CN208285863U - Single motor multi-joint walking flexibility fruit picking equipment - Google Patents
Single motor multi-joint walking flexibility fruit picking equipment Download PDFInfo
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- CN208285863U CN208285863U CN201820739940.6U CN201820739940U CN208285863U CN 208285863 U CN208285863 U CN 208285863U CN 201820739940 U CN201820739940 U CN 201820739940U CN 208285863 U CN208285863 U CN 208285863U
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Abstract
The utility model proposes a kind of single motor multi-joint walking flexibility fruit picking equipment, solve the problems, such as the fruit pickings such as apple low efficiency, large labor intensity in the prior art.The equipment includes mobile platform, and traveling wheel, collecting box are equipped on the mobile platform, the gear engagement mechanism for being also equipped with motor and being driven by it；Mechanical arm rotating mechanism is installed on the mobile platform, is rotated in the horizontal plane by gear engagement mechanism driving；Mechanical arm luffing mechanism is installed on the mechanical arm rotating mechanism, is driven by the gear engagement mechanism, realizes that height adjusts；Grasping mechanism is installed on the end of the mechanical arm luffing mechanism, is driven by the gear engagement mechanism, and fruit is won in realization；Hose, one end are located at below the grasping mechanism, and the other end extends downward into the collecting box.
Description
Technical field
The utility model relates to agricultural machinery equipment technical field, particularly relate to that a kind of structure is simple, list easy to use
Motor multi-joint walking flexibility fruit picking equipment.
Background technique
Apple is one kind of fruit, and tree is deciduous tree.Apple is four kinds of the world in addition to banana, grape, citrus
One of main fruit is taken temperature from the total yield of various fruit nearly ten years, the far super citrus of apple production, pears, grape, banana, at
First of the big fruit in China five, the accounting 35% in five big fruit total outputs in 2015.China is that maximum apple is raw in the world
Produce state and country of consumption, nearly ten years yield and cultivated area steady-state growth.2014 annual outputs break through 40,000,000 tons, plant within 2016
Area is more than 30,000,000 mu, and yield reaches 43,880,000 tons, accounts for the 57% of world's fruit total output (77,160,000 tons).With regard to apple this
For kind fruit, China's yield just reaches ten million ton, it can be seen that and China's fruits output is big, but China's fruits output is big,
But domestic fruit picking operation is substantially also all manual progress, the deciduous tree fruit as apple, due to fruit tree height
Greatly, branch spreads scattered area is big, and for manually picking, the low waist picking of low needs, high then needs ascending stair to pick, served fruit
Collecting box is big and heavy, should not carry, and leads to that fruit collecting box will be placed on back two or three of picking when the fruit of picking
In.Manually pick it is time-consuming and laborious, collect it is highly inconvenient, picking process it is more.With the aging of population with agricultural workforce's
It reduces agriculture production cost also to correspondingly increase, will be greatly reduced the competitiveness of product in market in this way.Greatly develop the automatic of machinery
Change harvest picked technology, accelerate the paces of research and development fruit and vegetable picking robot, will there is weight to the raising of China's agricultural synthesis level
The meaning wanted.
Utility model content
The utility model proposes a kind of single motor multi-joint walking flexibility fruit picking equipment, solve in the prior art
The problem of fruit pickings such as apple low efficiency, large labor intensity.
The technical solution of the utility model is achieved in that single motor multi-joint walking flexibility fruit picking equipment,
Include:
Mobile platform is equipped with traveling wheel, collecting box on the mobile platform, is also equipped with motor and is driven by it
Gear engagement mechanism；
Mechanical arm rotating mechanism is installed on the mobile platform, in the horizontal plane by gear engagement mechanism driving
Rotation；
Mechanical arm luffing mechanism is installed on the mechanical arm rotating mechanism, is driven by the gear engagement mechanism, realizes
Height adjusts；
Grasping mechanism is installed on the end of the mechanical arm luffing mechanism, is driven by the gear engagement mechanism, realization pair
Fruit is won；
Hose, one end are located at below the grasping mechanism, and the other end extends downward into the collecting box.
As a preferred embodiment, the gear engagement mechanism include axis one disposed in parallel, axis two, axis three,
Axis four, axis five and axis six；
The axis one is fixed with the gear one and gear two of synchronous rotation by motor drive on the axis one；
Gear three sliding back and forth is keyed on the axis two, the gear three is corresponding with the position of gear two, institute
State chain conveyer between axis two and the traveling wheel；
The gear four of synchronous rotation is fixed on the axis three, the gear four is engaged with the gear one always,
The gear three is corresponding with the position of gear four；
It is keyed gear five, gear six and gear seven sliding back and forth on the axis four, the gear five and gear two,
The position difference of gear four is corresponding, and the gear six is corresponding with the position of gear two difference；
The gear eight of synchronous rotation is fixed on the axis five, the position of the gear octadentate wheel seven is corresponding；
The gear nine of synchronous rotation, the position of the gear nine and gear five, gear six are fixed on the axis six
It is corresponding；
The mechanical arm rotating mechanism is driven by gear eight, and the mechanical arm luffing mechanism is driven by gear nine.
As a preferred embodiment, the mechanical arm rotating mechanism includes the bevel gear for being fixed on five end of axis
One, the bevel gear one is engaged with bevel gear two, is fixed with vertical hollow shaft on the bevel gear two, the hollow shaft it is upper
End is fixed with mechanical arm pallet, and the periphery of the hollow shaft is further fixed on thrust bearing, and the mechanical arm pallet support is in described
On thrust bearing, the mechanical arm luffing mechanism is installed on the mechanical arm pallet.
As a preferred embodiment, the mechanical arm luffing mechanism includes the bevel gear for being fixed on six end of axis
Three, the bevel gear three is engaged with bevel gear four, and vertical central axis is fixed on the bevel gear four, and the central axis passes through
For deep groove ball bearing from bottom to top through in the hollow shaft, the top of the central axis is fixed with bevel gear five；
The mechanical arm luffing mechanism further includes be symmetrically arranged on the mechanical arm pallet two mechanical arm supports, and two
Be equipped with the end to end pitching unit of multiple groups between a mechanical arm support, between the pitching unit it is mutually indepedent simultaneously
It is driven by the bevel gear five, the grasping mechanism is also driven by the bevel gear five.
As a preferred embodiment, the number of the pitching unit is four and successively joins end to end, each bow
Facing upward unit includes the rotary shaft being installed in bearing, and the machinery of two synchronous rotations is symmetrically fixed in the rotary shaft
Arm is also arranged with sprocket wheel and spline in the rotary shaft, and the sprocket wheel and spline are fixed as one and freely revolve on the rotary shaft
Turn, sleeve sliding back and forth is keyed in the rotary shaft, is adapted between the spline and sleeve, two neighboring rotary shaft
On sprocket wheel between pass through chain connect；
Also it is arranged with the bevel gear six engaged with bevel gear five in first rotary shaft, the bevel gear six and corresponding chain
Wheel, spline are fixed as one；
It is additionally provided on each pitching unit and is mounted on least significant end with its one-to-one brake unit, the grasping mechanism
On one pitching unit.
As a preferred embodiment, the brake unit includes the brake axle being fixed as one with sleeve, it is described
Parallel between brake axle and corresponding rotary shaft, the brake axle is applied in electromagnet, and control is arranged on the brake axle
The first mobile spring of its reciprocating linear, the braking the tip of the axis are further fixed on spragging gear, are fixed on the mechanical arm
Braking rack gear for being meshed with spragging gear.
As a preferred embodiment, the grasping mechanism includes fixed cam on the rotary shaft, described in two
Mechanical arm between be fixed with cross bar, sliding rail is fixed between the cross bar and corresponding rotary shaft, is back and forth slided on the sliding rail
It is dynamic to have sliding block, be also arranged with second spring sliding block acted against in cam outer rim on the sliding rail；
Link-type scissors is connected on the sliding block, the sliding block is moved along the sliding rail, realizes opening for link-type scissors
It closes；
The arrival end of the hose is located at the lower section of the link-type scissors.
As a preferred embodiment, the mobile platform be equipped with the one-to-one power button of electromagnet,
It is additionally provided with and is respectively used to the shift fork that control gear three, gear five, gear six and gear seven slide.
After above-mentioned technical proposal, the beneficial effects of the utility model are:
1, whole equipment drives all component movements using single motor, that is, alleviates the weight of equipment itself, and reduce
The cost of equipment also reduces the use to storage battery electricity, and ensure that equipment uses the time.
2, it is connected using hollow shaft with bracket when the integral-rotation of mechanical arm, central axis is equipped in hollow shaft, ensure that dynamic
When power is transmitted to mechanical arm, the integral-rotation of mechanical arm is not influenced.
3, the principle mobile using the electromagnet gain and loss ferroelectric heart, can control on a power transmission line, each is mechanical
It is lifted while the independent lifting of arm or multiple mechanical arms.
4, when mechanical arm is static, a spragging gear engages in each rotary shaft with braking rack gear, mechanical arm movement
When, the spragging gear in corresponding rotary shaft is separated with braking rack gear, cleverly solves what mechanical arm was fallen using this relationship
Problem.
5, the meshing relation for changing gear using shift fork, using series of gears group, by the power selectivity of single motor
Carry out direction transmission.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model；
Fig. 2 is the structural schematic diagram of mobile platform in the embodiment；
Fig. 3 is the structural schematic diagram of the embodiment middle gear engaging mechanism；
Fig. 4 is the structural schematic diagram at hollow shaft；
Fig. 5 is the structural schematic diagram at the first rotary shaft；
Fig. 6 is the structural schematic diagram at the second rotary shaft；
Fig. 7 is the structural schematic diagram of grasping mechanism；
In figure: 1- mobile platform；2- traveling wheel；3- collecting box；4- motor；5- hose；6- axis one；7- axis two；8- axis
Three；9- axis four；10- axis five；11- axis six；12- chain；The second spline of 13-；14- brake axle；15- second sleeve；16- gear
Three；17- gear one；18- gear two；19- gear four；20- bevel gear three；21- bevel gear four；22- bevel gear one；23- bores tooth
Wheel two；24- bevel gear five；25- bevel gear six；26- gear eight；27- gear nine；28- gear five；29- gear six；30- gear
Seven；31- electromagnet；The first spring of 32-；33- spragging gear；34- central axis；35- hollow shaft；36- brakes rack gear；37- thrust
Bearing；38- mechanical arm pallet；The first drive sprocket of 39-；The first spline of 40-；41- first sleeve；The first electromagnet of 42-；43-
First rotary shaft；44- cam；45- cross bar；46- machinery arm support；47- second mechanical arm；48- sliding rail；49- sliding block；50-
One driven sprocket；The second drive sprocket of 51-；52- first mechanical arm；The second rotary shaft of 53-；54- second spring；55- link-type
Scissors；56- power button；57- shift fork；The 4th rotary shaft of 58-；59- third driven sprocket；The 4th spline of 60-；The 4th set of 61-
Cylinder；The 4th mechanical arm of 62-.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment:
As shown in Figure 1, be a kind of embodiment of the utility model single motor multi-joint walking flexibility fruit picking equipment,
It mainly includes following major part: mobile platform 1, gear engagement mechanism, mechanical arm rotating mechanism, mechanical arm pitching machine
Structure and grasping mechanism are provided with a motor 4 on mobile platform 1, which is the sole power source of whole equipment,
Its power after the transmitting of gear engagement mechanism, mobile platform 1 can by traveling wheel 2 realize whole equipment advance or after
It moves back, mechanical arm rotating mechanism can be realized rotation in the horizontal plane, and mechanical arm luffing mechanism can be realized the tune of short transverse
It is whole, and grasping mechanism then can be realized the cutting to fruit fruit branch.The equipment further includes a hose 5, and one end of hose 5 is located at
The lower section of grasping mechanism, the other end extend downward into the collecting box 3 on mobile platform 1, and collecting box 3 is to be stored in mobile platform
In 1 gap, after it fills fruit, collecting box 3 is replaced.The structure with regard to several major parts is done below retouches in detail
It states.
As shown in figure 3, gear engagement mechanism includes axis 1 disposed in parallel, axis 27, axis 38, axis 49,5 10 and of axis
Axis 6 11, wherein the gear 1 and gear 2 18 of synchronous rotation are fixed on axis 1, key connection can be past on axis 27
The gear 3 16 slided again, gear 3 16 is corresponding with the position of gear 2 18, therefore, when gear 3 16 slides onto specific position
Afterwards, it can be meshed with gear 2 18, the gear 4 19 of synchronous rotation is fixed on axis 38, the gear 4 19 begins
It is engaged eventually with gear 1, and gear 3 16 is corresponding with the position of gear 4 19, when gear 3 16 slides onto specific position
Afterwards, additionally it is possible to be meshed with gear 4 19, gear 5 28, gear 6 29 and gear seven sliding back and forth are keyed on axis 49
30, and gear 5 28 is corresponding with gear 2 18, the position difference of gear 4 19, the position point of gear 6 29 and gear 2 18
It is not corresponding, therefore, when gear 5 28 slides onto specific position, it can be engaged with gear 2 18 or gear 4 19, work as gear
6 29 when sliding onto specific position, can be meshed with gear 2 18, the gear eight of synchronous rotation is fixed on axis 5 10
26, the gear 8 26 is corresponding with the position of gear 7 30, therefore, when gear 7 30 slides onto specific position, Neng Gouyu
Gear 8 26 is meshed, and the gear 9 27 of synchronous rotation, the gear 9 27 and gear 5 28, tooth are fixed on axis 6 11
Take turns 6 29 position it is corresponding, therefore, can be with gear 9 27 when gear 5 28 or gear 6 29 slide onto specific position
Engagement.It is driven in addition, axis 1 is realized by motor 4 by sprocket wheel chain, also by sprocket wheel chain between axis 27 and traveling wheel 2
It realizes driving, namely by the forward or backward of 27 driving equipment of axis, mechanical arm rotation is realized by gear 8 26 and axis 5 10
The rotation of mechanism realizes the pitching of mechanical arm luffing mechanism by gear 9 27 and axis 6 11, while realizing grabbing for grasping mechanism
It takes.
When gear 3 16 is slid onto engaged with gear 2 18 when, the outgoing route of power is: 4 → axis of motor 1 →
27 → traveling wheel of gear 2 18 → gear, 3 16 → axis 2, to realize the advance of equipment；
When gear 3 16 is slid onto engaged with gear 4 19 when, the outgoing route of power is: 4 → axis of motor 1 →
27 → traveling wheel of gear one 17 → gear, 4 19 → gear, 3 16 → axis 2, to realize the retrogressing of equipment.
As shown in Figures 1 to 4, the mechanical arm rotating mechanism in the embodiment includes the bevel gear for being fixed on 5 10 end of axis
One 22, the bevel gear 1 is engaged with bevel gear 2 23, and vertical hollow shaft 35 is fixed on the bevel gear 2 23, described
The upper end of hollow shaft 35 is fixed with mechanical arm pallet 38, and the periphery of the hollow shaft 35 is further fixed on thrust bearing 37, the machine
38 support of tool fupport arm disk is on the thrust bearing 37, to the friction and wear of mobile platform 1 when mitigating mechanical arm rotation, thus
The integrally rotated power drive machinery arm of mechanical arm will be controlled by, which realizing, integrally rotates on thrust bearing 37, and the mechanical arm is bowed
Mechanism is faced upward to be installed on the mechanical arm pallet 38.
It is engaged when sliding onto gear 5 28 with gear 4 19, while gear 7 30 being slid onto and is engaged with gear 8 26
When, the outgoing route of power is: motor 4 → axis, one 6 → gear, one 17 → gear, 4 19 → gear, 5 28 → axis, 49 → gear
7 30 → gear, 8 26 → axis, 5 10 → bevel gear, one 22 → bevel gear, 2 23 → hollow shaft, 35 → mechanical arm pallet 38, thus real
The rotating forward of existing mechanical arm pallet 38 and mechanical arm luffing mechanism；
It is engaged when sliding onto gear 5 28 with gear 2 18, while gear 7 30 being slid onto and is engaged with gear 8 26
When, the outgoing route of power is: motor 4 → axis, one 6 → gear, 2 18 → gear, 5 28 → axis, 49 → gear, 7 30 → gear
8 26 → axis, 5 10 → bevel gear, one 22 → bevel gear, 2 23 → hollow shaft, 35 → mechanical arm pallet 38, to realize mechanical fupport arm
The reversion of disk 38 and mechanical arm luffing mechanism.
As shown in Fig. 1, Fig. 5 and Fig. 6, the mechanical arm luffing mechanism in the embodiment includes the cone for being fixed on 6 11 end of axis
Gear 3 20, the bevel gear 3 20 are engaged with bevel gear 4 21, vertical central axis 34 are fixed on the bevel gear 4 21,
For the central axis 34 by deep groove ball bearing from bottom to top through in the hollow shaft 35, this structure both ensure that central axis
34 position in turn ensures the relative motion of central axis 34 and hollow shaft 35, ensure that power is continuously supplied to make on mechanical arm
Mechanical arm pitching, the rotation without influencing whole mechanical arm do not influence each other though that is, the two transmits power on coaxial line.
The top of the central axis 34 is fixed with bevel gear 5 24, and mechanical arm luffing mechanism further includes being symmetrically arranged on the mechanical fupport arm
Two on disk 38 mechanical arm supports 46 are equipped with the end to end pitching list of multiple groups between mechanical arm support 46 described in two
Member, mutually indepedent between the pitching unit and driven by the bevel gear 5 24, the grasping mechanism is also by described
Bevel gear 5 24 drives.
It should be noted that the number of pitching unit is four and successively joins end to end in the embodiment, it certainly can also root
Other numbers are selected according to actual needs, and each pitching unit individually controls.As shown in figure 5, first pitching list
Member includes the first rotary shaft 43 being erected between two mechanical arm supports 46, and the first rotary shaft 43 is mounted in bearing can be real
It now rotates, the bevel gear 6 25 being fixed as one, the first drive sprocket 39 and the first spline 40 is arranged in the first rotary shaft 43,
It is engaged between bevel gear 6 25 and bevel gear 5 24, therefore, under the driving of bevel gear 5 24, bevel gear 6 25, first is actively
It is whole composed by sprocket wheel 39 and the first spline 40 to be freely rotated in the first rotary shaft 43.In the first rotary shaft 43 also
Be keyed first sleeve 41 sliding back and forth, and the first sleeve 41 with the first spline 40 be it is compatible, when by first
When sleeve 41 is slid into the cooperation of the first spline 40, the first spline 40 can pass through first sleeve 41 and drive 43 turns of the first rotary shaft
It is dynamic.
It is also symmetrically fixed with first mechanical arm 52 in the two sides of the first rotary shaft 43, when the rotation of the first rotary shaft 43, the
One mechanical arm 52 rotates synchronously.The structure of second pitching unit is described in detail below.
As shown in fig. 6, the structure of the second pitching unit is roughly the same with the first pitching unit, at the end of first mechanical arm 52
End is equipped with the second rotary shaft 53, and the both ends of the second rotary shaft 53 are also mounted in bearing, is arranged in the second rotary shaft 53 solid
It is set to one, the first driven sprocket 50 free to rotate, the second spline 13 and the second drive sprocket, wherein the first driven chain
Wheel 50 is driven with the first drive sprocket 39 by chain 12.Second set sliding back and forth is also keyed in the second rotary shaft 53
Cylinder 15, second sleeve 15 with the second spline 13 be it is compatible, when sliding onto second sleeve 15 with the cooperation of the second spline 13,
Second spline 13 can drive the rotation of the second rotary shaft 53 by second sleeve 15.It is also symmetrically solid at the both ends of the second rotary shaft 53
Surely there is second mechanical arm 47, to install next pitching unit.
Similarly, the structure of third, the structure of the 4th pitching unit and the second pitching unit is identical, below with regard to pitching list
The movement and power output path of member explain.It need to illustrate in advance, when between all sleeves and spline of pitching unit points
From when, power can not be transferred in rotary shaft, therefore, by controlling the sleeve on each pitching unit, each bow can be realized
Face upward the pitching motion of unit be all it is independent, the pitching of one of pitching unit is not influenced by other pitching units, in this way
It can according to need adjustment height.
When gear 5 28 is slid onto engaged simultaneously with gear 4 19 and gear 9 27 when, the outgoing route of power is: electricity
6 11 → bevel gear of motivation 4 → axis, one 6 → gear, one 17 → gear, 4 19 → gear, 5 28 → gear, 9 27 → axis 3 20 → cone
The 6 25 → the first drive sprocket of gear 4 21 → central axis, 34 → bevel gear, 5 24 → bevel gear 39, at this point, all drive chains
Wheel, spline and chain rotate forward, and all drive sprocket, spline are idle running；
When sliding onto gear 6 29 while engaging with gear 2 18 and gear 9 27, the outgoing route of power is: electricity
3 20 → bevel gear of motivation 4 → axis, one 6 → gear, 2 18 → gear, 6 29 → gear, 9 27 → axis, 6 11 → bevel gear 4 21 →
The 6 25 → the first drive sprocket of 34 → bevel gear of central axis, 5 24 → bevel gear 39, at this point, all drive sprockets, spline and chain
Item inverts, and all drive sprocket, spline are idle running.
If wanting to realize the movement of one of pitching unit, the sleeve of the pitching unit need to only be slid onto and be spent with corresponding
Key cooperation, such as the second sleeve 15 in Fig. 6 is slid onto and is matched with the second spline 13, at this point, the second spline 13 is
Second sleeve 15, the second rotary shaft 53 and second mechanical arm 47 can be driven to rotate, realize the pitching motion of the second pitching unit, this
When remaining pitching unit be failure to actuate.For this purpose, the embodiment is also provided with one-to-one braking list on each pitching unit
Member, as shown in Figure 5 and Figure 6, brake unit includes the brake axle 14 being fixed as one with relevant sleeve, the brake axle 14 with it is right
Parallel between the rotary shaft answered, the brake axle 14 is applied in electromagnet 31, and control is arranged on the brake axle 14, and its is past
The first mobile spring 32 of complex line, the end of the brake axle 14 are further fixed on spragging gear 33, fix on the mechanical arm
There is the braking rack gear 36 for being meshed with spragging gear 33.As shown in fig. 6, iron core, which is shunk, to be driven when electromagnet 31 obtains electric
Second sleeve 15 leaves the second spline 13, and the second spline 13 is made to dally in the second rotary shaft 53, while compressing the first spring 32,
Spragging gear 33 is moved to be engaged with braking rack gear 36, brakes corresponding mechanical arm.When 31 power loss of electromagnet, the first spring
32 promotion second sleeves 15 are moved to be cooperated with the second spline 13, while spragging gear 33 and braking rack gear 36 separate, braking solution
It removes, the second rotary shaft 53 is i.e. rotatable.
For this purpose, the embodiment be provided on mobile platform 1 with the special 31 one-to-one power buttons 56 of electromagnetism, pass through control
Making corresponding power button 56 can be realized the pitching motion of single pitching unit.In addition, being also provided on mobile platform 1 more
A shift fork 57, for controlling the sliding of gear 3 16, gear 5 28, gear 6 29 and gear 7 30 respectively, to realize difference
Power transmission route.
Finally, as shown in fig. 7, the grasping mechanism in the embodiment be mounted on a pitching unit of least significant end (namely
4th pitching unit), including the cam 44 being fixed in the 4th rotary shaft 58, cross bar is fixed between two the 4th mechanical arms 62
45, sliding rail 48 is fixed between the cross bar 45 and the 4th rotary shaft 58, reciprocatingly sliding on the sliding rail 48 has sliding block 49, described
Also be arranged with the second spring 54 sliding block 49 acted against in 44 outer rim of cam on sliding rail 48；Connecting rod is connected on the sliding block 49
Formula scissors 55, the sliding block 49 are moved along the sliding rail 48, realize the opening and closing of link-type scissors 55, and the entrance of hose 5 is rectified
It is located at the lower section of the link-type scissors 55 well.
Under the action of second spring 54 on sliding rail 48, so that sliding block 49 is adjacent to the outer rim of cam 44,44 outer rim of cam
Link-type scissors 55 opens maximum when distance center is farthest, and link-type scissors 55 is closed when cam outer rim distance center is nearest, makes
55 end of link-type scissors chopper closure, carpopodium is cut up with a hay cutter this moment disconnected, fruit leaves fruit tree, then by lower section hose 5 by water
Fruit is sent in the collecting box 3 of 1 lower section of mobile platform.
The single motor multi-joint walking flexibility fruit picking device structure of the utility model is simple, easy to use, can
The picking efficiency of fruit is effectively improved, labor intensity is reduced, there is good practicability.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (8)
1. single motor multi-joint walking flexibility fruit picking equipment characterized by comprising
Mobile platform is equipped with traveling wheel, collecting box on the mobile platform, the gear for being also equipped with motor and being driven by it
Engaging mechanism；
Mechanical arm rotating mechanism is installed on the mobile platform, is rotated in the horizontal plane by gear engagement mechanism driving；
Mechanical arm luffing mechanism is installed on the mechanical arm rotating mechanism, is driven by the gear engagement mechanism, realizes height
Adjustment；
Grasping mechanism is installed on the end of the mechanical arm luffing mechanism, is driven by the gear engagement mechanism, realizes to fruit
Win；
Hose, one end are located at below the grasping mechanism, and the other end extends downward into the collecting box.
2. single motor multi-joint walking flexibility fruit picking equipment as described in claim 1, it is characterised in that: the gear
Engaging mechanism includes axis one, axis two, axis three, axis four, axis five and axis six disposed in parallel；
The axis one is fixed with the gear one and gear two of synchronous rotation by motor drive on the axis one；
Gear three sliding back and forth is keyed on the axis two, the gear three is corresponding with the position of gear two, the axis
Chain conveyer between two and the traveling wheel；
The gear four of synchronous rotation is fixed on the axis three, the gear four is engaged with the gear one always, described
Gear three is corresponding with the position of gear four；
Gear five, gear six and gear seven sliding back and forth, the gear five and gear two, gear are keyed on the axis four
Four position difference is corresponding, and the gear six is corresponding with the position of gear two difference；
The gear eight of synchronous rotation is fixed on the axis five, the position of the gear octadentate wheel seven is corresponding；
The gear nine of synchronous rotation is fixed on the axis six, the gear nine is opposite with the position of gear five, gear six
It answers；
The mechanical arm rotating mechanism is driven by gear eight, and the mechanical arm luffing mechanism is driven by gear nine.
3. single motor multi-joint walking flexibility fruit picking equipment as claimed in claim 2, it is characterised in that: the machinery
Arm rotating mechanism includes the bevel gear one for being fixed on five end of axis, and the bevel gear one is engaged with bevel gear two, the bevel gear
Vertical hollow shaft is fixed on two, the upper end of the hollow shaft is fixed with mechanical arm pallet, and the periphery of the hollow shaft is also solid
Surely there is thrust bearing, on the thrust bearing, the mechanical arm luffing mechanism is installed on described the mechanical arm pallet support
On mechanical arm pallet.
4. single motor multi-joint walking flexibility fruit picking equipment as claimed in claim 3, it is characterised in that: the machinery
Arm luffing mechanism includes the bevel gear three for being fixed on six end of axis, and the bevel gear three is engaged with bevel gear four, the bevel gear
Be fixed with vertical central axis on four, the central axis by deep groove ball bearing from bottom to top through in the hollow shaft, institute
The top for stating central axis is fixed with bevel gear five；
The mechanical arm luffing mechanism further includes two mechanical arm supports being symmetrically arranged on the mechanical arm pallet, two institutes
The end to end pitching unit of multiple groups is equipped between the mechanical arm support stated, it is mutually indepedent between the pitching unit and by
The bevel gear five drives, and the grasping mechanism is also driven by the bevel gear five.
5. single motor multi-joint walking flexibility fruit picking equipment as claimed in claim 4, it is characterised in that: the pitching
The number of unit is four and successively joins end to end that each pitching unit includes the rotary shaft being installed in bearing, the rotation
It is symmetrically fixed with the mechanical arm of two synchronous rotations in shaft, sprocket wheel and spline are also arranged in the rotary shaft, it is described
Sprocket wheel and spline are fixed as one and rotate freely on the rotary shaft, and sleeve sliding back and forth is keyed in the rotary shaft,
It is adapted between the spline and sleeve, is connected between the sprocket wheel in two neighboring rotary shaft by chain；
Also it is arranged with the bevel gear six engaged with bevel gear five in first rotary shaft, the bevel gear six and corresponding sprocket wheel, flower
Key is fixed as one；
It is additionally provided on each pitching unit and is mounted on one of least significant end with its one-to-one brake unit, the grasping mechanism
On pitching unit.
6. single motor multi-joint walking flexibility fruit picking equipment as claimed in claim 5, it is characterised in that: the braking
Unit includes the brake axle being fixed as one with sleeve, parallel between the brake axle and corresponding rotary shaft, the brake axle
It is applied in electromagnet, is arranged on the brake axle and controls the first mobile spring of its reciprocating linear, the end of the brake axle
End is further fixed on spragging gear, and the braking rack gear for being meshed with spragging gear is fixed on the mechanical arm.
7. single motor multi-joint walking flexibility fruit picking equipment as claimed in claim 5, it is characterised in that: the crawl
Mechanism includes fixed cam on the rotary shaft, is fixed with cross bar between mechanical arm described in two, the cross bar with it is corresponding
Sliding rail is fixed between rotary shaft, reciprocatingly sliding on the sliding rail has sliding block, is also arranged on the sliding rail and acts against sliding block
Second spring in cam outer rim；
Link-type scissors is connected on the sliding block, the sliding block is moved along the sliding rail, realizes the opening and closing of link-type scissors；
The arrival end of the hose is located at the lower section of the link-type scissors.
8. single motor multi-joint walking flexibility fruit picking equipment as claimed in claim 7, it is characterised in that: the movement
Platform be equipped with the one-to-one power button of electromagnet, be additionally provided be respectively used to control gear three, gear five, six and of gear
The shift fork that gear seven slides.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820739940.6U CN208285863U (en) | 2018-05-18 | 2018-05-18 | Single motor multi-joint walking flexibility fruit picking equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820739940.6U CN208285863U (en) | 2018-05-18 | 2018-05-18 | Single motor multi-joint walking flexibility fruit picking equipment |
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| CN208285863U true CN208285863U (en) | 2018-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820739940.6U Expired - Fee Related CN208285863U (en) | 2018-05-18 | 2018-05-18 | Single motor multi-joint walking flexibility fruit picking equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108353634A (en) * | 2018-05-18 | 2018-08-03 | 青岛理工大学 | Single motor multi-joint walking flexibility fruit picking equipment |
| CN110063136A (en) * | 2019-05-05 | 2019-07-30 | 安徽工程大学 | The design method of fruit picking carpopodium cutter device |
| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
-
2018
- 2018-05-18 CN CN201820739940.6U patent/CN208285863U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108353634A (en) * | 2018-05-18 | 2018-08-03 | 青岛理工大学 | Single motor multi-joint walking flexibility fruit picking equipment |
| CN108353634B (en) * | 2018-05-18 | 2023-10-20 | 青岛理工大学 | Single-motor multi-joint walking type flexible fruit picking equipment |
| CN110063136A (en) * | 2019-05-05 | 2019-07-30 | 安徽工程大学 | The design method of fruit picking carpopodium cutter device |
| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN111000635B (en) * | 2019-12-06 | 2020-09-18 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
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Granted publication date: 20181228 Termination date: 20190518 |