CN208159341U - A kind of fruit picks small-sized machine vehicle automatically - Google Patents
A kind of fruit picks small-sized machine vehicle automatically Download PDFInfo
- Publication number
- CN208159341U CN208159341U CN201721708046.4U CN201721708046U CN208159341U CN 208159341 U CN208159341 U CN 208159341U CN 201721708046 U CN201721708046 U CN 201721708046U CN 208159341 U CN208159341 U CN 208159341U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- car body
- fruit
- athey wheel
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of fruit to pick small-sized machine vehicle automatically, including Athey wheel, it is mounted on the mechanical arm and collecting box of the car body and installation of Athey wheel upper end on the car body, the mechanical arm includes that rotating base passes through the steering engine mechanical arm body being connected with rotating base and the manipulator being connected by steering engine with mechanical arm body, the outer wall of the manipulator is equipped with color sensor and infrared sensor, one Arduino controller is installed in the car body, color sensor and infrared sensor are connected with the input terminal of the Arduino controller, the output end of Arduino controller and the rotating base, steering engine and manipulator are connected；The car body upper end is equipped with one for placing the groove of collecting box；The Athey wheel bottom is equipped with an infrared induction obstacle avoidance apparatus.The utility model not only increases picking efficiency, and reduces damage ratio, saves cost of labor, improves the economic benefit of orchard worker.
Description
Technical field
The utility model relates to small-sized machine fields, and in particular to a kind of fruit picks small-sized machine vehicle automatically.
Background technique
The rapid development of fruit-growing industry improves the market demand of Machinery for orchard.Labour used in picking operation accounts for entirely
33%~50% of labour used in production process, picking operation is more complicated, seasonal very strong, if using artificial picking, no
Only low efficiency, the amount of labour are big, and be easy to cause the damage of fruit, directly influence the quality of fruit.Thus to realize fruit
Harvest of the automatic picking small-sized machine vehicle to fruit, it is important to identify fruit from fruit tree and determine the exact space of fruit
The picking of fruit is completed to provide parameter for the movement of manipulator in position.
Utility model content
To solve the above problems, the utility model provides a kind of fruit picks small-sized machine vehicle automatically, not only increase
Picking efficiency, and damage ratio is reduced, cost of labor is saved, the economic benefit of orchard worker is improved.
To achieve the above object, the technical solution that the utility model is taken is：
A kind of fruit picks small-sized machine vehicle automatically, including Athey wheel, is mounted on car body and the installation of Athey wheel upper end
Mechanical arm and collecting box on the car body, the mechanical arm include that rotating base passes through the machine that steering engine is connected with rotating base
The outer wall of tool arm body and the manipulator being connected by steering engine with mechanical arm body, the manipulator is equipped with color sensor
And infrared sensor, be equipped in the car body Arduino controller, color sensor and infrared sensor with
The input terminal of the Arduino controller is connected, the output end of Arduino controller and the rotating base, steering engine and machine
Tool palmistry connects；The car body upper end is equipped with one for placing the groove of collecting box；The Athey wheel bottom is equipped with an infrared induction
Obstacle avoidance apparatus.
Preferably, the Athey wheel motor that include driving wheel be connected with driving wheel by shaft coupling and pass through crawler belt
Be connected several driven wheels being driven with driving wheel.
Preferably, the driving wheel of the Athey wheel and driven wheel and its accessory are all made of aluminum, have the light good toughness of material
Many benefits such as easy to process, crawler belt use rubber material, with toughness and have larger frictional force.
The utility model has the advantages that：
Color sensor is housed on the manipulator of the utility model, fruit is picked using the difference of color；Machine
Tool hand can be rotated with 180 degree, saved space and increased operation rate, be easy to implement and the work such as win and store；It is replaced using crawler belt former
What is begun is wheeled, improves the stability of structure, adapts to complex road condition, increase and frictional ground force；Whole manipulator is modular, can
With replacement；After replacing module, in addition to fruit-picking, branch etc. can be trimmed；Entirety uses light material, easy to carry, makes
Valence is human-oriented, meets actual demand, can largely reduce manpower.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of fruit of the utility model picks small-sized machine vehicle automatically.
Fig. 2 is the structural schematic diagram of Athey wheel in Fig. 1.
Fig. 3 is the position schematic diagram of steering engine in the utility model mechanical arm.
Fig. 4 is Athey wheel stress condition schematic diagram in the utility model.
Specific embodiment
In order to which the purpose of this utility model and advantage is more clearly understood, with reference to embodiments to the utility model into
Row is further described.It should be appreciated that specific embodiment described herein is only used to explain the utility model, and do not have to
In restriction the utility model.
As Figure 1-Figure 2, the utility model embodiment provides a kind of fruit and picks small-sized machine vehicle automatically, including carries out
Belt wheel 1, the car body 2 for being mounted on 1 upper end of Athey wheel and the mechanical arm 3 and collecting box 4 that are mounted on car body 2, feature exists
In the mechanical arm 3 includes the mechanical arm body 32 and lead to that rotating base 31 is connected by steering engine 34 with rotating base 31
Cross the manipulator 33 that steering engine 34 is connected with mechanical arm body 32, the outer wall of the manipulator 33 is equipped with color sensor and red
Outside line sensor, be equipped in the car body Arduino controller, color sensor and infrared sensor with it is described
The input terminal of Arduino controller is connected, the output end of Arduino controller and the rotating base 31, steering engine and machinery
Hand 33 is connected；2 upper end of car body is equipped with one for placing the groove of collecting box 4；1 bottom of Athey wheel is equipped with an infrared sense
Answer obstacle avoidance apparatus, the motor and pass through crawler belt that the Athey wheel 1, which includes driving wheel 11, to be connected with driving wheel by shaft coupling
The 12 several driven wheels 13 for being connected transmission with driving wheel, are additionally provided with a controller in Athey wheel 1, the input terminal of controller with it is infrared
Incude obstacle avoidance apparatus to be connected, output end is connected with motor, and the driving wheel and driven wheel and its accessory of the Athey wheel 1 are all made of
Aluminum has many benefits such as the light good toughness of material is easy to process, and crawler belt uses rubber material, has toughness and rubs with larger
Wipe power.
The determination of Athey wheel wheelspan and crawler belt size
The 4.5kg because car body and arm are self-possessed, and maximum load is 2.5kg, so to guarantee that fruit picking vehicle is normal
Running, gravity is in center position and keeps trolley steady, we have selected the design scheme of upper 2 wheel of lower 4 wheels, to determine its position
It sets, we combine car body overall length and position, steady to guarantee because car body is about 260mm long, we determined that 1,7 liang
Wheel center is away from for 225mm, and to make car body not run-off the straight, We conducted experiment, 1,3 wheel of test is pressed from both sides with 6,7 wheels and horizontal plane
Angle size is more stably tested, and after our model experiment, determines that 45 ° of angle is the most suitable, and work as maximum load period
Between angle be 30 °, trolley is walked the most steady at this time.
And we is prevent from not allowing wheel to collide when maximum load with wheel, so diameter d≤48.5mm of wheel, so
We select diameter for 38mm, retain the safe distance of 10.5mm.So obtaining return pulley center away from for 47mm, it is possible to calculate
Track length is 225mm+141mm+38mm × π ≈ 851.316mm, is selected after us and businessman's consulting of crawler belt customization
The crawler belt of 850mm length, and period is exactly 98 holes, so the driving wheel that we design just possesses 14 teeth, so I
Known reference diameter d=38mm, the number of teeth z=14, ha*=1, c*=0.25 can calculate：
Modulus：
Tip diameter：
Root diameter：
The selection of Athey wheel motor
It is expected that fruit picking vehicle car body weight 6.5kg~7kg, if the maximum load of fruit picking vehicle is 7kg.
The pedestal Athey wheel of fruit picking vehicle is symmetrical about horizontal center line axis, thus the half that it bears a heavy burden can pass through calculating
It is inferred to.The free body stress of fruit picking vehicle half is indicated in Fig. 4.
Fn and G is the support force and gravity of unilateral Athey wheel respectively.F is the frictional force between Athey wheel and ground, speed
Direction v consistent with the direction tractive force F is that horizontally to the right, the derivation of unilateral Athey wheel population equilibrium equation is as follows：
Frictional force：F=μm of g=1 × 3.5 × 10=35N
Wherein, m is the half of fruit picking vehicle quality.
Furthermore, it would be desirable to so that speed of the trolley in maximum load is remained 0.02m/s, so the calculating of its power is public
Formula is：
Tractive force：F=f=35N
Power：P=Fv=35N × 0.06m/s=2.1w
Maximum torque needed for driving wheel is：
Gear-driven efficiency is respectively：The efficiency of η=0.96, shaft coupling is：η=0.98
Then output power of motor is：
So, motor power (output) needed for which picks the track drive of small-sized machine vehicle automatically is：2.23W, to
There is motor to be screened, selectable motor has：
Shown according to above data and we needed for parameter we finally select " GM25-37-24140-75-
14.5D10 " is crawler haulage motor used in us.
Mechanical arm Theoretical Design
Material selection：Mechanical arm materials'use Asia Gree plate；Arm and rotating base are completed using aluminum alloy materials.
Power supply selection：7.4V DC power supply
Selection of Motor：Because mechanical arm design weight is 3kg~3.5kg, weight is about 4kg after grabbing largest object, institute
It need to use large torque and rotating range between 0 °~180 ° with us, so we have selected the rudder of model LD-20MG
Machine carries out running mechanical arm.Fig. 3 is steering engine distribution map.
Control system：Steering engine control panel and Arduino LEONARDO controller carry out control mechanical arm identification running.
Sensor selection：Color sensor and infrared distance sensor
η is total=η motor × shaft coupling=0.98 η × 0.99 ≈ 0.97
It calculates：Transmission system：Gained power on arm：Pd=F × v ≈ 40.2W
Arm stroke：
In use, mechanical arm is identified by color sensor, whether judgment object is grabbed for this specific implementation
Extract operation, then mechanical arm is judged at a distance from object by infrared sensor, carry out accurately identification crawl；Crawler sections are same
Sample is also intelligent recognition roadblock, judges direction of traffic, by vehicle bottom infrared induction obstacle avoidance apparatus, judges whether there is barrier,
Robot can execute the instruction evaded.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom", "inner", "outside" be orientation based on the figure or
Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Claims (3)
1. a kind of fruit picks small-sized machine vehicle automatically, including Athey wheel (1), be mounted on the car body (2) of Athey wheel (1) upper end with
And it is mounted on mechanical arm (3) and collecting box (4) on car body (2), which is characterized in that the mechanical arm (3) includes rotation
The mechanical arm body (32) and pass through steering engine and mechanical arm body that pedestal (31) is connected by steering engine with rotating base (31)
(32) outer wall of connected manipulator (33), the manipulator (33) is equipped with color sensor and infrared sensor, institute
It states and an Arduino controller is installed in car body, color sensor and infrared sensor and the Arduino controller
Input terminal is connected, and the output end of Arduino controller is connected with the rotating base (31), steering engine and manipulator (33)；Institute
Car body (2) upper end is stated equipped with one for placing the groove of collecting box (4)；Athey wheel (1) bottom is equipped with an infrared induction and keeps away
Fault device.
2. a kind of fruit as described in claim 1 picks small-sized machine vehicle automatically, which is characterized in that Athey wheel (1) packet
Include what motor that driving wheel (11) and driving wheel are connected by shaft coupling and being connected by crawler belt (12) with driving wheel was driven
Several driven wheels (13).
3. a kind of fruit as claimed in claim 2 picks small-sized machine vehicle automatically, which is characterized in that the Athey wheel (1)
Driving wheel and driven wheel and its accessory are all made of aluminum, and crawler belt uses rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721708046.4U CN208159341U (en) | 2017-12-11 | 2017-12-11 | A kind of fruit picks small-sized machine vehicle automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721708046.4U CN208159341U (en) | 2017-12-11 | 2017-12-11 | A kind of fruit picks small-sized machine vehicle automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208159341U true CN208159341U (en) | 2018-11-30 |
Family
ID=64386142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721708046.4U Expired - Fee Related CN208159341U (en) | 2017-12-11 | 2017-12-11 | A kind of fruit picks small-sized machine vehicle automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208159341U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341817A (en) * | 2019-07-29 | 2019-10-18 | 五邑大学 | A kind of cell Intelligent logistics trolley |
-
2017
- 2017-12-11 CN CN201721708046.4U patent/CN208159341U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110341817A (en) * | 2019-07-29 | 2019-10-18 | 五邑大学 | A kind of cell Intelligent logistics trolley |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102151634B (en) | Intelligent tree trunk white paining robot | |
| CN202958189U (en) | Intelligent mowing robot | |
| CN207460846U (en) | A kind of pineapple harvests intelligent carriage | |
| CN109005923A (en) | A kind of full-automatic fruit picking device | |
| CN203324816U (en) | Field soil moisture content detection trolley based on automatic navigation | |
| CN106185151A (en) | A kind of intelligent warehousing system | |
| CN104221606A (en) | Self-propelled vibrating forest fruit harvester and harvesting method for same | |
| CN109969178A (en) | Based on the autonomous handling device of the more materials of multielement bar and method | |
| CN104991559A (en) | Method for automatic cruise detection of comprehensive information of greenhouses | |
| CN105613153B (en) | Full-automatic tree skirt rendering robot and painting method | |
| CN208159341U (en) | A kind of fruit picks small-sized machine vehicle automatically | |
| CN208923715U (en) | Overhead transmission line crossing obstacle automatically inspection robot | |
| CN107054500A (en) | A kind of greenhouse vegetable, which is in the ranks plucked, follows transport vehicle | |
| CN104303705B (en) | Test bench for tea-picking mechanism of tea garden | |
| CN105739521B (en) | A kind of system and method agricultural robot traction and powered | |
| CN102687624A (en) | Intelligent cucumber harvesting vehicle | |
| CN206775079U (en) | A kind of aerial cables deicing robot | |
| CN107171269B (en) | A kind of aerial cables deicing robot | |
| CN110640759B (en) | Full-automatic road garbage picking robot and using method thereof | |
| CN210746112U (en) | All-round fruit picking vehicle | |
| CN202617771U (en) | Self-propelled automatic pruning machine | |
| CN215122201U (en) | Intelligent multi-arm tea plucking machine | |
| CN207090371U (en) | A kind of longitudinal AGV transport carriages | |
| CN214676643U (en) | Robot for automatically picking fruits | |
| CN210478857U (en) | Remote control climbing express delivery transports balance car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181130 Termination date: 20191211 |