CN209609232U - A kind of electric fruit picker - Google Patents
A kind of electric fruit picker Download PDFInfo
- Publication number
- CN209609232U CN209609232U CN201822130885.3U CN201822130885U CN209609232U CN 209609232 U CN209609232 U CN 209609232U CN 201822130885 U CN201822130885 U CN 201822130885U CN 209609232 U CN209609232 U CN 209609232U
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- carbon fiber
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- fiber pipe
- decelerating motor
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Abstract
The utility model discloses a kind of electric fruit pickers, including robot device, electric expansion lever apparatus, take-up and pay-off device, circuit drives control device and auxiliary device, take-up and pay-off device and circuit drives control device are arranged in electric expansion lever apparatus, the movable end of electric expansion lever apparatus is arranged in robot device, auxiliary device is located at the downside of robot device, connect with electric expansion lever apparatus；Robot device includes connecting rod, connecting rod, sliding block, sliding bar, guide rod, blade, decelerating motor one, screw rod one, feed screw nut one；Electric expansion lever apparatus includes carbon fiber pipe, decelerating motor two, screw rod two；Electric fruit picker can depresses button switch come control the flexible of carbon fiber six angle pipes, manipulator it is elastic come realize it is electronic win different height, different size of fruit, also replaceable different manipulator wins different cultivars fruit, convenient and efficient, time saving and energy saving.
Description
Technical field
The utility model relates to agricultural machinery technological field more particularly to a kind of electric fruit pickers.
Background technique
Fruit picking is very important link in modern agricultural production.Traditional fruit picking link, is by artificial
It climbs tree and picks or picked by ladder and self-made tool.Climbing tree, there are security risks for picking, and can be to fruit tree
It damages, while picking efficiency is also relatively low.Security risk is equally existed by ladder picking and picking efficiency also compares
It is low.Existing picker is due to the problem in design, in picking process, it is possible to injury can be generated to fruit, to influence
The quality of fruit and subsequent storage and transportation and the normal growth for influencing fruit tree, lead to the coming year underproduction.Existing large size picking robot, price
At high cost, machine is big, and planting requirement is stringent, selects picked technology immature, is unfavorable for small-sized orchard worker's industry and family fruit tree
Picking.
In order to improve production picking efficiency, the personal safety of picking personnel is protected, suitable for different fruit pickings, this reality
It is solved the above problems with novel by research and development electric fruit picker.
Utility model content
In order to solve defect existing for existing fruit picking technology, the utility model provides a kind of novel electric fruit
Picker.
To achieve the above object, the utility model uses following technical solutions: a kind of electric fruit picker,
Including robot device, electric expansion lever apparatus, take-up and pay-off device, circuit drives control device and auxiliary device, the folding and unfolding
Line apparatus and circuit drives control device are arranged in the electric expansion lever apparatus, and the robot device is arranged in the electricity
The movable end of dynamic Telescopic rod device, the auxiliary device are located at the downside of the robot device, fill with the electric telescopic rod
Set connection；
The robot device include rack, connecting rod, connecting rod, sliding block, sliding bar, guide rod, blade, decelerating motor one,
Shaft joint one, screw rod one and feed screw nut one；The rack is fixed on electric expansion lever apparatus, and the sliding block is set to the machine
The top of frame, the rack are equipped with slide opening, and the sliding bar is worn in slide opening on the rack, and the top of the sliding bar is solid
Determine on the slide block, the bottom of the sliding bar is equipped with thrust ring；Sub-arm, the sub-arm are obliquely installed in the rack
Hinged with connecting rod, the both ends of the connecting rod are hinged with the bottom of the sliding block and the connecting rod respectively, the blade setting
In the top of the connecting rod；The decelerating motor one is set to the lower section of the rack, and the decelerating motor one passes through shaft joint
One is connected with screw rod one, and the feed screw nut one is set on the screw rod one；The rack is equipped with guide hole, and the guide rod is worn
It is set on the rack in guide hole, the top of the guide rod is fixed on the slide block, and the bottom end of the guide rod is fixed on the silk
On stem nut one；
The electric expansion lever apparatus includes telescopic tube, decelerating motor two, shaft joint two and screw rod two；The deceleration electricity
Machine two, shaft joint two and screw rod two are all set in the telescopic tube, and the telescopic tube includes the pipe that more piece is mutually socketed
Body, the decelerating motor two are connected by shaft joint two with screw rod two, and multiple feed screw nuts, Duo Gesuo is arranged on the screw rod two
Feed screw nut is stated to be separately fixed in the tube body that more piece is mutually socketed.
Preferably, in the electric fruit picker, carbon fiber pipe that the telescopic tube is mutually socketed by four sections
Composition, first segment carbon fiber pipe sleeve is in the second section carbon fiber pipe, and the second section carbon fiber pipe sleeve is in third section carbon fiber pipe, and the
Three section carbon fiber pipe sleeves are in Section of four carbon fiber pipe.
Preferably, in the electric fruit picker, the decelerating motor two is fixed on first segment carbon fiber pipe bottom
Feed screw nut two, feed screw nut three and feed screw nut four, the feed screw nut two are arranged on the screw rod two and is fixed on second for portion
Carbon fiber pipe bottom is saved, the feed screw nut three is fixed on third section carbon fiber pipe bottom, and the feed screw nut four is fixed on the
In four section carbon fiber pipes.
Preferably, in the electric fruit picker, in the first segment carbon fiber pipe, the second section carbon fiber pipe and
The length of third section carbon fiber pipe is identical, 1/2 of length less than Section of four carbon fiber pipe length of the first segment carbon fiber pipe.
Preferably, in the electric fruit picker, the rack of the robot device is fixed on the first segment
The end of carbon fiber pipe, the decelerating motor one, shaft joint one and screw rod are all set in the inside of the first segment carbon fiber pipe.
Preferably, in the electric fruit picker, the take-up and pay-off device includes fixed frame, optical axis, slow down electricity
Machine three and bevel-gear sett；The fixed frame is fixed in Section of four carbon fiber pipe, and the decelerating motor three is fixed on fixed frame
On；
The pair of bevel gear is made of bevel gear one and bevel gear two, and the optical axis is threaded through on fixed frame, the cone
Gear one is connect with the shaft in decelerating motor three, and the bevel gear one engages with bevel gear two, and the bevel gear two is fixed on
On the optical axis, the conducting wire of the circuit drives control device is wrapped on optical axis, and the circuit drives control device is by leading
Line is the power supply of each component.
Preferably, in the electric fruit picker, the circuit drives control device include power supply, driver,
Control panel, Voltage stabilizing module and control panel；The power supply is mounted on the bottom of Section of four carbon fiber pipe, and the power supply passes through pressure stabilizing
Module is connect with control panel, and the control panel is connect with driver, and the driver is connect by conducting wire with each decelerating motor.
Preferably, in the electric fruit picker, the control panel is connect with control panel, the control panel
Section four, the grip part of carbon fiber pipe is set, and the control panel includes master switch and multiple keys, is controlled by master switch
The on-off of power supply is operated by multiple by each decelerating motor of key control.
Preferably, in the electric fruit picker, the auxiliary device includes fixing bracket and the string bag, described solid
Fixed rack is fixed at the top of the second section carbon fiber pipe, and connecting rope is arranged in the support bracket fastened side, and the fixed bracket passes through
Connecting rope is connect with the string bag, and the network interface of the string bag is located at the downside of the robot device.
Preferably, in the electric fruit picker, the robot device includes three connecting rods, in the machine
Three sub-arms are obliquely installed on frame, three sub-arms are hinged with three connecting rods respectively, hinged three on sliding block
A connecting rod, the other end of three connecting rods is hinged with the bottom of three connecting rods respectively, and the connecting rod is curved rod.
Compared with the existing technology, a kind of electric fruit picker beneficial effect provided by the utility model is: electric water
Fruit picker can extend two meter two or so, and the connecting rod in manipulator can also be replaced, and can pick different height, different big
Small, different types of fruit tree, applicability is wide；There are four key switch, when fruit-picking, need to only press electric fruit picker
It is elastic that diaphragm switch not only can control manipulator, but also can control manipulator different height, easy to operate；Electric fruit is adopted
Device and picking material is based on carbon fiber, light weight, is convenient for taking and placing, laborsaving convenient；After electric fruit picker grabs fruit, only
It needs first segment to retract, and fruit is fallen into the string bag, be also applied for fruit tree in great numbers, convenient for collecting fruit；The utility model knot
Structure is simple, and processing and fabricating is convenient, and Costco Wholesale is low, has good market application value.
Detailed description of the invention
Fig. 1 is a kind of electric fruit picker structural schematic diagram of the utility model；
Fig. 2 is the robot device structural schematic diagram of the utility model；
Fig. 3 is the electric telescopic rod apparatus structure schematic diagram of the utility model；
Fig. 4 is the take-up and pay-off device structural schematic diagram of the utility model；
Fig. 5 is the circuit drives controling device structure diagram of the utility model；
Fig. 6 is the assistant apparatus structure schematic diagram of the utility model；
Shown in the figures above: robot device (100), connecting rod (101), connecting rod (102), sliding block (103), rack
(104), blade (105), guide rod (106), sliding bar (107), thrust ring (108), feed screw nut one (109), screw rod one
(110), shaft joint one (111), decelerating motor one (112), fruit (113), electric expansion lever apparatus (200), first segment carbon fiber
Dimension pipe (201), the second section carbon fiber pipe (202), third section carbon fiber pipe (203), Section of four carbon fiber pipe (204), slow down electricity
Machine two (205), shaft joint two (206), feed screw nut two (207), feed screw nut three (208), feed screw nut four (209), screw rod
Two (210), take-up and pay-off device (300), bevel gear two (301), optical axis (302), fixed frame (303), decelerating motor three (304),
Winding roll (305), circuit drives control device (400), Voltage stabilizing module (401), control panel (402), driver (403), power supply
(404), master switch (405), key (406), auxiliary device (500), fixed bracket (501), network interface (502), the string bag (503).
Specific embodiment
For the ease of understanding the utility model, in the following with reference to the drawings and specific embodiments, the utility model is carried out more detailed
Thin explanation.The preferred embodiment of the utility model is given in attached drawing.But the utility model can be with many different
Form is realized, however it is not limited to this specification described embodiment.On the contrary, purpose of providing these embodiments is makes to this
The understanding of the disclosure of utility model is more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term used in this specification " successively ", " wearing ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, technical and scientific term all used in this specification and the skill for belonging to the utility model
The normally understood meaning of the technical staff in art field is identical.Art used in the description of the utility model in this specification
Language, which is only for the purpose of describing specific embodiments, is not intended to limitation the utility model.Term used in this specification
"and/or" includes any and all combinations of one or more related listed items.
As shown in Figures 1 to 6, technology official documents and correspondence provided by the utility model, a kind of electric fruit picker, including machinery
Arm device (100), electric expansion lever apparatus (200), take-up and pay-off device (300), circuit drives control device (400) and auxiliary dress
Set (500)；The take-up and pay-off device (300) and circuit drives control device (400) are arranged in the electric expansion lever apparatus
(200) in, movable end of robot device (100) setting in the electric expansion lever apparatus (200), the auxiliary device
(500) it is located at the downside of the robot device (100), is connect with the electric expansion lever apparatus (200).It is selected in the present embodiment
Soft copy is prior art products.
The robot device (100) includes rack (104), connecting rod (102), connecting rod (101), sliding block (103), sliding
Bar (107), guide rod (106), blade (105), decelerating motor one (112), shaft joint one (111), screw rod one (110) and screw rod spiral shell
Female one (109)；The rack (104) is fixed on electric expansion lever apparatus, and the sliding block (103) is set to the rack (104)
Top, the rack (104) be equipped with slide opening, the sliding bar (107) is threaded through in the slide opening on rack (104), described
The top of sliding bar (107) is fixed on the sliding block (103), and the bottom of the sliding bar (107) is equipped with thrust ring；The machine
Be obliquely installed sub-arm on frame (104), the sub-arm and connecting rod (101) hingedly, the both ends of the connecting rod (102) respectively with
The bottom of the sliding block (103) and the connecting rod (101) is hinged, and the blade (105) is set to the connecting rod (101)
Top；The decelerating motor one (112) is set to the lower section of the rack (104), and the decelerating motor one (112) passes through shaft joint
One (111) are connected with screw rod one (110), and the feed screw nut one (109) is set on the screw rod one (110)；The rack
(104) it is equipped with guide hole, the guide rod (106) is threaded through in the guide hole on rack (104), and the top of the guide rod (106) is solid
It is scheduled on the sliding block (103), the bottom end of the guide rod (106) is fixed on the feed screw nut one (109)；Preferably, institute
Stating robot device includes three connecting rods (101), three sub-arms is obliquely installed on the rack (104), described in three
Sub-arm respectively with three connecting rods (101) hingedly, hinged three connecting rods (102), three connecting rods on sliding block (103)
(102) the other end is hinged with the bottom of three connecting rods (101) respectively, and the connecting rod (101) is curved rod.It is preferred that
, the robot device includes two guide rods, sets two guide holes on the rack (104), the guide rod (106) is threaded through machine
In guide hole on frame (104), the top of two guide rods (106) is fixed on the sliding block (103), the guide rod (106)
Bottom end be fixed on the feed screw nut one (109)；Preferably, the robot device includes three sliding bars, the machine
It is set on frame (104) there are three slide opening, three sliding bars (107) are threaded through in three slide openings on rack (104), three institutes
The top for stating sliding bar (107) is fixed on the sliding block (103).
The rack (104) of the robot device is fixed on the first segment carbon fiber pipe of the electric expansion lever apparatus
(201) end, the decelerating motor one (112), shaft joint one (111) and screw rod are all set in the first segment carbon fiber pipe
(201) inside.The blade (105) is fixed on the top of connecting rod (101)；The connecting rod (101) is replaceable frame linking
Bar, can be with dismounting and change；The sliding block (103) is connected with connecting rod (102) and is fixed on guide rod (106)；The sliding bar
(107) it is fixedly connected on sliding block (103) with rack (104)；The decelerating motor one (112) by shaft joint one (111) with
Screw rod one (110) is connected；The feed screw nut one (109) is fixed on guide rod (106), and is connected with screw rod one (110).
When decelerating motor one (112) rotates forward, feed screw nut one (109) is in screw rod one (110) and first segment carbon fiber hexagonal
It managing and is moved up under the constraint of (201), feed screw nut one (109) moves up sliding block (103) by guide rod (106), thus
Rotate connecting rod (101), manipulator opens；When decelerating motor one (112) inverts, feed screw nut one (109) is in screw rod one
(110) it is moved down under the constraint of first segment carbon fiber six angle pipes (201), feed screw nut one (109) is made by guide rod (106)
Sliding block (103) moves down, so that connecting rod (101) be made to rotate, manipulator closure is clamped fruit (113).
The electric expansion lever apparatus includes telescopic tube, decelerating motor two (205), shaft joint two (206) and screw rod two
(210)；The decelerating motor two (205), shaft joint two (206) and screw rod two (210) are all set in the telescopic tube, institute
Stating telescopic tube includes the tube body that more piece is mutually socketed, and the decelerating motor two (205) passes through shaft joint two (206) and screw rod two
(210) it is connected, multiple feed screw nuts is set on the screw rod two (210), and multiple feed screw nuts are separately fixed at more piece phase
In the tube body being mutually socketed.Preferably, the telescopic tube is made of the carbon fiber pipe that four sections are mutually socketed, first segment carbon fiber pipe
(201) it covering in the second section carbon fiber pipe (202), the second section carbon fiber pipe (202) covers in third section carbon fiber pipe (203),
Third section carbon fiber pipe (203) covers in Section of four carbon fiber pipe (204).Preferably, selected carbon fiber pipe is carbon fiber
Six angle pipes.Preferably, the decelerating motor two (205) is fixed on first segment carbon fiber pipe (201) bottom, the screw rod two
(210) feed screw nut two (207), feed screw nut three (208) and feed screw nut four (209), the feed screw nut two are set on
(207) it is fixed on second section carbon fiber pipe (202) bottom, the feed screw nut three (208) is fixed on third section carbon fiber pipe
(203) bottom, the feed screw nut four (209) are fixed in Section of four carbon fiber pipe (204).
The first segment carbon fiber pipe (201), in the second section carbon fiber pipe (202) and third section carbon fiber pipe (203)
Length is identical, and the 1/2 of less than Section four carbon fiber pipe (204) length of length of the first segment carbon fiber pipe (201).It is preferred that
, the four sections carbon fiber six angle pipes are can to form the close casing of four sections；The decelerating motor two (205) is fixed on first segment carbon
Fiber six angle pipes (201) bottom, the four sections carbon fiber six angle pipes are the six angle pipes of four section different size length, first segment carbon fiber
Dimension six angle pipes (201) lower tube is outer wall thickness, and at the top of the second section carbon fiber six angle pipes (202) be interior wall thickness and lower tube is outer wall
Thickness, third section carbon fiber six angle pipes (203) top is interior wall thickness and lower tube is outer wall thickness, Section of four carbon fiber six angle pipes
(204) head tube is interior wall thickness, does not fall off its sliding but.The a length of 500mm of the first segment carbon fiber six angle pipes (201)；Institute
State second section carbon fiber six angle pipes (202) a length of 500mm；The a length of 500mm of the third section carbon fiber six angle pipes (203)；It is described
Section four, a length of 1200mm of carbon fiber six angle pipes (204).Preferably, the feed screw nut two (207) is fixed on the second section carbon fiber
Bottom of the tube is tieed up, feed screw nut three (208) is fixed on third section carbon fiber pipe bottom, and feed screw nut four (209) is fixed on Section four
At carbon fiber pipe 500mm.The a length of 500mm of screw rod two (210), bottom is tip, convenient for guidance screw rod two (210) in screw rod
Nut cooperation.
Decelerating motor two (205) rotates forward, and feed screw nut four (209) is in screw rod two (210) and Section of four carbon fiber six angle pipes
(204) it is moved up under constraint, and by first segment carbon fiber six angle pipes (201), the second section carbon fiber six angle pipes (202),
Three section carbon fiber six angle pipes (203) are released together, when feed screw nut four (209) will be disengaged from screw rod two (210), feed screw nut
Three (208), which enter screw rod two (210), a position, and subsequent feed screw nut three (208) is in screw rod two (210) and third section carbon fiber
It is moved up under the constraint of six angle pipes (203), and by first segment carbon fiber six angle pipes (201), the second section carbon fiber six angle pipes
(202) it releases together, when feed screw nut three (208) will be disengaged from screw rod two (210), feed screw nut two (207) enters screw rod
There are a position, pact of the subsequent feed screw nut two (207) in screw rod two (210) and the second section carbon fiber six angle pipes (202) in two (210)
It is moved up under beam, and first segment carbon fiber six angle pipes (201) is released, robot device (100) is sent to eminence；Slow down electricity
Machine two (205) reversion, feed screw nut two (207) under the constraint of screw rod two (210) and the second section carbon fiber six angle pipes (202) to
Lower movement, and first segment carbon fiber six angle pipes (201) are retracted, screw rod two (210) nothing will be entered in feed screw nut two (207)
When silk position, feed screw nut three (208) enters screw rod two (210) just, and feed screw nut three (208) is in screw rod two (210) and the
It is moved down under the constraint of three section carbon fiber six angle pipes (203), and the second section carbon fiber six angle pipes (202) is retracted, in screw rod
When nut three (208) will enter screw rod two (210) without silk position, feed screw nut four (209) enters screw rod two (210) just.
Feed screw nut four (209) moves down under screw rod two (210) and the constraint of Section of four carbon fiber six angle pipes (204), and by
Three section carbon fiber six angle pipes (203) retract.
The take-up and pay-off device includes fixed frame (303), optical axis (302), decelerating motor three (304) and bevel-gear sett；
The fixed frame (303) is fixed in Section of four carbon fiber pipe (204), and the decelerating motor three (304) is fixed on fixed frame
(303) on；The pair of bevel gear is made of bevel gear one and bevel gear two (301), and the optical axis (302) is threaded through fixed frame
(303) on, the bevel gear one connect with the shaft in decelerating motor three (304), the bevel gear one and bevel gear two (301)
Engagement, the bevel gear two (301) are fixed on the optical axis (302), and the conducting wire of the circuit drives control device is wrapped in
On optical axis (302), the circuit drives control device is the power supply of each component by conducting wire.Preferably, it is set on the optical axis (302)
Have winding roll (305), the conducting wire is wrapped on winding roll (305).
The fixed frame (303) is fixed in Section of four carbon fiber six angle pipes (204) at away from bottom 200mm；The deceleration
Motor three (304) is fixed on fixed frame (303)；The optical axis (302) in fixed frame (303) clearance fit；Bevel gear one
It is fixed on decelerating motor three (304) axis, bevel gear two (301) is fixed on optical axis (302), and conducting wire is wrapped in optical axis (302)
On.Decelerating motor three (304) reversion, bevel gear two (301) drive optical axis (302) reversion, make to be wrapped in leading on optical axis (302)
Line unclamps；Decelerating motor three (304) rotates forward, and bevel gear two (301) drives optical axis (302) to rotate forward, and conducting wire is made to be wrapped in optical axis
(302) on.
The circuit drives control device includes power supply (404), driver (403), control panel (402), Voltage stabilizing module
(401) and control panel；The power supply (404) is mounted on the bottom of Section of four carbon fiber pipe (204), and the power supply (404) is logical
It crosses Voltage stabilizing module (401) to connect with control panel (402), the control panel (402) connect with driver (403), the driver
(403) it is connect by conducting wire with each decelerating motor.Preferably, the control panel is connect with control panel (402), the control
Panel is arranged in the grip part of Section of four carbon fiber pipe (204), and the control panel includes master switch (405) and multiple keys
(406), by the on-off of master switch (405) control power supply (404), each decelerating motor is controlled by multiple keys (406) and is transported
Turn.
The power supply (404) is 12V；The Voltage stabilizing module (401) powers 12V pressure stabilizing to 5V for control panel (402)；
The control panel (402) controls driver (403)；The driver (403) drives decelerating motor positive and negative rotation, and the open button is opened
It closes (406) and controls decelerating motor positive and negative rotation.
The key (406) is diaphragm switch, is fixed at Section of four carbon fiber six angle pipes (204) holding；Key (406)
It is switched for four thin slice buttons, two of them thin slice button controls the decelerating motor positive and negative rotation of robot device (100), as
" opening " " conjunction " two key；Deceleration in another two thin slice button control electric expansion lever apparatus (200), take-up and pay-off device (300)
Motor positive and inverse as " stretches " " contracting " two key.
Key, i.e. control panel (402) control driver (403) " are opened " in depresses button switch (406), drive decelerating motor
One (112) rotate forward；" conjunction " key in open button switch (406), i.e. control panel (402) control driver (403) are pressed, slow down electricity
Machine one (112) reversion；Key, i.e. control panel (402) control driver (403) " are stretched " in depresses button switch (406), driving subtracts
Speed motor two (205) rotates forward, driving decelerating motor three (304) reversion；Depresses button switchs " contracting " key in (406), that is, controls
Plate (402) controls driver (403), and driving decelerating motor two (205) reversion, driving decelerating motor three (304) rotates forward.Slow down electricity
Machine two (205) reversion.
The auxiliary device includes fixed bracket (501) and the string bag (503), and the fixed bracket (501) is fixed on second
It saves at the top of carbon fiber pipe (202), connecting rope is arranged in the side of the fixed bracket (501), and the fixed bracket (501) passes through company
Splicing is connect with the string bag (503), and the network interface (502) of the string bag (503) is located at the downside of the robot device.The auxiliary device
It further include knapsack or cart etc., fixed bracket is fixed at the top of the second section carbon fiber six angle pipes (202), and adjustable fixed angle is plucked
Manipulator unclamps after first segment carbon fiber six angle pipes (201) retract after fruit, and fruit (113) can be fallen into the string bag (503), and be fallen into
In knapsack or cart.
Electric fruit picker in the present embodiment can be divided into and just prepare picking step, picking step and recycling step,
Prepare according to the size requirements of apple, suitable manipulator to be selected to grab, if apple diameter is about in 80mm in picking step first
Left and right is selected half connecting rod (101) through being 60mm, after installing, is opened master switch (405), depresses button switchs in (406)
" stretching " key, i.e. control panel (402) control driver (403), and driving decelerating motor two (205) rotates forward, and drive decelerating motor three
(304) it inverts；Decelerating motor two (205) rotates forward, and feed screw nut four (209) is in screw rod two (210) and Section of four carbon fiber hexagonal
Manage (204) constraint under move up, and by first segment carbon fiber six angle pipes (201), the second section carbon fiber six angle pipes (202),
Third section carbon fiber six angle pipes (203) are released together, when feed screw nut four (209) will be disengaged from screw rod two (210), screw rod spiral shell
Female three (208), which enter screw rod two (210), a position, and subsequent feed screw nut three (208) is in screw rod two (210) and third section carbon fiber
It ties up and is moved up under the constraint of six angle pipes (203), and by first segment carbon fiber six angle pipes (201), the second section carbon fiber six angle pipes
(202) it releases together, when feed screw nut three (208) will be disengaged from screw rod two (210), feed screw nut two (207) enters screw rod
There are a position, pact of the subsequent feed screw nut two (207) in screw rod two (210) and the second section carbon fiber six angle pipes (202) in two (210)
It is moved up under beam, and first segment carbon fiber six angle pipes (201) is released, according to the height of apple, with key switch (406)
Length of time determines the elongation of carbon fiber pipe, and robot device (100) is sent to different eminences；Decelerating motor three
(304) it inverts, bevel gear two (301) drives optical axis (302) reversion, unclamps the conducting wire being wrapped on optical axis (302).
In picking step, key, i.e. control panel (402) control driver (403) " are opened " in depresses button (406), is driven
Dynamic decelerating motor one (112) rotates forward, and feed screw nut one (109) is in screw rod one (110) and first segment carbon fiber six angle pipes (201)
It is moved up under constraint, feed screw nut one (109) makes sliding block (103) move up 13mm or so by guide rod (106), to make
Connecting rod (101) rotates 32 ° or so, and manipulator opens.After robot device (100) the alignment apple of opening, depresses button is opened
" conjunction " key in (406), i.e. control panel (402) control driver (403) are closed, decelerating motor one (112) reversion, feed screw nut one
(109) it is moved down under screw rod one (110) and the constraint of first segment carbon fiber six angle pipes (201), feed screw nut one (109) is logical
Crossing guide rod (106) moves down sliding block (103), so that connecting rod (101) are rotated, manipulator closure, i.e. connecting rod (101)
On blade (105) closure, cut off the carpopodium of apple, it is inner that apple falls in robot device (100).Depresses button switchs (406)
In " contracting " key, i.e., control panel (402) control driver (403), driving decelerating motor two (205) reversion, feed screw nut two
(207) it is moved down under screw rod two (210) and the constraint of the second section carbon fiber six angle pipes (202), and by first segment carbon fiber
Six angle pipes (201) retract, i.e., robot device (100) drops to the net being fixed at the top of the second section carbon fiber six angle pipes (202)
At pocket (503).Key " is opened " in depresses button switch (406), manipulator opens, and apple falls into the string bag (503), finally falls into
In knapsack or cart.Key " is opened " in depresses button switch (406) again, manipulator opens, and presses in open button switch (406)
" stretching " key, first segment carbon fiber six angle pipes (201) are released, win another apple, and so on operate, win other eminences
Apple.
In recycling step, depresses button switchs " contracting " key in (406), i.e. control panel (402) controls driver
(403), driving decelerating motor two (205) reversion, driving decelerating motor three (304) rotate forward.Decelerating motor two (205) reversion, silk
Stem nut two (207) moves down under screw rod two (210) and the constraint of the second section carbon fiber six angle pipes (202), and by first
Carbon fiber six angle pipes (201) are saved to retract, when feed screw nut two (207) will enter screw rod two (210) without silk position, screw rod spiral shell
Female three (208) enter screw rod two (210) just.Feed screw nut three (208) is in screw rod two (210) and third section carbon fiber six angle pipes
(203) moved down under constraint, and the second section carbon fiber six angle pipes (202) retracted, feed screw nut three (208) will be into
When entering screw rod two (210) without silk position, feed screw nut four (209) enters screw rod two (210) just.Feed screw nut four (209) In
It is moved down under screw rod two (210) and the constraint of Section of four carbon fiber six angle pipes (204), and by third section carbon fiber six angle pipes
(203) it retracts.Decelerating motor three (304) rotates forward, and bevel gear two (301) drives optical axis (302) to rotate forward, and conducting wire is made to be wrapped in optical axis
(302) on.It closes master switch (405).
It should be noted that above-mentioned each technical characteristic continues to be combined with each other, the various embodiments not being enumerated above are formed,
It is accordingly to be regarded as the range of the utility model specification record；Also, it for those of ordinary skills, can be according to above stating
It is bright to be improved or converted, and all these modifications and variations all should belong to the protection model of the appended claims for the utility model
It encloses.
Claims (10)
1. a kind of electric fruit picker, which is characterized in that including robot device, electric expansion lever apparatus, wire coiling and releasing
It sets, circuit drives control device and auxiliary device, the take-up and pay-off device and circuit drives control device are arranged described electronic
In Telescopic rod device, the movable end of the electric expansion lever apparatus is arranged in the robot device, and the auxiliary device is located at
The downside of the robot device is connect with the electric expansion lever apparatus；
The robot device includes rack, connecting rod, connecting rod, sliding block, sliding bar, guide rod, blade, decelerating motor one, connecting shaft
Device one, screw rod one and feed screw nut one；The rack is fixed on electric expansion lever apparatus, and the sliding block is set to the rack
Top, the rack are equipped with slide opening, and the sliding bar is worn in slide opening on the rack, and the top of the sliding bar is fixed on
On the sliding block, the bottom of the sliding bar is equipped with thrust ring；Sub-arm, the sub-arm and company are obliquely installed in the rack
Hack lever is hinged, and the both ends of the connecting rod are hinged with the bottom of the sliding block and the connecting rod respectively, and the blade is set to institute
State the top of connecting rod；The decelerating motor one be set to the rack lower section, the decelerating motor one by shaft joint one with
Screw rod one is connected, and the feed screw nut one is set on the screw rod one；The rack is equipped with guide hole, and the guide rod is threaded through
In guide hole in rack, the top of the guide rod is fixed on the slide block, and the bottom end of the guide rod is fixed on the screw rod spiral shell
On mother one；
The electric expansion lever apparatus includes telescopic tube, decelerating motor two, shaft joint two and screw rod two；The decelerating motor
Two, shaft joint two and screw rod two are all set in the telescopic tube, and the telescopic tube includes the tube body that more piece is mutually socketed,
The decelerating motor two is connected by shaft joint two with screw rod two, and multiple feed screw nuts are arranged on the screw rod two, multiple described
Feed screw nut is separately fixed in the tube body that more piece is mutually socketed.
2. electric fruit picker according to claim 1, which is characterized in that the telescopic tube is mutually covered by four sections
The carbon fiber pipe composition connect, first segment carbon fiber pipe sleeve is in the second section carbon fiber pipe, and the second section carbon fiber pipe sleeve is in third section
In carbon fiber pipe, third section carbon fiber pipe sleeve is in Section of four carbon fiber pipe.
3. electric fruit picker according to claim 2, which is characterized in that the decelerating motor two is fixed on first
Carbon fiber pipe bottom is saved, feed screw nut two, feed screw nut three and feed screw nut four, the feed screw nut are set on the screw rod two
Two are fixed on the second section carbon fiber pipe bottom, and the feed screw nut three is fixed on third section carbon fiber pipe bottom, the screw rod spiral shell
Mother four is fixed in Section of four carbon fiber pipe.
4. electric fruit picker according to claim 3, which is characterized in that the first segment carbon fiber pipe, second
It saves in carbon fiber pipe and the length of third section carbon fiber pipe is identical, less than Section four carbon fiber of length of the first segment carbon fiber pipe
Tie up the 1/2 of length of tube.
5. electric fruit picker according to claim 2, which is characterized in that the rack of the robot device is fixed
In the end of the first segment carbon fiber pipe, the decelerating motor one, shaft joint one and screw rod are all set in the first segment carbon
The inside of fibre pipe.
6. electric fruit picker according to claim 2, which is characterized in that the take-up and pay-off device includes fixing
Frame, optical axis, decelerating motor three and bevel-gear sett；The fixed frame is fixed in Section of four carbon fiber pipe, the decelerating motor
Three are fixed on fixed frame；
The pair of bevel gear is made of bevel gear one and bevel gear two, and the optical axis is threaded through on fixed frame, the bevel gear
One connect with the shaft in decelerating motor three, and the bevel gear one engages with bevel gear two, and the bevel gear two is fixed on described
On optical axis, the conducting wire of the circuit drives control device is wrapped on optical axis, and the circuit drives control device is by conducting wire
Each component power supply.
7. electric fruit picker according to claim 2, which is characterized in that the circuit drives control device includes
Power supply, driver, control panel, Voltage stabilizing module and control panel；The power supply is mounted on the bottom of Section of four carbon fiber pipe, described
Power supply is connect by Voltage stabilizing module with control panel, and the control panel is connect with driver, the driver pass through conducting wire with it is each
Decelerating motor connection.
8. electric fruit picker according to claim 7, which is characterized in that the control panel and control panel connect
It connecing, the control panel is arranged in the grip part of Section of four carbon fiber pipe, and the control panel includes master switch and multiple keys,
The on-off that power supply is controlled by master switch is operated by multiple by each decelerating motor of key control.
9. electric fruit picker according to claim 2, which is characterized in that the auxiliary device includes fixed bracket
With the string bag, the fixed bracket is fixed at the top of the second section carbon fiber pipe, and connecting rope is arranged in the support bracket fastened side, described
Fixed bracket is connect by connecting rope with the string bag, and the network interface of the string bag is located at the downside of the robot device.
10. -9 any electric fruit picker according to claim 1, which is characterized in that the robot device packet
Include three connecting rods, be obliquely installed three sub-arms in the rack, three sub-arms respectively with three frame linkings
Bar is hinged, and hinged three connecting rods on sliding block, the other end of three connecting rods is hinged with the bottom of three connecting rods respectively, institute
Stating connecting rod is curved rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822130885.3U CN209609232U (en) | 2018-12-19 | 2018-12-19 | A kind of electric fruit picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822130885.3U CN209609232U (en) | 2018-12-19 | 2018-12-19 | A kind of electric fruit picker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209609232U true CN209609232U (en) | 2019-11-12 |
Family
ID=68446050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822130885.3U Expired - Fee Related CN209609232U (en) | 2018-12-19 | 2018-12-19 | A kind of electric fruit picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209609232U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392444A (en) * | 2018-12-19 | 2019-03-01 | 许昌学院 | A kind of electric fruit picker |
-
2018
- 2018-12-19 CN CN201822130885.3U patent/CN209609232U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109392444A (en) * | 2018-12-19 | 2019-03-01 | 许昌学院 | A kind of electric fruit picker |
| CN109392444B (en) * | 2018-12-19 | 2024-03-26 | 许昌学院 | Electric fruit picking device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191112 Termination date: 20201219 |