular parallelepiped shape, There are four through-holes for the setting of shear motor holder (62) trailing flank, and through-hole and moving platform are passed through by screw, nuts and washers (49) (58) through-hole of bottom center is fixed together；Shear motor holder (62) left side is centrally disposed, and there are one circular trough and four Through-hole, shear motor holder (62) upper side are provided with eight through-holes；The distance measuring unit (20) is whole in a rectangular parallelepiped shape, ranging Unit (20) front end is provided with cylindrical boss；There are four through-holes for the setting of distance measuring unit (20) bottom side；The distance measuring unit branch Bolster (64) is whole in a rectangular parallelepiped shape, and the positive side of distance measuring unit bearing support (64) is provided centrally with rectangular slot；Distance measuring unit branch There are four through-holes for the setting of bolster (64) top surface, are fixed together by the through-hole of bolt and nut and distance measuring unit (20) bottom side； There are four through-holes for the setting of distance measuring unit bearing support (64) bottom surface, pass through screw, nuts and washers (49) and shear motor holder (62) through-hole of upside surface rear end is fixed together；CCD camera (21) front end is in cylindrical shape；Front end top surface is provided with four A through-hole is fixed together by bolt and nut and the through-hole of CCD camera (21) rear end bottom surface；CCD camera (21) rear end is in just Cube shape, there are four through-holes for CCD camera (21) bottom surface setting；Whole stepped, the CCD of the CCD camera bearing support (67) There are four through-holes for the setting of camera bearing support (67) rear end bottom surface, pass through screw, nuts and washers (49) and shear motor holder (62) through-hole of upper side front end is fixed together；Rack (68) front end is U-shaped, and center side is provided with rectangular slot, There are two through-holes for upper side setting；Rack (68) middle-end is in cylindrical shape；Rack (68) rear end is in cylindrical shape, rear end axle body Tail end is provided with tooth-like recesses；The rack support (66) is whole T-shaped, rack support (66) front end shape in a ring, rack branch Frame (66) both sides are respectively set there are one rectangular slot, and rack support (66) top surface is respectively set that there are one through-holes；Rack support (66) rear end side is provided with a circular trough, which matches with rack (68) back end cylindrical body shape montant form；Tooth There are four through-holes for the setting of holder (66) top surface, pass through screw, nuts and washers (49) and shear motor holder (62) upper side Through-hole, rack (68) rear end montant is fixed together；The gear (63) be provided centrally with it is round formed with rectangle it is new Pass；The tooth of gear (63) is matched with the tooth-like recesses of rack (68) rear end axle body tail end；There are two the scissors (22) is total； Whole semicircular in shape, there are one trapezoidal groove and a through-holes for the setting of scissors (22) top surface；The short connecting rod (69) shares four It is a, whole shape in a ring；Short connecting rod (69) top surface both ends are respectively set there are one through-hole, pass through screw, nuts and washers (49) through-hole is passed through to be separately fixed at the inside of rack (68) front end upper side through-hole；There are two the long connecting rod (70) is total, Whole shape in a ring, end is respectively set there are one through-hole before, during and after long connecting rod (70) top surface, and front end through-hole passes through bolt, spiral shell Female and washer (49) passes through front end through-hole and the through-hole of scissors (22) top surface to be fixed together；Middle-end through-hole passes through bolt, nut It is fixed together across through-hole of the middle-end through-hole respectively with short connecting rod (69) top surface other end with washer (49)；Rear end through-hole is logical Cross bolt, nuts and washers (49) passes through rear end through-hole and the through-hole of rack support (66) front end top surface to be fixed together；It is described It is in rounded shape to contain fruit basket (23) front end, lower end is gradient circle；Sheng fruit basket (23) rear end is Z-type bar, solid by welding It is scheduled on shear motor holder (62) inside bottom surface；Contain the pipe of the circle and delivery tube (24) one end cylindrical shape of fruit basket (23) bottom end Head matches；The shearing stepper motor (65) is whole in a rectangular parallelepiped shape；Shearing stepper motor (65) front end top surface is provided with four A through-hole passes through through-hole and the through-hole at shear motor holder (62) left side center to be fixed together by screw-nut；Shearing Stepper motor (65) is centrally disposed, and there are one cylindrical boss and cylindrical bars；The cylindrical bar is left with shear motor holder (62) The circular trough of center side matches；It shears stepper motor (65) shaft and the new pass in gear (63) center and gear is passed through by key (63) it is fixed together.

2. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The base bearing Seat (9) by being separately connected third kinematic chain (10) and the first kinematic chain (36), the second kinematic chain (29), then respectively with kinematic chain Bearing end seat (30) is connected；Realize two chain movements of shoulder joint.

3. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The movement chain rivet Socket end seat (30) respectively it is horizontal with upper arm outside plate (32), it is vertical be connected by screw with upper arm top plate (33), two kinematic chain bearings End seat (30) is in 90 degree.

4. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The rotation is actively Bar (52) rear end is fixed in upper arm driving lever connecting shaft (54), passes through upper arm stepper motor (12) and planetary reduction gear (13) phase Even rotated again with the vertical cooperation of two conical gears (15).

5. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The rotation is driven Bar (27) is linked together by principal and subordinate's bar connecting shaft (51) and rotation driving lever (52), in rotation driving lever (52), upper arm Outside plate, forearm plate (17) form parallelogram mechanism structure.

6. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The silent flatform (18) triangular in shape, the part (61) that is connected through the hinge respectively on three angles links together with Hooke hinge (26)；Realize that wrist closes Save three chain movements.

7. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The spherical hinge (25) when being fixed together with moving platform (58) in such a way that bottom surface is chamfer, naturally at an angle, pass through linear motor (60) movement of push rod connector (57) and bulb is realized.

8. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The rack (68) The tooth-like recesses of axle body tail end are together with the tooth engagement of gear (63), by shearing stepper motor (65) connection gear (63), It realizes that rack movement drives scissors (22) to move, reaches shear effect.

9. a kind of mechanical device of intelligence picking mangosteen according to claim 1, it is characterised in that：The distance measuring unit (20) pass through distance measuring unit bearing support (64) and CCD camera bearing support not in same level with CCD camera (21) camera lens (67) difference in height is realized that cooperation captures and is measured.