CN209017464U - A kind of continous way pineapple picking robot - Google Patents
A kind of continous way pineapple picking robot Download PDFInfo
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- CN209017464U CN209017464U CN201821482302.7U CN201821482302U CN209017464U CN 209017464 U CN209017464 U CN 209017464U CN 201821482302 U CN201821482302 U CN 201821482302U CN 209017464 U CN209017464 U CN 209017464U
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- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 claims description 19
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- 238000010586 diagram Methods 0.000 description 8
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- 235000013399 edible fruits Nutrition 0.000 description 4
- 208000037805 labour Diseases 0.000 description 3
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- 230000001681 protective effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Abstract
A kind of continous way pineapple picking robot, it mainly include picker, arranging apparatus, frame and in-wheel driving mechanism, it is characterized by: picker is fixedly connected on the lower section of frame upper front part position, arranging apparatus is mounted on the leftward position of lower portion, and base of frame is fixedly connected with in-wheel driving part.Harvesting transport integration can be achieved in the present invention, bends over, picks when substituting artificial picking, a series of labour such as fortune are thrown in back frame, field.Due to the non-uniqueness at the uniform velocity of sine mechanism, rate is small when moving it to pineapple, and pineapple stress is big, and rate is fast when reply, does not generate interference with putting.It efficiently solves high-precision and is prevalent in the contradiction in existing pineapple picking design with inefficient this.
Description
Technical field
The present invention relates to crops seed harvester research fields, and in particular to a kind of pineapple picking robot.
Background technique
Pineapple picking both domestic and external at present is mainly based on manually harvesting.Pineapple fruit and leaf outer rim all have a sawtooth, and compared with
It is hard, need band gloves manually to be picked with protective garment.Pineapple fruit is heavier, and average quality is about 1-2KG, manually when picking
Peasant household is mostly used the means of transportation that fortune is thrown in dosser or field, it is above it is various cause to expend a large amount of physical strength when manually picking pineapple, ten
It is arduous to divide.In addition, pineapple picking season property is strong, harvest time is shorter, needs a large amount of labours in short term, so that human cost is high,
Account for about totle drilling cost 40%.Pineapple picks field mechanization, is all of great significance to improving production efficiency, liberating labour, is
One trend of future development.
The technology development in the field of pineapple picking at present can not show a candle to other fruit picking technology maturations such as strawberry, apple.The U.S.
Pineapple harvesting machine (pineapple harvester) patent of K.J.JACKSON drives conveyer belt to realize pineapple by tractor
Field transport, but picking process is still manually to win.Guangzhou ZhongKai Agriculture Engineering Academy apply the pretty designs such as chivalrous " one kind is mounted on
The automatic picking machine of the pineapple of tractor front end " once cuts four row pineapples with disc type cutter, and high-efficient but precision is low, exists
It needs secondary operation or switches to the problems such as fruit easily breeds bacterium there are rhizome is too long.Bright equal " the one kind of China Agricultural University Xu Li
The positioning of mechanical gripper for picking pineapples " simulation mankind's picking, the movement such as hold with a firm grip, twist into two parts, discharge, precision is high, but inevitable
There is the phenomenon that mechanism complexity higher cost, and inefficiency.Existing research achievement can not evade the contradiction of precision and efficiency,
And have a single function, it cannot achieve pineapple harvesting transport integration.
Summary of the invention
The object of the present invention is to provide at low cost, high-precision continous way pineapple picking robots.
The invention mainly comprises have picker, arranging apparatus, frame and in-wheel driving mechanism.Picker is fixedly connected
In the lower section of frame upper front part position, arranging apparatus is mounted on the leftward position of lower portion, and base of frame is fixedly connected with wheel
Formula drive part.
Wherein, frame includes braced frame, connection frame and shell.The top of the braced frame of the left and right sides is equipped with connection
Frame, the support rod being equipped between two connection frames in picking mechanism.Left and right sides braced frame and connection frame form frame, frame
External covering shell, and be open between the rear portion of left and right sides braced frame.
In-wheel driving mechanism includes driving wheel, load-carrying wheel, bearing block C, bearing block E and load-bearing axle.It is set in the bottom of frame
There is the symmetrical in-wheel driving mechanism in both sides.It is equipped with bearing block C in the front of the braced frame bottom of the left and right sides, in bearing block C
Inside grafting load-bearing axle, two driving wheels with flanged joint and load-bearing axle respectively by being socketed.Device rear two sides are load-carrying
Wheel.It is equipped with bearing block E at the rear of the braced frame bottom of the left and right sides, in the inside grafting load-bearing axle of bearing block E, load-bearing axle
Grafting load-carrying wheel.
Arranging apparatus is located inside frame left, and two tilting connecting rods being parallel to each other topmost pass through random angle respectively
Connector and piece laterally disposed connecting rod of frame left are connected, two tilting connecting rod ends by any angle connector with
The laterally disposed connecting rod in frame left bottom end one is connected.So that this two tilting connecting rods are in certain angle in the vertical direction
Degree inclination, pineapple can rely on Gravitational sliding.Arranging apparatus by trigger acrylic board A, trigger acrylic board B, travel switch,
Rectangular sliding slot, limit plate, vertical baffle, optical axis, bearing block D are constituted.Trigger switch is located at front end, sub- gram of trigger when traveling
Power plate A can touch pineapple at first.The socket of the upper end of trigger acrylic board A and optical axis, the lower end of optical axis and trigger acrylic
Plate B socket, band flip-flop acrylic board B is rotated when trigger acrylic board A is rotated, and triggers travel switch.Travel switch and
In the horizontal connecting rod that trigger acrylic board B is fixed on frame.Rectangular sliding slot is fixed in same connecting rod, rectangular cunning
There are two parallel rectangle sliding slot on slot, entire rectangular sliding slot side view is in U-shape, and there are certain altitude in two sides, to prevent
Pineapple falls in transportational process.Support plate B front underside has two downward cuboids in picking mechanism, on rectangular sliding slot
Two sliding slot shapes, positions mutually cooperate, can slide along the chute.Rectangle sliding slot and the support plate B phase in picking mechanism
Cooperation is equipped with the corresponding bearing block D in several groups position in the inside of two tilting connecting rods, is equipped between corresponding bearing block
Optical axis, optical axis constitute an oblique line to arranging apparatus end since sliding slot height.Optical axis two sides are placed with vertical baffle.Putting dress
Set terminal is fixed with a vertical placement limit plate, to hinder pineapple to move on.
Three support rods are equipped between the braced frame of the left and right sides, every support rod both ends are fixed in two side frames, with
Support entire picking mechanism.Each support rod top is bolted to connection line slide rail respectively.On each line slide rail
Be slidably connected two sliding block A, is connected between corresponding one group of sliding block A by support plate A on two line slide rails, two
It is connected between corresponding another group of sliding block A by upper plate on a line slide rail.The position of bottom sliding rail is than other two one slide rail
Position it is low, be slidably connected slide block B on the sliding rail of bottom, is fixedly connected with support plate B on the top of slide block B, and support plate B, which is located at, to be adopted
The left side of off-hook structure.Motor A and motor B is fixed on the both ends of bottom sliding rail, and the output end of motor A passes through oscillating bearing and connecting rod
One end of A is connected, and motor A drives connecting rod A to do sinusoidal motion.Two bearing block A are fixedly connected in the lower part of support plate A, two
Short axle A is equipped between a bearing block A, short axle A is connected with the oscillating bearing of the connecting rod A other end.The bottom of rotation axis passes through bearing
Seat is connected with slide block B.It is connected by key between rotation axis and drive shaft, drive shaft is rotated coaxially with rotation axis.Pull lever
One end be socketed in rotation axis lower part, pull lever is rotated coaxially with rotation axis, and the other end of pull lever is socketed in the upper of shaft A
End.Clamping groove plate upper surface is fixedly connected with the connecting rod lower end surface of lower position in picking mechanism, is located at picking mechanism rear end.?
Clamping groove plate is equipped with strip groove, and the lower end of shaft A is placed in strip groove, and shaft A can do straight reciprocating motion along strip groove.Motor
The output end of B is connected by oscillating bearing with one end of connecting rod B, and two bearing block B being parallel to each other are fixed on support plate B,
Short axle B is equipped between two bearing block B, short axle B is connected with the oscillating bearing of the connecting rod B other end, and motor B drives connecting rod B to do
Sinusoidal motion.The both ends of shaft B are respectively equipped with bearing block, and two bearing blocks are separately fixed at upper surface and the upper plate of support plate B
Lower end surface, make to move at the same speed along line slide rail between support plate B and upper plate by shaft B, upper plate pass through sliding block A and straight line
Sliding rail matches.The front end support plate B upper face has an arc cylinder, matches with pineapple shape, before hindering pineapple bottom
Into.The lower part of support plate B position corresponding with arc cylinder can be done if there are two cuboids along the rectangular sliding slot of arranging apparatus
Linear motion.Gripper is two four-bar linkage combinations in picking mechanism, by drive shaft, gripper connecting rod C, gripper
Connecting rod D is constituted.Gripper connecting rod C and the front end gripper connecting rod D are claw-like, and respectively there is a through-hole in middle position, and two short axles pass through
Through-hole simultaneously passes through support plate A, and respectively there is the fixed short axle of a bearing block in the lower end surface support plate A, and drive shaft is two four bar machines of plane
Structure joint use pole, two short axles all prune a plane along generatrix direction, so that gripper connecting rod C and gripper connecting rod D can be with drivings
Shaft rotation.Drive shaft is gripper a part, and entire gripper is fixedly connected on support plate A.
In the use of the present invention, support plate A is located on the right side of device when original state, support plate B is located on the left of device.Dress
Set bottom wheel driving under advance, when device forefront trigger switch encounter front pineapple when, startup program, motor A and electricity
Machine B is started turning.Linear motion of the gripper along sliding rail to the left is realized in the sinusoidal motion of driving link connecting rod A.Because of drive shaft, turn
Moving axis, pull lever three can rotate coaxially, and pull lever makees plane motion because clamping groove plate limits, and has angular speed, so making
Obtain drive shaft rotation.Drive shaft is the joint use pole of gripper biplane four-bar mechanism, drives connecting rod C and the company of claw-like
Bar D rotation, the swing of gripper is realized with this.Support plate B is moved right under motor B drive along sliding rail simultaneously.Gripper with
When arc cylinder reaches pineapple position simultaneously, the force couple role that pineapple is formed by the two is removed with root, is poured on the left of support plate B
Rectangular sliding slot on, at this time because of the non-at the uniform velocity characteristic of sinusoidal motion, support plate B and support plate A Quick-return, and support plate B will
The pineapple being poured on rectangular sliding slot pushes to the left, makes it to arranging apparatus top.Later pineapple by gravity along inclined-plane tumble to
Arranging apparatus bottom end is blocked by bottom limit plate.In entire picking process, device, which is always maintained at, at the uniform velocity to advance, next when encountering
When a pineapple, it is again started up program picking pineapple, pineapple tumbles above a supreme pineapple.
The invention has the following advantages over the prior art:
1, collect rapid picking, put, be independently displaced into integrated pineapple picking machine, it is full-featured, it can be achieved that harvesting transport
Integration bends over, picks when substituting artificial picking, a series of labour such as fortune are thrown in back frame, field.
2, double double leval jib sine mechanisms are introduced into picking mechanism, to realize that gripper linear motion melts with the organic of swing
It closes.The non-uniqueness at the uniform velocity of sine mechanism, rate is small when moving it to pineapple, and pineapple stress is big, and rate is fast when reply, not with
Put generation interference.
3, pawl travels forward when pushing pineapple top half, and the arc cylinder of support plate B blocks pineapple bottom in the other side,
Its advance is hindered, the force couple role for forming pineapple by the two is removed with root.This Softening is without being accurately positioned, tool
Standby larger serious forgiveness.It efficiently solves high-precision and is prevalent in the contradiction in existing pineapple picking design with inefficient this, with
And the different individual sex differernce problem of pineapple terrain clearance in actual environment.
Detailed description of the invention
Fig. 1 is monnolithic case simplified schematic diagram of the present invention；
Fig. 2 is the internal simplified schematic diagram of the present invention；
Fig. 3 is the whole left view of the present invention；
Fig. 4 is the whole right view of the present invention；
Fig. 5 is trigger switch schematic diagram of the present invention；
Fig. 6 is picking mechanism left part schematic diagram of the present invention；
Fig. 7 is picking mechanism right part schematic diagram of the present invention；
Fig. 8 is picking mechanism right part bottom view of the present invention；
Fig. 9 is picking mechanism overall schematic of the present invention；
Figure 10 is rotation axis partial enlargement diagram of the present invention；
Figure 11 is arranging apparatus schematic diagram of the present invention.
Wherein 1- rotation axis, 2- line slide rail, 3- gripper connecting rod C, 4- trigger acrylic board A, 5- travel switch, 6-
Baffle, 7- support plate A, 8- clamping groove plate, 9- upper plate, 10- arc cylinder, 11- motor B, 12- limit plate, 13- motor A, 14- touching
Send out the rectangular sliding slot of device acrylic board B, 15-, 16- connecting rod B, 17- pull lever, 18- shaft A, 19- shaft B, 20- support plate B, 21-
Key, 22- drive shaft, 23- connecting rod A, 24- gripper connecting rod D, 25- shell, 26- braced frame, 27- connection frame, 28- support
Bar, 29- optical axis, 30 bearing block D, 31- bearing block C, 32- slide block Bs, 33- bearing block A, 34- short axle A, 35- bearing block B, 36-
Short axle B, 37- sliding block A, 38- driving wheel, 39- load-carrying wheel, 40- load-bearing axle, the tilting connecting rod of 41-, 42- laterally disposed connection
Bar.
Specific embodiment
In the simplified schematic diagram of the invention shown in Fig. 1 to Figure 11, the invention mainly comprises have picker, put dress
It sets, frame and in-wheel driving mechanism.Picker is fixedly connected on the lower section of frame upper front part position, and arranging apparatus is mounted on
The leftward position of lower portion, base of frame are fixedly connected with in-wheel driving part.
Frame includes braced frame, connection frame and shell.The top of the braced frame 26 of the left and right sides is equipped with connection frame 27,
The support rod 28 being equipped between two connection frames in picking mechanism.Left and right sides braced frame and connection frame form frame, frame
External covering shell 25, and be open between the rear portion of left and right sides braced frame.
In-wheel driving mechanism includes driving wheel 38, load-carrying wheel 39, bearing block C31, bearing block E and load-bearing axle 40.In frame
Bottom be equipped with the symmetrical in-wheel driving mechanism in both sides.It is equipped with bearing block C in the front of the braced frame bottom of the left and right sides,
The inside grafting load-bearing axle of bearing block C, two driving wheels with flanged joint and load-bearing axle respectively by being socketed.Device rear two sides
For load-carrying wheel.It is equipped with bearing block E at the rear of the braced frame bottom of the left and right sides, in the inside grafting load-bearing axle of bearing block E,
Load-bearing axle grafting load-carrying wheel.
Arranging apparatus is located inside frame left, and two tilting connecting rods 41 being parallel to each other are topmost respectively by any
Angle connector is connected with frame left one laterally disposed connecting rod 42, and two tilting connecting rod ends are connected by random angle
Part and the laterally disposed connecting rod in frame left bottom end one are connected.So that this two tilting connecting rods are in one in the vertical direction
Determine angle tilt, pineapple can rely on Gravitational sliding.Arranging apparatus is by trigger acrylic board A4, trigger acrylic board B14, row
Cheng Kaiguan 5, rectangular sliding slot 15, limit plate 12, vertical baffle 6, optical axis 29, bearing block D30 are constituted.Before trigger switch is located at most
End, trigger acrylic board A can touch pineapple at first when traveling.The socket of the upper end of trigger acrylic board A4 and optical axis, optical axis
Lower end and trigger acrylic board B14 be socketed, trigger acrylic board A rotate when band flip-flop acrylic board B rotate, touching
Send out travel switch 5.In the horizontal connecting rod that travel switch and trigger acrylic board B are fixed on frame.Rectangular sliding slot 15
It being fixed in same connecting rod, there are two parallel rectangle sliding slot on rectangular sliding slot, entire rectangular sliding slot side view is in U-shape,
There are certain altitude in two sides, to prevent pineapple in transportational process from falling.Support plate B20 front underside is oriented in picking mechanism
Under two cuboids, mutually cooperate with two sliding slot shapes, positions on rectangular sliding slot, can slide along the chute.Rectangle
Sliding slot is matched with the support plate B in picking mechanism, is equipped with the corresponding axis in several groups position in the inside of two tilting connecting rods
A D30 is held, optical axis 29 is equipped between corresponding bearing block, optical axis constitutes one tiltedly to arranging apparatus end since sliding slot height
Line.Optical axis two sides are placed with vertical baffle 6.Arranging apparatus end be fixed with one it is vertical place limit plate 12, with hinder pineapple after
It is continuous to advance.
Three support rods 28 are equipped between the braced frame of the left and right sides, every support rod both ends are fixed in two side frames,
To support entire picking mechanism.Each support rod top is bolted to connection line slide rail respectively.In each line slide rail
On be slidably connected two sliding block A37, be connected between corresponding one group of sliding block A by support plate A7 on two line slide rails,
It is connected between corresponding another group of sliding block A by upper plate 9 on two line slide rails.The position of bottom sliding rail is than other two
The position of sliding rail is low, the slide block B that is slidably connected on the sliding rail of bottom 32, is fixedly connected with support plate B20 on the top of slide block B, support
Plate B is located at the left side of picking mechanism.Motor A13 and motor B11 is fixed on the both ends of bottom sliding rail, and the output end of motor A passes through
Oscillating bearing is connected with one end of connecting rod A23, and motor A drives connecting rod A to do sinusoidal motion.It is fixedly connected in the lower part of support plate A
Two bearing block A33 are equipped with short axle A34, the oscillating bearing phase of short axle A and the connecting rod A23 other end between two bearing block A
Even.The bottom of rotation axis 1 is connected by bearing block with slide block B.It is connected, is driven by key 21 between rotation axis and drive shaft 22
Shaft is rotated coaxially with rotation axis.One end of pull lever 17 is socketed in rotation axis lower part, and pull lever is rotated coaxially with rotation axis, draws
The other end of lever is socketed in the upper end of shaft A18.The connecting rod lower end of lower position in 8 upper surface of clamping groove plate and picking mechanism
Face is fixedly connected, and is located at picking mechanism rear end.Strip groove is equipped on clamping groove plate, the lower end of shaft A18 is placed in strip groove, is turned
Axis A can do straight reciprocating motion along strip groove.The output end of motor B is connected by oscillating bearing with one end of connecting rod B16, is being propped up
Two bearing block B35 being parallel to each other are fixed on fagging B, and short axle B36, short axle B and connecting rod B are equipped between two bearing block B
The oscillating bearing of the other end is connected, and motor B drives connecting rod B to do sinusoidal motion.The both ends of shaft B19 are respectively equipped with bearing block, and two
A bearing block is separately fixed at the upper surface of support plate B and the lower end surface of upper plate, is made between support plate B and upper plate by shaft B
It can be moved at the same speed along line slide rail, upper plate is matched by sliding block A with line slide rail 2.The front end support plate B upper face has an arc
Shape cylinder 10 is matched with pineapple shape, to hinder pineapple bottom to advance.The lower part of support plate B position corresponding with arc cylinder
It sets, if there are two cuboids, can be moved in a straight line along the rectangular sliding slot of arranging apparatus.Gripper is two planes in picking mechanism
Four-bar mechanism combination, is made of drive shaft 22, gripper connecting rod C3, gripper connecting rod D24.Gripper connecting rod C3 and gripper
The front end connecting rod D24 is claw-like, and respectively there is a through-hole in middle position, and two short axles pass through through-hole and pass through support plate A, under support plate A
Respectively there is the fixed short axle of a bearing block in end face, and drive shaft is two four-bar linkage joint use poles, and two short axles are all along bus side
To a plane is pruned, so that gripper connecting rod C can be rotated with gripper connecting rod D with drive shaft.Drive shaft is gripper one
Part, entire gripper are fixedly connected on support plate A.
Claims (5)
- It mainly include picker, arranging apparatus, frame and in-wheel driving mechanism 1. a kind of continous way pineapple picking robot, It is characterized by: picker is fixedly connected on the lower section of frame upper front part position, arranging apparatus is mounted on lower portion Leftward position, base of frame are fixedly connected with in-wheel driving part.
- 2. a kind of continous way pineapple picking robot according to claim 1, it is characterised in that: frame includes support frame Frame, connection frame and shell, the top of the braced frame of the left and right sides are equipped with connection frame, are equipped with picking mechanism between two connection frames In support rod, left and right sides braced frame and connection frame form frame, the external covering shell of frame, and left and right sides support It is open between the rear portion of frame.
- 3. a kind of continous way pineapple picking robot according to claim 1, it is characterised in that: in-wheel driving mechanism includes Driving wheel, load-carrying wheel, bearing block C, bearing block E and load-bearing axle are equipped with the symmetrical in-wheel driving mechanism in both sides in the bottom of frame, It is equipped with bearing block C in the front of the braced frame bottom of the left and right sides, in the inside grafting load-bearing axle of bearing block C, two drivings Wheel with flanged joint and load-bearing axle respectively by being socketed, and device rear two sides are load-carrying wheel, at the braced frame bottom of the left and right sides The rear in portion is equipped with bearing block E, in the inside grafting load-bearing axle of bearing block E, load-bearing axle grafting load-carrying wheel.
- 4. a kind of continous way pineapple picking robot according to claim 1, it is characterised in that: arranging apparatus includes tilting Connecting rod, laterally disposed connecting rod, trigger acrylic board A, trigger acrylic board B, travel switch, rectangular sliding slot, limit Position plate, vertical baffle, optical axis and bearing block D, arranging apparatus are located inside frame left, two tilting connecting rods being parallel to each other Topmost it is connected respectively by any angle connector and piece laterally disposed connecting rod of frame left, two tilting connecting rod ends End is connected by any angle connector and the laterally disposed connecting rod in frame left bottom end one, and two tilting connecting rods are vertical It is tilted at an angle on direction, trigger switch is located at front end, the upper end socket of trigger acrylic board A and optical axis, optical axis Lower end and trigger acrylic board B be socketed, the horizontal connection that travel switch and trigger acrylic board B are fixed on frame On bar, rectangular sliding slot is fixed in same connecting rod, and there are two parallel rectangle sliding slot, entire rectangular sliding slots on rectangular sliding slot Side view is in U-shape, and there are certain altitude in two sides, and support plate B front underside has two downward cuboids in picking mechanism, with Two sliding slot shapes, positions on rectangular sliding slot mutually cooperate, and can slide along the chute, in rectangle sliding slot and picking mechanism Support plate B is matched, and the corresponding bearing block D in position is equipped in the inside of two tilting connecting rods, between corresponding bearing block Equipped with optical axis, optical axis constitutes an oblique line to arranging apparatus end since sliding slot height, and optical axis two sides are placed with vertical baffle, are putting It puts device end and is fixed with a vertical placement limit plate.
- 5. a kind of continous way pineapple picking robot according to claim 1, it is characterised in that: picking mechanism includes support Bar, sliding block A, support plate A, upper plate, slide block B, support plate B, motor A, motor B, connecting rod A, bearing block A, short axle A, rotation axis, drive Turn axis, key, pull lever, shaft A, clamping groove plate, connecting rod B, bearing block B, short axle B, shaft B, line slide rail, arc cylinder, machine Machinery claw connecting rod C, gripper connecting rod D and connecting rod are equipped with three support rods, every support rod two between the braced frame of the left and right sides End is fixed in two side frames, and to support entire picking mechanism, each support rod top is bolted to connection straight line respectively Sliding rail, be slidably connected two sliding block A on each line slide rail, leads between corresponding one group of sliding block A on two line slide rails It crosses support plate A to be connected, be connected between corresponding another group of sliding block A by upper plate on two line slide rails, bottom sliding rail Position it is lower than the position of other two one slide rail, be slidably connected slide block B on the sliding rail of bottom, is fixedly connected on the top of slide block B Support plate B, support plate B are located at the left side of picking mechanism, and motor A and motor B are fixed on the both ends of bottom sliding rail, and motor A's is defeated Outlet is connected by oscillating bearing with one end of connecting rod A, and motor A drives connecting rod A to do sinusoidal motion, solid in the lower part of support plate A Surely two bearing block A are connected, short axle A, the oscillating bearing phase of short axle A and the connecting rod A other end are equipped between two bearing block A Even, the bottom of rotation axis is connected by bearing block with slide block B, is connected by key between rotation axis and drive shaft, drive shaft It is rotated coaxially with rotation axis, one end of pull lever is socketed in rotation axis lower part, and pull lever is rotated coaxially with rotation axis, pull lever The other end is socketed in the upper end of shaft A, and the connecting rod lower end surface of lower position is fixed in clamping groove plate upper surface and picking mechanism connects It connects, is located at picking mechanism rear end, strip groove is equipped on clamping groove plate, the lower end of shaft A is placed in strip groove, and shaft A can be along item Shape slot does straight reciprocating motion, and the output end of motor B is connected by oscillating bearing with one end of connecting rod B, fixed on support plate B Two bearing block B being parallel to each other are equipped with the oscillating bearing of short axle B, short axle B and connecting rod the B other end between two bearing block B It is connected, motor B drives connecting rod B to do sinusoidal motion, and the both ends of shaft B are respectively equipped with bearing block, and two bearing blocks are separately fixed at The upper surface of support plate B and the lower end surface of upper plate make to transport at the same speed along line slide rail between support plate B and upper plate by shaft B Dynamic, upper plate is matched by sliding block A with line slide rail, and the front end support plate B upper face has an arc cylinder, with pineapple shape phase Cooperation, the lower part of support plate B position corresponding with arc cylinder can be along the rectangular sliding slots of arranging apparatus if there are two cuboids It moves in a straight line, gripper is two four-bar linkage combinations in picking mechanism, by drive shaft, gripper connecting rod C, machinery Pawl connecting rod D is constituted, and gripper connecting rod C and the front end gripper connecting rod D are claw-like, and respectively there is a through-hole in middle position, and two short axles are worn It crosses through-hole and passes through support plate A, respectively there is the fixed short axle of a bearing block in the lower end surface support plate A, and drive shaft is two four bars of plane Mechanism joint use pole, two short axles all prune a plane along generatrix direction, so that gripper connecting rod C and gripper connecting rod D can be with drives The rotation of turn axis, drive shaft are gripper a part, and entire gripper is fixedly connected on support plate A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821482302.7U CN209017464U (en) | 2018-09-11 | 2018-09-11 | A kind of continous way pineapple picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821482302.7U CN209017464U (en) | 2018-09-11 | 2018-09-11 | A kind of continous way pineapple picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209017464U true CN209017464U (en) | 2019-06-25 |
Family
ID=66904393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821482302.7U Expired - Fee Related CN209017464U (en) | 2018-09-11 | 2018-09-11 | A kind of continous way pineapple picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209017464U (en) |
-
2018
- 2018-09-11 CN CN201821482302.7U patent/CN209017464U/en not_active Expired - Fee Related
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Granted publication date: 20190625 |