CN208210794U - It is a kind of for pick tree fruit grown climbing robot - Google Patents
It is a kind of for pick tree fruit grown climbing robot Download PDFInfo
- Publication number
- CN208210794U CN208210794U CN201820500955.7U CN201820500955U CN208210794U CN 208210794 U CN208210794 U CN 208210794U CN 201820500955 U CN201820500955 U CN 201820500955U CN 208210794 U CN208210794 U CN 208210794U
- Authority
- CN
- China
- Prior art keywords
- steering engine
- steelframe unit
- steelframe
- picking
- braces
- 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 for picking the climbing robot of tree fruit grown, including cutting mechanism, steel frame construction, gripper, fruit basket, rope, pulley, connecting rod, steering engine frame and single-chip microcontroller；The steel frame construction is made of four steelframe units；The steering engine of first steelframe unit and the second steelframe unit is separately connected a gripper；Third steelframe unit one end is connected by steering engine with the second steelframe unit, and the other end is connected with the first steelframe unit；4th steelframe unit is fixedly connected on the first steelframe unit or the second steelframe unit；Pulley is provided on 4th steelframe unit, pulley is connected by rope with fruit basket, and the steering engine of the 4th steelframe unit is connected by connecting rod with steering engine frame, and steering engine frame is connected with cutting mechanism；Using the utility model, it can be used for picking tree fruit grown, safety, without artificial climbing, practical, wide adaptation range reduces manual operation, reduces labor intensity.
Description
Technical field
The utility model relates to a kind of for picking the climbing robot of tree fruit grown, belong to Agricultural Machinery Technology neck
Domain.
Background technique
In the modern life, manually picking needs to offer sb. a chance to remedy a fault gracefully when fruit grown is set in picking, and very dangerous, high altitude operation constantly increases
Add, as light pole, suspension bridge rope, the cleaning of rod-shaped urban architecture, paint, spray paint, inspection, maintenance, electric system set up electricity
Cable, porcelain vase cleaning etc..Current is mainly completed the picking work of tree fruit grown by artificial and large scale equipment, but they all collect
In the problems such as showing low efficiency, large labor intensity.
The Chinese patent application of Publication No. 204837127U discloses a kind of high branch fruits Pickup device, in that patent
Refer to pick height tree fruit by the drag hook on lift aviation mechanism, but and it is undeclared to the fruit after picking how
Processing has certain damage to the fruit after picking.
The Chinese patent application of Publication No. 105474881A discloses a kind of fruits Pickup device, refers in that patent
It manually controls cutting mechanism by holding picking lever to pick fruit, but by the high shadow for blocking sight for setting upper leaf
Sound is not easy accurately to pick fruit, and long-time manual work causes certain labor intensity.
The utility model devises a kind of for picking the climbing machine of tree fruit grown to be more suitable for picking tree fruit grown
Device people.This utility model can be used for picking tree fruit grown, safety, and without artificial climbing, practical, wide adaptation range is reduced
Manual operation reduces labor intensity.And accurate picking is not realized to fruit vulnerable to the high influence setting upper leaf and blocking to sight,
And dress basket has been carried out to the fruit after picking, the fruit after protection picking is injury-free.
Summary of the invention
The purpose of this utility model be for prevent picking tree fruit grown when because manually climb caused by security risk provide one
Kind safety, the climbing robot for being used to pick tree fruit grown without manually climbing.Practical, wide adaptation range can be reduced
Manual operation reduces labor intensity.
The utility model specific technical solution is as follows:
Climbing robot for picking tree fruit grown includes cutting mechanism, steel frame construction, gripper, fruit basket, rope, cunning
Wheel, connecting rod, steering engine frame and single-chip microcontroller；
The steel frame construction is made of four steelframe units, and each steelframe unit one end is hingedly provided with steering engine, steering engine
It can be rotated around articulated shaft, the other end is for being fixedly connected；The steering engine of first steelframe unit and the second steelframe unit is separately connected one
A gripper；Third steelframe unit one end is connected by steering engine with the second steelframe unit, the other end and the first steelframe unit phase
Even,；4th steelframe unit is fixedly connected on the first steelframe unit or the second steelframe unit；Cunning is provided on 4th steelframe unit
Wheel, pulley are connected by rope with fruit basket, and the steering engine of the 4th steelframe unit is connected by connecting rod with steering engine frame, steering engine frame and shearing
Mechanism is connected, and steering engine frame is equipped with cutting mechanism steering engine, and cutting mechanism steering engine does shear action for controlling cutting mechanism；Monolithic
Machine is arranged on steel frame construction, and single-chip microcontroller is connected with all steering engines, MCU driving pulley positive and negative rotation.
In a preferred embodiment of the invention, the gripper includes gear, straight pin, braces one, connecting rod, folder
Pawl, braces two, gripper disk and gripper steering engine, gripper disk are center component, and two clamping jaws pass through two connecting rods respectively
Be connected with braces one and braces two, the braces one and braces two are cooperated by gear to be driven, and with the gripper
Disk is connect by the cylinder pin connection, the gripper steering engine output shaft with gear；Gear and braces one or braces two
Engagement, gripper disk are connect with the steering engine of steelframe unit.
In a preferred embodiment of the invention, the cutting mechanism include cartridge wheel, cam one, cam two, chassis,
Sliding block, lower scissors, slide bar and upper scissors, the chassis and sliding block match sliding by skewed slot, the upper scissors, under cut
Knife, sliding block are connected by straight pin, and the cam one and cam two is stacked in opposite, and pass through straight pin phase with cartridge wheel
Even, the slide bar is set between the cartridge wheel and the cam one, a protrusion is arranged on the slide bar, with institute
The heart-shaped groove on cartridge wheel stated matches, so that described in driving while cartridge wheel, cam one and cam two rotate synchronously
Heart-shaped track of the slide bar on the cartridge wheel move back and forth, and made by the rotation of the cam one and cam two
It obtains the upper scissors and institute's lower scissors and carries out mutual shear motion.
In a preferred embodiment of the invention, the climbing robot further include camera, wireless communication module and
Mobile terminal, the camera are mounted on steering engine frame, camera face cutting mechanism, camera and wireless communication module phase
Even, single-chip microcontroller is connected with wireless communication module, and mobile terminal is carried out wireless communication with wireless communication module.
The single-chip microcontroller can be AT89S51 series monolithic, 51 single-chip microcontrollers, AVR series monolithic, STM32 monolithic
Any one of machine or ARM single-chip microcontroller.
Weighing sensor is installed, weighing sensor is connected with single-chip microcontroller at the pulley.
The connecting rod is any one of fixed link or telescopic rod.
The utility model, which has the advantages that, can be used for picking tree fruit grown, safety, practical without artificial climbing,
Wide adaptation range reduces manual operation, reduces labor intensity.
Detailed description of the invention
Fig. 1 is the climbing robot structural schematic diagram for picking tree fruit grown；
Fig. 2 is gripper structure chart；
Fig. 3 is cutting mechanism structural schematic diagram；
Fig. 4 is cutting mechanism explosive view；
Fig. 5 cutting mechanism motion process (a)；
Fig. 6 cutting mechanism motion process (b)；
Fig. 7 cutting mechanism motion process (c)；
Fig. 8 cutting mechanism motion process (d)；
Fig. 9 cutting mechanism motion process (e).
Specific embodiment
To make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment
And referring to attached drawing, the utility model is further described.It should be understood that these descriptions are merely illustrative, and do not really want
Limit the scope of the utility model.
As shown in Figure 1, for pick set fruit grown climbing robot include cutting mechanism 1, steel frame construction, gripper 2,
Fruit basket 7, rope 8, pulley 9, connecting rod 12, steering engine frame 13 and single-chip microcontroller 3；The steel frame construction 4 is made of four steelframe units,
Each steelframe unit one end is hingedly provided with steering engine 6, and steering engine 6 can be rotated around articulated shaft, and the other end is for being fixedly connected；First steel
The steering engine 6 of frame unit 4a and the second steelframe unit 4b are separately connected a gripper 2；The one end third steelframe unit 4c passes through steering engine
It is connected with the second steelframe unit, the other end is connected with the first steelframe unit,；4th steelframe unit 4d is fixedly connected on the first steelframe
On unit or the second steelframe unit；Pulley 9 is provided on 4th steelframe unit, pulley 9 is connected by rope 8 with fruit basket 7, the
The steering engine of four steelframe units is connected by connecting rod 12 with steering engine frame 13, and steering engine frame is connected with cutting mechanism 1, sets on steering engine frame 13
There is cutting mechanism steering engine, cutting mechanism steering engine does shear action for controlling cutting mechanism；Single-chip microcontroller 3 is arranged in steel frame construction 4
On, single-chip microcontroller 3 is connected with all steering engines, 3 driving pulley of single-chip microcontroller, 9 positive and negative rotation.
For climbing tree upwards.The gripper of second steelframe unit first unclamps trunk, then the steering engine of third steelframe unit
Movement, making the second steelframe unit and third steelframe unit, steel frame construction is shunk at an angle, then the machine of the second steelframe unit
Machinery claw firmly grasps trunk, and the gripper of the first steelframe unit first unclamps trunk；Then the steering engine movement of third steelframe unit makes second
Steel frame construction stretching, extension is resetted between steelframe unit and third steelframe unit, that is, realizes a climbing period of climbing robot.
As shown in Fig. 2, the gripper includes gear 26, straight pin 27, tooth in a preferred embodiment of the invention
Frame 1, connecting rod 29, clamping jaw 30, braces 2 31, gripper disk 34 and gripper steering engine 33, gripper disk 34 are center structure
Part, two clamping jaws 30 are connected by two connecting rods 29 with braces 1 and braces 2 31 respectively, one 28 He of braces
Braces 2 31 is cooperated by gear to be driven, and is connect with the gripper disk 34 by the straight pin 27, the machine
33 output shaft of machinery claw steering engine is connect with gear 26；Gear 26 is engaged with braces 1 or braces 2 31, gripper disk 34 and steelframe
The steering engine of unit connects.The rotation driven gear 26 of gripper steering engine 33 rotates, and gear 26 drives braces 1 and braces 2 31
Rotation, then two clamping jaws 30 realize the effect that pawl is tight or unclamps.
As shown in figs. 3-9, in a preferred embodiment of the invention, the cutting mechanism 1 includes cartridge wheel 16, convex
Take turns one 17, cam 2 18, chassis 19, sliding block 20, lower scissors 21, slide bar 22 and upper scissors 23, the chassis 19 and sliding block 20
Sliding is matched by skewed slot, the upper scissors 23, lower scissors 21, sliding block 20 are connected by straight pin, the cam one
17 and cam 2 18 be stacked in opposite, and be connected with cartridge wheel 16 by straight pin, the slide bar 22 is set to described
One protrusion is set between cartridge wheel 16 and the cam 1, on the slide bar 22, with the heart on the cartridge wheel 16
Connected in star matches.
It as shown in figures 5-9, is the schematic diagram of 1 shearing work of cutting mechanism, cartridge wheel 16, cam 1 and cam 2 18 are same
Heart-shaped track of the slide bar 22 on the cartridge wheel 16 is driven to move back and forth while step rotation, and by described
Cam 1 and cam 2 18 rotation so that the upper scissors 23 and institute's lower scissors 21 carry out mutual shear motion.
In a preferred embodiment of the invention, the climbing robot further includes camera 14, wireless communication module
And mobile terminal, the camera 14 are mounted on steering engine frame 13, camera face cutting mechanism 1, camera and channel radio
Believe that module is connected, single-chip microcontroller is connected with wireless communication module, and mobile terminal is carried out wireless communication with wireless communication module.Described
Weighing sensor is installed, weighing sensor is connected with single-chip microcontroller at pulley 9.The control signal of the steering engine 6 is PWM wave,
Steering engine controller is formed by single-chip microcontroller and decade counter, divides the steering engine 6 in the time of a cycle
When generate each road pwm signal, realize the effect that multiple steering engines 6 are controlled with each road signal.
Utility model works process is as follows:
Robot is placed on fruit tree, robot is crawled using bionical climbing mechanism, is climbed up fruit tree and is passed through later
Steering engine controls extension and the retraction that mechanical arm carries out mechanical arm, finds fruit by camera, video is sent out by bluetooth module
It returns mobile terminal and cutting mechanism is controlled by mobile terminal, cutting mechanism accurately shears carpopodium.The fruit sheared falls into extension
It in sack on the robotic arm, is put into fruit basket by the retraction of mechanical arm, pulley is equipped with weighing sensor, when fruit reaches
Constant weight, sensor control motor is slowly fallen the fruit basket for being connected with rope by pulley, and after taking out fruit, control motor makes
It obtains fruit basket and returns to original position.
Claims (7)
1. a kind of for picking the climbing robot of tree fruit grown, it is characterised in that including cutting mechanism, steel frame construction, machinery
Pawl, fruit basket, rope, pulley, connecting rod, steering engine frame and single-chip microcontroller；
The steel frame construction is made of four steelframe units, and each steelframe unit one end is hingedly provided with steering engine, and steering engine can be around
Articulated shaft rotation, the other end is for being fixedly connected；The steering engine of first steelframe unit and the second steelframe unit is separately connected a machine
Machinery claw；Third steelframe unit one end is connected by steering engine with the second steelframe unit, and the other end is connected with the first steelframe unit；4th
Steelframe unit is fixedly connected on the first steelframe unit or the second steelframe unit；It is provided with pulley on 4th steelframe unit, pulley
It is connected by rope with fruit basket, the steering engine of the 4th steelframe unit is connected by connecting rod with steering engine frame, steering engine frame and cutting mechanism phase
Even, steering engine frame is equipped with cutting mechanism steering engine, and cutting mechanism steering engine does shear action for controlling cutting mechanism；
Single-chip microcontroller is arranged on steel frame construction, and single-chip microcontroller is connected with all steering engines, MCU driving pulley positive and negative rotation.
2. according to claim 1 for picking the climbing robot of tree fruit grown, it is characterised in that the gripper
Including gear, straight pin, braces one, connecting rod, clamping jaw, braces two, gripper disk and gripper steering engine,
Gripper disk is center component, and two clamping jaws pass through two connecting rods respectively and are connected with braces one and braces two, described
Braces one and braces two cooperated by gear and be driven, it is described and with the gripper disk by the cylinder pin connection
Gripper steering engine output shaft connect with gear；Gear is engaged with braces one or braces two, the rudder of gripper disk and steelframe unit
Machine connection.
3. according to claim 1 for picking the climbing robot of tree fruit grown, it is characterised in that the cutter
Structure includes cartridge wheel, cam one, cam two, chassis, sliding block, lower scissors, slide bar and upper scissors, and the chassis and sliding block pass through
Skewed slot matches sliding, and the upper scissors, lower scissors, sliding block are connected by straight pin, and the cam one and cam two is in
Opposite is stacked, and is connected with cartridge wheel by straight pin, and the slide bar is set to the cartridge wheel and the cam
One protrusion is set between one, on the slide bar, is matched with the heart-shaped groove on the cartridge wheel, so that cartridge wheel, convex
Wheel one and cam two drive heart-shaped track of the slide bar on the cartridge wheel to move back and forth while synchronous rotation,
And by the rotation of the cam one and cam two so that the upper scissors and institute's lower scissors carry out mutual shear motion.
4. according to claim 1 for picking the climbing robot of tree fruit grown, it is characterised in that the climbing machine
Device people further includes camera, wireless communication module and mobile terminal, and the camera is mounted on steering engine frame, camera face
Cutting mechanism, camera are connected with wireless communication module, and single-chip microcontroller is connected with wireless communication module, mobile terminal and wireless communication
Module carries out wireless communication.
5. according to claim 1 a kind of for picking the climbing robot of tree fruit grown, it is characterised in that the cunning
Weighing sensor is installed, weighing sensor is connected with single-chip microcontroller at wheel.
6. according to claim 1 a kind of for picking the climbing robot of tree fruit grown, it is characterised in that the list
Piece machine can be AT89S51 series monolithic, 51 single-chip microcontrollers, AVR series monolithic, STM32 single-chip microcontroller or ARM single-chip microcontroller
Any one.
7. according to claim 1 a kind of for picking the climbing robot of tree fruit grown, it is characterised in that the company
Bar is any one of fixed link or telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820500955.7U CN208210794U (en) | 2018-04-10 | 2018-04-10 | It is a kind of for pick tree fruit grown climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820500955.7U CN208210794U (en) | 2018-04-10 | 2018-04-10 | It is a kind of for pick tree fruit grown climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208210794U true CN208210794U (en) | 2018-12-11 |
Family
ID=64514648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820500955.7U Expired - Fee Related CN208210794U (en) | 2018-04-10 | 2018-04-10 | It is a kind of for pick tree fruit grown climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208210794U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110972718A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN110972717A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN110999636A (en) * | 2019-11-12 | 2020-04-14 | 青岛大学 | Strawberry clamping scissors |
| CN114747368A (en) * | 2022-03-23 | 2022-07-15 | 农业农村部南京农业机械化研究所 | Fruit picking robot |
| WO2022223076A1 (en) * | 2021-04-22 | 2022-10-27 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Device for gripping and cutting crops |
| WO2023169632A1 (en) * | 2022-03-09 | 2023-09-14 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Device for gripping and cutting a crop |
-
2018
- 2018-04-10 CN CN201820500955.7U patent/CN208210794U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110999636A (en) * | 2019-11-12 | 2020-04-14 | 青岛大学 | Strawberry clamping scissors |
| CN110972718A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| CN110972717A (en) * | 2019-11-27 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Flexible picking robot |
| WO2022223076A1 (en) * | 2021-04-22 | 2022-10-27 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Device for gripping and cutting crops |
| WO2023169632A1 (en) * | 2022-03-09 | 2023-09-14 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Device for gripping and cutting a crop |
| CN114747368A (en) * | 2022-03-23 | 2022-07-15 | 农业农村部南京农业机械化研究所 | Fruit picking robot |
| CN114747368B (en) * | 2022-03-23 | 2023-06-02 | 农业农村部南京农业机械化研究所 | Fruit picking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208210794U (en) | It is a kind of for pick tree fruit grown climbing robot | |
| CN102668898B (en) | High-altitude pruning manipulator | |
| CN209609250U (en) | A kind of betel nut picking unmanned plane | |
| KR101458534B1 (en) | Ducted type unmanned aircraft for pine nut picking | |
| CN110192471B (en) | Pecan picking and collecting device and method based on unmanned aerial vehicle | |
| CN103081648A (en) | Telescopic forest fruit picking mechanical arm | |
| CN204616448U (en) | Many rotors walnut picking device | |
| CN105746198B (en) | The cutting system of automatic pollard robot for overhead transmission line | |
| CN107371611A (en) | A kind of unmanned plane with automatic harvesting function based on Internet of Things | |
| CN209572524U (en) | A kind of intelligence branch pruning machine people | |
| CN109866924B (en) | Electric overhead line defect eliminating unmanned aerial vehicle and defect eliminating method thereof | |
| CN103843530A (en) | Electronic fruit picking device | |
| CN109906796A (en) | A kind of crop topping machine based on plant protection drone | |
| CN113716057B (en) | Unmanned aerial vehicle independently picks litchi device | |
| CN109258243B (en) | Four-degree-of-freedom forest snow removing robot and snow removing method thereof | |
| CN104097772A (en) | Smoke tracking aircraft | |
| CN111066514B (en) | Forest high-altitude intelligent pruning device and application method thereof | |
| CN105746199B (en) | Automatic pollard robot for overhead transmission line | |
| CN209897714U (en) | Crop topping machine based on plant protection unmanned aerial vehicle | |
| CN107231888A (en) | Anistree picking machine | |
| CN211607475U (en) | Forest high altitude intelligence pruning device | |
| CN204450539U (en) | Based on the anti-terror explosive removing robot of many gyroplanes | |
| CN108834568A (en) | A kind of fruit picker | |
| CN202095299U (en) | Electric fruit picking device | |
| CN109729830A (en) | A kind of backpack fruit picker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181211 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |