CN209120674U - Crawler type pineapple picking machine - Google Patents
Crawler type pineapple picking machine Download PDFInfo
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- CN209120674U CN209120674U CN201822006570.8U CN201822006570U CN209120674U CN 209120674 U CN209120674 U CN 209120674U CN 201822006570 U CN201822006570 U CN 201822006570U CN 209120674 U CN209120674 U CN 209120674U
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- pineapple
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Abstract
The utility model discloses a kind of crawler type pineapple picking machines, including car body, creeper undercarriage, mechanical arm picker, pineapple transport mechanism, pineapple collecting box, power supply lithium battery and control cabinet, creeper undercarriage is mounted on vehicle bottom, mechanical arm picker is mounted on the right side of car body top, pineapple transport mechanism is mounted on the left of car body top, and pineapple collecting box and control cabinet are installed on rear side of car body top；Mechanical arm picker includes mechanical arm and cutting picking mechanism, cutting picking mechanism includes mechanical picking pawl and pineapple carpopodium cutting mechanism, pineapple carpopodium cutting mechanism is mounted on picking claw bottom, picking claw is mounted on mechanical arm outer end, identification sensor is installed in mechanical picking pawl, the front side middle part of car body, front part sides are mounted on obstacle avoidance sensor, are equipped with wireless camera and image transmission module at the top of control cabinet.The utility model is improved picking efficiency, is reduced picking cost using intelligent, mechanization Softening.
Description
Technical field
The utility model relates to a kind of fruit pickings, more particularly, to a kind of crawler type pineapple picking machine.
Background technique
The development trend of modern agriculture is towards automation, mechanization, intelligentized direction are developed, and fruit-growing industry is made
For the chief component of modern agriculture, development will be also welcome, break-through point is that the conversion for realizing Softening, from
It manually moves towards mechanical, realizes unattended.
Being directed to pineapple picking mechanical earliest is developed by the U.S., and U.S. K.J.JACKSON has developed within 2000
A kind of pineapple harvesting machine is taken and wins mode by hand, is placed in after the completion of picking and is realized by the conveyer belt that tractor drives
Assistant conveyance.This pineapple harvesting machine is simple realization assistant conveyance function, accelerates the efficiency of pineapple picking, but from originally
The pineapple picking problem still not solved in matter.And since pineapple plant and fruit surface have more sharp thorn, and plant
Space between each other very little, so solving the problems, such as that pineapple picking is a problem to be solved.
Currently, the pineapple picking mechanical process in China is still very low.It is in the majority that picking operation is still handwork, although
Also there is minority to use semimechanized picking, assist picking using machine tool, but there is no thorough liberation labour, it is right
Artificial demand is still very big, and efficiency, quality of picking etc. are all influenced by artificial.
In recent years, pineapple industry is particularly subject to pay attention in China, and the area along with China's pineapple cultivation is more and more, spinach
Trailing plants yield also increases increasingly, and picking problem is also got worse.But Softening is still mainly based on manually picking, with mechanization
Based on Softening be substantially not present, this results in picking efficiency not catch up with the promotion of yield significantly, many problems occurs.
Utility model content
The purpose of the utility model is to overcome above-mentioned deficiencies in the prior art, provide a kind of crawler type pineapple picking
Machine uses intelligent, mechanization Softening, improves picking efficiency, reduce picking cost, ensure that economic effect
Benefit.
In order to achieve the above purposes, the technical solution adopted by the utility model is: a kind of crawler type pineapple picking machine, feature
It is: including car body, creeper undercarriage, mechanical arm picker, pineapple transport mechanism, pineapple collecting box, power supply lithium battery
And control cabinet, the creeper undercarriage are mounted on the bottom of car body, the mechanical arm picker is mounted on the top of car body
Right side, the pineapple transport mechanism are mounted on the top left side of car body, and the pineapple collecting box and control cabinet are installed in car body
Top rear, the mechanical arm picker, pineapple transport mechanism and control cabinet are respectively positioned on the front of pineapple collecting box, described
Control cabinet is between the mechanical arm picker and the pineapple transport mechanism and at pineapple collecting box, the power supply
Lithium battery is mounted on the front side bottom of car body and powers for pineapple picking machine；The mechanical arm picker includes mechanical arm and peace
Cutting picking mechanism mounted in mechanical arm outer end, the cutting picking mechanism include mechanical picking pawl and pineapple carpopodium cutting machine
Structure, the pineapple carpopodium cutting mechanism are mounted on the bottom of picking claw, and the picking claw is mounted on the outer end of mechanical arm, the machine
The identification sensor for positioning pineapple position for identification, the front side middle part of the car body, front part sides are installed in tool picking claw
It is mounted on the obstacle avoidance sensor for detecting barrier, controller, the top of the control cabinet are provided in the control cabinet
Wireless camera for shooting picking machine working condition is installed and for transferring out captured image remote to realize
The image transmission module remotely monitored, the obstacle avoidance sensor, identification sensor and wireless camera with the input of controller
End connects, and described image transmission module connects with the output end of controller.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the mechanical arm includes pedestal, pedestal, waist joint, big
Arm, forearm, floor, axle sleeve, telescopic arm and wrist joint, the pedestal are fixed on the top of pedestal, the waist articulation
It is mounted on the base, the first driving motor is fixedly installed on the pedestal, is fixed on the output shaft of first driving motor
Worm screw is installed, the lower end in the waist joint is fixed with installation axle, and worm gear, the worm gear are fixedly installed in the installation axle
It is matched with the worm screw, the installation axle, worm and worm wheel are respectively positioned in pedestal, and is fixedly installed on the waist joint
The output shaft of two driving motors, second driving motor is fixedly connected with one end of large arm, the fixed peace in one end of the forearm
Equipped with third driving motor, the output shaft of the third driving motor is fixedly connected with the other end of large arm, solid on the floor
Dingan County is equipped with the 4th driving motor, and the output shaft of the 4th driving motor is fixedly connected with the other end of forearm；The axle sleeve
On fixed floor, one end of the telescopic arm is fixedly connected with the side of axle sleeve, and the other side of the axle sleeve is fixedly installed with the
Five driving motors are fixedly installed with lead screw, the other end of the lead screw and telescopic arm on the output shaft of the 5th driving motor
Inside thread connection, the lead screw are located in telescopic arm, and one end end of the telescopic arm is fixedly installed with the 6th driving motor,
The output shaft of 6th driving motor is connect with wrist arthrodesis；First driving motor, the second driving motor, third
Driving motor, the 4th driving motor, the 5th driving motor and the 6th driving motor connect with the output end of controller.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the picking claw includes support, the first gripper, second
The connecting pin of gripper and steering engine, first gripper is rotatablely connected by the side of the first fixed connecting rod and support, described
The connecting pin of second gripper is rotatablely connected by the other side of the second fixed connecting rod and support, first gripper and second
The section of gripper is arcuate structure, and two sides are provided with half to the fixing end of first gripper and the second gripper up and down
Gear, half gear of upside of first gripper are meshed with half gear of upside of the second gripper, first gripper
Half gear of downside be meshed with half gear of downside of the second gripper, the steering engine is mounted on the first gripper and second mechanical
On front side of the engagement place of pawl, the output end of the steering engine is fixedly installed with all gear, and one on all gear and the first gripper
One and half gears on a half gear or the second gripper are meshed, and the support is connect with wrist arthrodesis, the steering engine
Connect with the output end of controller, the identification sensor is mounted on steering engine.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the pineapple carpopodium cutting mechanism include electric telescopic rod and
Cutting blade, the cutting blade are mounted on the push rod end of electric telescopic rod, and the pedestal of the electricity telescopic rod is fixed on support
Bottom center, the electricity telescopic rod are vertically arranged, and the electricity telescopic rod connects with the output end of controller.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the pineapple transport mechanism includes conveyer belt support frame, passes
Belt conveying motor, the first transmission belt wheel, the second transmission belt wheel, belt, the first belt-driven wheel, the second belt-driven wheel and defeated
Band is sent, the conveyer belt support frame is that side is low early and high after trapezium structure, and the transmission translator is mounted on conveyer belt branch
In the middle part of the lower part of support, the first transmission belt wheel is fixedly mounted on the output shaft of transmission translator, second conveyer belt
Wheel is fixedly mounted on one end of the first belt-driven wheel, and the first transmission belt wheel and second transmit belt wheel and connect shape by belt
At belt transport, the first belt-driven wheel is rotatably installed at the top of the lower end of conveyer belt support frame, second transmission
It is rotatably installed in driving wheel at the top of the upper end of conveyer belt support frame, the first belt-driven wheel and the second belt-driven
Wheel is connected to form conveyer belt transmission by conveyer belt, and the outside of the conveyer belt is uniformly equipped with multiple conveyer belt partitions, institute
The high end for stating conveyer belt support frame and the front side of pineapple collecting box mutually abut, the output end of the transmission translator and controller
Connect.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the angle between the conveyer belt partition and conveyer belt is
70 °~80 °.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the left side of the first belt-driven wheel is passed with second
It send between the left side with driving wheel, rotated between the right side of the first belt-driven wheel and the right side of the second belt-driven wheel
It is connected with conveyer belt side board, the conveyer belt side board is polypropylene soft plastic dam.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the creeper undercarriage includes crawler belt vehicle frame, the shoe
With crawler belt, track drive motor, crawler driving whell and support wheel is mounted at left and right sides of vehicle frame, positioned at the ipsilateral shoe
It is fixedly mounted on driving wheel on the output shaft of track drive motor, the crawler driving whell is matched with crawler belt, is located at described
The quantity of the support wheel of crawler belt vehicle frame side is multiple, the uniformly distributed side periphery in crawler belt vehicle frame of multiple support wheels,
The track drive motor is mounted on crawler belt vehicle frame, and the track drive motor connects with the output shaft of control cabinet.
Above-mentioned crawler type pineapple picking machine, it is characterised in that: the obstacle avoidance sensor is KS103 type obstacle avoidance sensor,
The identification sensor is DFROBOT Pixy CMUcam5 type image recognition sensor, and described image transmission module is HSV923
Type image transmission module.
Compared with the prior art, the utility model has the following advantages:
1, the utility model is advanced using creeper undercarriage, and relative to common in-vehicle running on wheels, adhesive force is stronger over the ground,
Ability is well adapted to various landform, it can be achieved that the case where working in complicated pineapple.
2, the utility model reduces manual work, due to pineapple plant using the Softening of automation and mechanization
Between line space very little, after pineapple is mature, pineapple leaves are even more interlaced, and people be difficult to enter when picking operation；And it carries out
Belt pineapple picking machine does not have artificial participation in picking process, and picking overall process realizes intelligent, automation comprehensively, because
This reduces artificial workload, effectively reduces a large amount of demand in pineapple picking process to labour, solves labour
The problem of power increased costs.
3, the utility model increases identification sensor, improves picking quality and efficiency；Crawler type pineapple picking machine is moving
Identification technology is used in dynamic and picking process, keeps crawler type pineapple picking machine more accurate in moving process, rapid；Color is known
Other technology make position during picking pineapple judgement it is more accurate, improve pineapple picking quality, reduce because
The economic problems picking quality and occurring.
4, the utility model crawler type pineapple picking machine using power lithium battery as the energy provide, electric energy be eco-friendly power source it
One, and battery can be with recharge, recycling, and environmental protection and energy saving, pollution are small, at low cost.
5, the utility model economy, high reliablity are promoted relatively easy；The labor intensity of worker can be mitigated significantly,
Production and use cost are reduced, cost performance is improved.
In conclusion the utility model crawler type pineapple picking machine is reduced based on the basis of domestic and international advanced technology
Artificial workload effectively reduces a large amount of demand in pineapple picking process to labour, solves labor cost increasing
The problem of adding；Picking efficiency is rapidly and quality height meets agricultural automation, intelligentized requirement；It is extensive to be applicable in region, adapts to spinach
The demand on trailing plants ground；And the crawler type pineapple picking machine advantage of lower cost, economy is high, in general agricultural user acceptable
Economic tolerance range.
Below by drawings and examples, the utility model is further described in detail.
Detailed description of the invention
Fig. 1 is the main view of the utility model.
Fig. 2 is the side view of the utility model.
Fig. 3 is the top view of the utility model.
Fig. 4 is the perspective view of the utility model.
Fig. 5 is the structural schematic diagram of the utility model mechanical arm.
Fig. 6 is the structural schematic diagram that the utility model cuts picking mechanism.
Fig. 7 is the structural schematic diagram of the first gripper of the utility model, the second gripper.
Fig. 8 is the schematic block circuit diagram of the utility model.
Description of symbols:
1-crawler belt；2-track drive motors；3-conveyer belt support frames；
4-conveyer belt side boards；5-conveyer belts；6-conveyer belt partitions；
7-the first belt-driven wheel；8-power supply lithium batteries；9-control cabinets；
10-wireless cameras；11-mechanical picking pawls；The second gripper of 11-1-；
11-2-first fixes connecting rod；11-3-support；11-4-second fixes connecting rod；
11-5-identification sensor；11-6-steering engine；The first gripper of 11-7-；
Half gear of 11-8-；12-mechanical arms；12-1-pedestal；
12-2-pedestal；The first driving motor of 12-3-；12-4-waist joint；
12-5-wrist joint；The 6th driving motor of 12-6-；12-7-telescopic arm；
12-8-axle sleeve；The 5th driving motor of 12-9-；12-10-floor；
12-11-forearm；12-12-large arm；The 4th driving motor of 12-13-；
The second driving motor of 12-14-；12-15-third driving motor；13-belts；
14-transmission translators；15-pineapple collecting boxs；16-the second transmission belt wheel；
17-crawler driving whells；18-crawler belt vehicle frames；19-the second belt-driven wheel；
20-obstacle avoidance sensors；21-car bodies；22-pineapple carpopodium cutting mechanisms；
22-1-electricity telescopic rod；22-2-cutting blade；23-image transmission modules；
24-controllers；25-support wheels；26-the first transmission belt wheel.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 8, the utility model includes that car body 21, creeper undercarriage, mechanical arm are adopted
Device and picking, pineapple transport mechanism, pineapple collecting box 15, power supply lithium battery 8 and control cabinet 9, the creeper undercarriage are mounted on
The bottom of car body 21, the mechanical arm picker are mounted on the top right side of car body 21, and the pineapple transport mechanism is mounted on
The top left side of car body 21, the pineapple collecting box 15 and control cabinet 9 are installed in the top rear of car body 21, the mechanical arm
Picker, pineapple transport mechanism and control cabinet 9 are respectively positioned on the front of pineapple collecting box 15, and the control cabinet 9 is located at the machine
Between tool arm picker and the pineapple transport mechanism and at pineapple collecting box 15, the power supply lithium battery 8 is mounted on
The front side bottom of car body 21 and for pineapple picking machine power；The mechanical arm picker includes mechanical arm 12 and is mounted on machinery
The cutting picking mechanism of 12 outer end of arm, the cutting picking mechanism include mechanical picking pawl 11 and pineapple carpopodium cutting mechanism 22,
The pineapple carpopodium cutting mechanism 22 is mounted on the bottom of picking claw 11, and the picking claw 11 is mounted on the outer end of mechanical arm 12,
The identification sensor 11-5 for positioning pineapple position for identification, the front side of the car body 21 are installed in the mechanical picking pawl 11
Middle part, front part sides are mounted on the obstacle avoidance sensor 20 for detecting barrier, are provided with controller in the control cabinet 9
24, the top of the control cabinet 9 is equipped with wireless camera 10 for shooting picking machine working condition and for will be captured
Image remote is transferred out to realize the image transmission module 23 remotely monitored, the obstacle avoidance sensor 20, identification sensor 11-
5 and wireless camera 10 connect with the input terminal of controller 24, the output end of described image transmission module 23 and controller 24
Connect.
As shown in Figure 5 and Figure 8, the mechanical arm 12 includes pedestal 12-1, pedestal 12-2, waist joint 12-4, large arm 12-
12, forearm 12-11, floor 12-10, axle sleeve 12-8, telescopic arm 12-7 and wrist joint 12-5, the pedestal 12-2 are fixed on base
The top of seat 12-1, the waist joint 12-4 is rotatably installed on pedestal 12-2, and the is fixedly installed on the pedestal 12-2
One driving motor 12-3 is fixedly installed with worm screw, the waist joint 12-4 on the output shaft of the first driving motor 12-3
Lower end be fixed with installation axle, worm gear is fixedly installed in the installation axle, the worm gear is matched with the worm screw, the peace
Dress axis, worm and worm wheel are respectively positioned in pedestal 12-2, and the second driving motor 12- is fixedly installed on the waist joint 12-4
14, the output shaft of the second driving motor 12-14 is fixedly connected with one end of large arm 12-12, one end of the forearm 12-11
It is fixedly installed with third driving motor 12-15, the output shaft of the third driving motor 12-15 and the other end of large arm 12-12
It is fixedly connected, the 4th driving motor 12-13 is fixedly installed on the floor 12-10, the 4th driving motor 12-13's is defeated
Shaft is fixedly connected with the other end of forearm 12-11；On the fixed floor 12-10 of the axle sleeve 12-8, the telescopic arm 12-7's
One end is fixedly connected with the side of axle sleeve 12-8, and the other side of the axle sleeve 12-8 is fixedly installed with the 5th driving motor 12-9,
Lead screw, the other end inside of the lead screw and telescopic arm 12-7 are fixedly installed on the output shaft of the 5th driving motor 12-9
It is threadedly coupled, the lead screw is located in telescopic arm 12-7, and one end end of the telescopic arm 12-7 is fixedly installed with the 6th driving
Motor 12-6, the output shaft of the 6th driving motor 12-6 are fixedly connected with wrist joint 12-5；First driving motor
12-3, the second driving motor 12-14, third driving motor 12-15, the 4th driving motor 12-13, the 5th driving motor 12-9 and
6th driving motor 12-6 connects with the output end of controller 24.
Mechanical arm 12 is the important composition of crawler type pineapple picking machine, is the key that realize picking work, if its work knot
Structure performance is not good enough, just will affect stability and efficiency that picking machine carries out picking operation.In view of institute in pineapple picking process
The necessary freedom degree needed, contains sky so this mechanical arm designs for six degree of freedom according to the maximum requirement of kinematic pair of mechanical arm
Between three directions rotation and movement.
Mechanical arm one degree of freedom is revolution freedom degree, and mechanical arm is driven to rotate around pedestal, intermediate second, third
A, the 4th freedom degree is pitch freedom, and the 5th freedom degree is flexible freedom degree, and six-freedom degree is the one of wrist
A rotary freedom, to realize that mechanical arm drives end cutting picking mechanism in working space toward any direction.Mostly certainly
Being had the function of being fitted space arbitrary curve by the articulated manipulator spent, control system passes through the movement of control corresponding joint,
Make fixed end cutting picking mechanism on the robotic arm during reaching the position of operative goals, effective avoiding barrier.
As shown in Figure 6 to 8, the picking claw 11 includes support 11-3, the first gripper 11-7, the second gripper 11-1
It is rotated with the connecting pin of steering engine 11-6, the first gripper 11-7 by the side of the first fixed connecting rod 11-2 and support 11-3
Connection, the connecting pin of the second gripper 11-1 is rotated by the other side of the second fixed connecting rod 11-4 and support 11-3 to be connected
Connect, the section of the first gripper 11-7 and the second gripper 11-1 are arcuate structure, the first gripper 11-7 and
The fixing end of second gripper 11-1 is provided with half gear 11-8, half tooth of upside of the first gripper 11-7 in two sides up and down
Wheel is meshed with half gear of upside of the second gripper 11-1, half gear of downside of the first gripper 11-7 and the second machinery
Half gear of downside of pawl 11-1 is meshed, and the steering engine 11-6 is mounted on nibbling for the first gripper 11-7 and the second gripper 11-1
Front side, the output end of the steering engine 11-6 are fixedly installed with all gear at conjunction, on all gear and the first gripper 11-7
One and half gear 11-8 on one and half gear 11-8 or the second gripper 11-1 are meshed, the support 11-3 and wrist joint
12-5 is fixedly connected, and the steering engine 11-6 connects with the output end of controller 24, and the identification sensor 11-5 is mounted on steering engine
On 11-6.
As shown in Figure 6 and Figure 8, the pineapple carpopodium cutting mechanism 22 includes electricity telescopic rod 22-1 and cutting blade 22-2,
The cutting blade 22-2 is mounted on the push rod end of electric telescopic rod 22-1, and the pedestal of the electricity telescopic rod 22-1 is fixed on support
The bottom center of 11-3, the electricity telescopic rod 22-1 are vertically arranged, the output end of electricity the telescopic rod 22-1 and controller 24
Connect.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 8, the pineapple transport mechanism includes conveyer belt support frame 3, transmission electrification
Machine 14, first transmits belt wheel 26, second and transmits belt wheel 16, belt 13, the first belt-driven wheel 7, the second belt-driven wheel
19 and conveyer belt 5, the conveyer belt support frame 3 is that side is low early and high after trapezium structure, and the transmission translator 14 is installed
In the middle part of the lower part of conveyer belt support frame 3, the first transmission belt wheel 26 is fixedly mounted on the output shaft of transmission translator 14,
The second transmission belt wheel 16 is fixedly mounted on one end of the first belt-driven wheel 7, the first transmission belt wheel 26 and second
Transmission belt wheel 16 forms belt transport by the connection of belt 13, and the first belt-driven wheel 7 is rotatably installed in conveyer belt branch
At the top of the lower end of support 3, the second belt-driven wheel 19 is rotatably installed at the top of the upper end of conveyer belt support frame 3, described
First belt-driven wheel 7 is connected to form conveyer belt transmission, the conveying by conveyer belt 5 with the second belt-driven wheel 19
Outside with 5 is uniformly equipped with multiple conveyer belt partitions 6, high end and the pineapple collecting box 15 of the conveyer belt support frame 3
Front side mutually abuts, and the transmission translator 14 connects with the output end of controller 24.
This crawler type pineapple picking machine is by the way of conveyer belt transport, under the premise of being based on mechanical arm picking mechanism,
After mechanical arm has picked fruit, it is placed on the conveyer belt 5 on side, pineapple collecting box 15 is then transported by conveyer belt 5.Using biography
Belt means of transportation is sent, it avoids the time course by being put into collecting box after the completion of mechanical arm picking, has greatly improved effect
Rate.
As shown in Figures 1 to 4, the left side in the left side of the first belt-driven wheel 7 and the second belt-driven wheel 19
Between, between the right side of the first belt-driven wheel 7 and the right side of the second belt-driven wheel 19 be rotatably connected to conveyer belt
Side board 4, the conveyer belt side board 4 are polypropylene soft plastic dam.
In the present embodiment, the angle between the conveyer belt partition 6 and conveyer belt 5 is 70 °~80 °.Preferably, described defeated
Sending with the angle between partition 6 and conveyer belt 5 is 75 °.To prevent pineapple from sliding from conveyer belt 5, it is equipped on 5 both sides of conveyer belt
Conveyer belt partition 6 is installed on conveyer belt side board 4, conveyer belt 5, and angle is between conveyer belt partition 6 and conveyer belt 5
75 °, to prevent the pineapple when conveyer belt 5 rotates from falling from conveyer belt 5.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 8, the creeper undercarriage includes crawler belt vehicle frame 18, the creeper truck
The left and right sides of frame 18 is mounted on crawler belt 1, track drive motor 2, crawler driving whell 17 and support wheel 25, positioned at ipsilateral institute
It states crawler driving whell 17 to be fixedly mounted on the output shaft of track drive motor 2, the crawler driving whell 17 matches with crawler belt 1
Close, positioned at 18 side of crawler belt vehicle frame support wheel 25 quantity be it is multiple, multiple support wheels 25 are uniformly distributed to be carried out
Side periphery with vehicle frame 18, the track drive motor 2 are mounted on crawler belt vehicle frame 18, the track drive motor 2 and control
The output shaft of case 9 processed connects.Creeper undercarriage is strong using adaptable, obstacle climbing ability of the double-caterpillar running mechanism to ground,
Mobility is relatively strong, has good lifting capacity, is able to satisfy the picking demand on pineapple ground；It is wide, mobile steady that region is adapted to simultaneously,
It can stablize to offer, suitable workbench.
In the present embodiment, the obstacle avoidance sensor 20 is KS103 type obstacle avoidance sensor, and the identification sensor 11-5 is
DFROBOT Pixy CMUcam5 type image recognition sensor, described image transmission module 23 are HSV923 type image transmitting mould
Block.
Obstacle avoidance sensor 20 utilizes the position of ultrasonic listening barrier, and is taken accordingly according to the data detected
Avoidance measure.Identification sensor 11-5 is mounted on picking mechanism, increases by a secondary eyes for picking mechanism, can be by particular color
The vision data of object is sent to corresponding controller.Image transmission module 23 can be convenient operator to the working condition of machine
Carry out remote real-time monitoring, guarantee that picking operation is gone on smoothly, using image transmission module 23 can realize remotely with mobile phone phase
Connection, or view is thrown to other image displays, facilitate real time monitoring.
The working principle of the utility model are as follows: creeper undercarriage realizes the locomotive function of crawler type pineapple picking machine, and
Carry out the mobile operation mode of automatic intelligence；Mechanical arm picker picks mature pineapple, realizes the machine of pineapple
Tool picks function；The pineapple picked is sent in pineapple collecting box 15 by pineapple transport mechanism, and is temporarily stored in pineapple receipts
In header 15；Obstacle avoidance sensor 20, identification sensor 11-5 and 10 secondary track formula pineapple picking machine of wireless camera are realized certainly
Dynamic picking operation.The utility model completes picking operation using Single Mechanical arm mode, and electric telescopic rod 22- is installed below gripper
1 and cutting blade 22-2, after gripper completes pineapple clamping work, controller control electricity telescopic rod 22-1 reaches pineapple lower end
Carpopodium position drives cutting blade 22-2 to cut off pineapple carpopodium.The gripper of picking machine is bionic mechanical pawl, imitates manpower crawl
The movement of pineapple and design gripper, reasonable, efficient can more be picked.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to the utility model technical spirit any simple modification, change and equivalent structure transformation to the above embodiments, still
Belong in the protection scope of technical solutions of the utility model.
Claims (9)
1. a kind of crawler type pineapple picking machine, it is characterised in that: including car body (21), creeper undercarriage, mechanical arm picking dress
It sets, pineapple transport mechanism, pineapple collecting box (15), power lithium battery (8) and control cabinet (9), the creeper undercarriage installation
In the bottom of car body (21), the mechanical arm picker is mounted on the top right side of car body (21), the pineapple transport mechanism
It is mounted on the top left side of car body (21), the pineapple collecting box (15) and control cabinet (9) are installed in the top of car body (21)
Rear side, the mechanical arm picker, pineapple transport mechanism and control cabinet (9) are respectively positioned on the front of pineapple collecting box (15), institute
Control cabinet (9) are stated between the mechanical arm picker and the pineapple transport mechanism and close to pineapple collecting box (15)
Place, power supply lithium battery (8) are mounted on the front side bottom of car body (21) and power for pineapple picking machine；The mechanical arm picking
Device includes mechanical arm (12) and the cutting picking mechanism for being mounted on mechanical arm (12) outer end, and the cutting picking mechanism includes machine
Tool picking claw (11) and pineapple carpopodium cutting mechanism (22), the pineapple carpopodium cutting mechanism (22) are mounted on picking claw (11)
Bottom, the picking claw (11) are mounted on the outer end of mechanical arm (12), are equipped with for identification in the mechanical picking pawl (11)
The identification sensor (11-5) of pineapple position is positioned, the front side middle part of the car body (21), front part sides are mounted on for examining
The obstacle avoidance sensor (20) of barrier is surveyed, is provided with controller (24) in the control cabinet (9), the top of the control cabinet (9)
Be equipped with the wireless camera (10) for shooting picking machine working condition and for by captured image remote transfer out with
Realize the image transmission module (23) remotely monitored, the obstacle avoidance sensor (20), identification sensor (11-5) and wireless camera
Head (10) connects with the input terminal of controller (24), the output end phase of described image transmission module (23) and controller (24)
It connects.
2. crawler type pineapple picking machine described in accordance with the claim 1, it is characterised in that: the mechanical arm (12) includes pedestal
(12-1), pedestal (12-2), waist joint (12-4), large arm (12-12), forearm (12-11), floor (12-10), axle sleeve (12-
8), telescopic arm (12-7) and wrist joint (12-5), the pedestal (12-2) are fixed on the top of pedestal (12-1), the waist
Joint (12-4) is rotatably installed on pedestal (12-2), is fixedly installed with the first driving motor (12- on the pedestal (12-2)
3) worm screw, is fixedly installed on the output shaft of first driving motor (12-3), the lower end of the waist joint (12-4) is solid
Surely there is installation axle, worm gear is fixedly installed in the installation axle, the worm gear is matched with the worm screw, the installation axle, snail
Bar and worm gear are respectively positioned in pedestal (12-2), are fixedly installed with the second driving motor (12-14) on the waist joint (12-4),
The output shaft of second driving motor (12-14) is fixedly connected with one end of large arm (12-12), the forearm (12-11)
One end is fixedly installed with third driving motor (12-15), the output shaft and large arm (12- of the third driving motor (12-15)
12) the other end is fixedly connected, and is fixedly installed with the 4th driving motor (12-13), the 4 wheel driven on the floor (12-10)
The output shaft of dynamic motor (12-13) is fixedly connected with the other end of forearm (12-11)；Fixed floor (the 12- of the axle sleeve (12-8)
10) on, one end of the telescopic arm (12-7) is fixedly connected with the side of axle sleeve (12-8), the other side of the axle sleeve (12-8)
It is fixedly installed with the 5th driving motor (12-9), is fixedly installed with lead screw on the output shaft of the 5th driving motor (12-9),
The lead screw is connect with the other end inside thread of telescopic arm (12-7), and the lead screw is located in telescopic arm (12-7), described to stretch
One end end of contracting arm (12-7) is fixedly installed with the 6th driving motor (12-6), the output of the 6th driving motor (12-6)
Axis is fixedly connected with wrist joint (12-5)；First driving motor (12-3), the second driving motor (12-14), third are driven
Dynamic motor (12-15), the 4th driving motor (12-13), the 5th driving motor (12-9) and the 6th driving motor (12-6) with
The output end of controller (24) connects.
3. crawler type pineapple picking machine according to claim 2, it is characterised in that: the picking claw (11) includes support
(11-3), the first gripper (11-7), the second gripper (11-1) and steering engine (11-6), the company of first gripper (11-7)
It connects end to be rotatablely connected by the side of first fixed connecting rod (11-2) and support (11-3), the company of second gripper (11-1)
End is connect to be rotatablely connected by the other side of second fixed connecting rod (11-4) and support (11-3), first gripper (11-7) and
The section of second gripper (11-1) is arcuate structure, and first gripper (11-7) and the second gripper (11-1's) consolidates
Fixed end is provided with half gear (11-8) two sides up and down, half gear of upside and the second gripper of first gripper (11-7)
Half gear of upside of (11-1) is meshed, half gear of downside of first gripper (11-7) and the second gripper (11-1)
Half gear of downside is meshed, and the steering engine (11-6) is mounted on engaging for the first gripper (11-7) and the second gripper (11-1)
Place front side, the output end of the steering engine (11-6) are fixedly installed with all gear, on all gear and the first gripper (11-7)
One and half gears (11-8) or the second gripper (11-1) on one and half gears (11-8) be meshed, the support (11-3)
It is fixedly connected with wrist joint (12-5), the steering engine (11-6) connects with the output end of controller (24), the identification sensing
Device (11-5) is mounted on steering engine (11-6).
4. crawler type pineapple picking machine described in accordance with the claim 3, it is characterised in that: the pineapple carpopodium cutting mechanism (22)
Including electric telescopic rod (22-1) and cutting blade (22-2), the cutting blade (22-2) is mounted on pushing away for electric telescopic rod (22-1)
Boom end, the pedestal of the electricity telescopic rod (22-1) are fixed on the bottom center of support (11-3), the electricity telescopic rod (22-
1) it is vertically arranged, the electricity telescopic rod (22-1) connects with the output end of controller (24).
5. crawler type pineapple picking machine described in accordance with the claim 1, it is characterised in that: the pineapple transport mechanism includes transmission
Band support frame (3), transmission translator (14), the first transmission belt wheel (26), the second transmission belt wheel (16), belt (13), first pass
Band driving wheel (7), the second belt-driven wheel (19) and conveyer belt (5) are sent, the conveyer belt support frame (3) is that side is preceding low
High trapezium structure afterwards, the transmission translator (14) are mounted in the middle part of the lower part of conveyer belt support frame (3), first transmission
Belt wheel (26) is fixedly mounted on the output shaft of transmission translator (14), and second transmission belt wheel (16) is fixedly mounted on first
One end of belt-driven wheel (7), first transmission belt wheel (26) and the second transmission belt wheel (16) are connected by belt (13)
Belt transport is formed, the first belt-driven wheel (7) is rotatably installed at the top of the lower end of conveyer belt support frame (3), described
Second belt-driven wheel (19) is rotatably installed at the top of the upper end of conveyer belt support frame (3), the first belt-driven wheel
(7) it is connected to form conveyer belt transmission by conveyer belt (5) with the second belt-driven wheel (19), outside the conveyer belt (5)
Side is uniformly equipped with multiple conveyer belt partitions (6), before the high end and pineapple collecting box (15) of the conveyer belt support frame (3)
Side mutually abuts, and the transmission translator (14) connects with the output end of controller (24).
6. crawler type pineapple picking machine according to claim 5, it is characterised in that: the conveyer belt partition (6) and conveying
Angle between band (5) is 70 °~80 °.
7. crawler type pineapple picking machine according to claim 5, it is characterised in that: the first belt-driven wheel (7)
Left side and the second belt-driven wheel (19) left side between, the right side of the first belt-driven wheel (7) and the second conveyer belt
It is rotatably connected between the right side of driving wheel (19) conveyer belt side board (4), the conveyer belt side board (4) is poly- third
Alkene flexible plastic baffle.
8. crawler type pineapple picking machine described in accordance with the claim 1, it is characterised in that: the creeper undercarriage includes crawler belt
Vehicle frame (18) is mounted on crawler belt (1), track drive motor (2), crawler driving whell at left and right sides of the crawler belt vehicle frame (18)
(17) and support wheel (25) output of track drive motor (2), is fixedly mounted on positioned at the ipsilateral crawler driving whell (17)
On axis, the crawler driving whell (17) matches with crawler belt (1), is located at the support wheel (25) of crawler belt vehicle frame (18) side
Quantity is multiple, multiple uniformly distributed side peripheries in crawler belt vehicle frame (18) of support wheel (25), the track drive electricity
Machine (2) is mounted on crawler belt vehicle frame (18), and the track drive motor (2) connects with the output shaft of control cabinet (9).
9. crawler type pineapple picking machine described in accordance with the claim 1, it is characterised in that: the obstacle avoidance sensor (20) is
KS103 type obstacle avoidance sensor, the identification sensor (11-5) are DFROBOT Pixy CMUcam5 type image recognition sensor,
Described image transmission module (23) is HSV923 type image transmission module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822006570.8U CN209120674U (en) | 2018-11-30 | 2018-11-30 | Crawler type pineapple picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822006570.8U CN209120674U (en) | 2018-11-30 | 2018-11-30 | Crawler type pineapple picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209120674U true CN209120674U (en) | 2019-07-19 |
Family
ID=67247661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822006570.8U Expired - Fee Related CN209120674U (en) | 2018-11-30 | 2018-11-30 | Crawler type pineapple picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209120674U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328631A (en) * | 2018-11-30 | 2019-02-15 | 西安航空学院 | Crawler type pineapple picking machine |
| CN111802066A (en) * | 2020-07-21 | 2020-10-23 | 华南农业大学 | Pineapple picking machine and picking method based on machine vision |
| CN112275656A (en) * | 2020-10-12 | 2021-01-29 | 苏州品超智能设备有限公司 | Vegetable and fruit sorting robot and using method thereof |
-
2018
- 2018-11-30 CN CN201822006570.8U patent/CN209120674U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328631A (en) * | 2018-11-30 | 2019-02-15 | 西安航空学院 | Crawler type pineapple picking machine |
| CN111802066A (en) * | 2020-07-21 | 2020-10-23 | 华南农业大学 | Pineapple picking machine and picking method based on machine vision |
| CN111802066B (en) * | 2020-07-21 | 2022-02-15 | 华南农业大学 | Pineapple picking machine and picking method based on machine vision |
| CN112275656A (en) * | 2020-10-12 | 2021-01-29 | 苏州品超智能设备有限公司 | Vegetable and fruit sorting robot and using method thereof |
| CN112275656B (en) * | 2020-10-12 | 2022-07-01 | 苏州品超智能设备有限公司 | Vegetable and fruit sorting robot and using method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190719 |