CN211630902U - Automatic picking device suitable for fruits and vegetables - Google Patents
Automatic picking device suitable for fruits and vegetables Download PDFInfo
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- CN211630902U CN211630902U CN201922470035.2U CN201922470035U CN211630902U CN 211630902 U CN211630902 U CN 211630902U CN 201922470035 U CN201922470035 U CN 201922470035U CN 211630902 U CN211630902 U CN 211630902U
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Abstract
The utility model discloses an automatic device of picking suitable for fruit vegetables, including removing the frame, remove frame front end fixedly connected with push rod, the gomphosis is connected with two sets of bearings on the removal frame of push rod one side respectively, a fixedly connected with pneumatic cylinder in the bearing, the ejector pin top fixedly connected with installation piece of pneumatic cylinder, No. two pneumatic cylinders of installation piece one side fixedly connected with, the ejector pin end of No. two pneumatic cylinders is provided with the hydraulic stem No. one, No. two hydraulic stems of hydraulic stem bottom fixedly connected with, the terminal fixedly connected with mechanical grabbing device of ejector pin of No. two hydraulic stems, the relative lateral surface of a hydraulic stem is provided with branch and cuts the device, the upper end fixed surface of removing the frame other end is connected with fruit vegetables basket. The utility model has the advantages of it advances the accuracy height, degree of automation is high, the use is nimble, picking efficiently to pick, its mainly used fruit vegetables are automatic to be picked.
Description
Technical Field
The utility model relates to an equipment technical field is picked to fruit vegetables, specific automatic device of picking suitable for fruit vegetables that says so.
Background
Among the equipment is picked to current fruit vegetables, the automatic degree of picking of fruit vegetables is low, and most be half manual equipment, still need the manual work to operate during the picking, and the picking precision of current full automatization picking device is relatively poor, often makes the branch scissors device damage fruit vegetables to use not nimble enough, it is lower to pick efficiency.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned weak point that exists among the prior art, the utility model aims at providing a pick and advance the accuracy height, degree of automation is high, use nimble, pick efficient automatic harvesting device.
The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is: an automatic picking device suitable for fruits and vegetables comprises a moving frame, wherein a push rod is fixedly connected to the front end of the moving frame, two groups of bearings are respectively connected to the moving frame on one side of the push rod in an embedded mode, the bearings are symmetrically arranged on the edges of two sides of the moving frame, a first hydraulic cylinder is fixedly connected in each bearing, an installation block is fixedly connected to the top end of a mandril of each hydraulic cylinder, a second hydraulic cylinder is fixedly connected to one side of the installation block, the first hydraulic cylinder and the second hydraulic cylinder are arranged in a mutually perpendicular mode, two groups of installation plates are fixedly connected to the tail ends of the mandrils of the second hydraulic cylinders, a first hydraulic rod is fixedly connected between the two installation plates, a second hydraulic rod is fixedly connected to the bottom of the mandril of the first hydraulic rod, a mechanical grabbing device is fixedly connected to the tail ends of the mandrils, be located two sets ofly fixedly connected with mount pad on the moving vehicle frame between the pneumatic cylinder, mount pad upper end fixedly connected with power supply box, fixed mounting has power supply unit in the power supply box, fixedly connected with driving motor is distinguished to the power supply box both sides, fixedly connected with drive gear in driving motor's the axis of rotation, fixedly connected with drive gear on the lateral wall of a pneumatic cylinder, drive gear with drive gear intermeshing connects, the upper end fixed surface of the moving vehicle frame other end is connected with fruit vegetables basket.
The utility model discloses a hydraulic cylinder, including installation piece, installation piece top fixedly connected with U type support, the top both ends of U type support are fixedly connected with detection camera one number respectively, the direction of taking a candid photograph of camera with the direction that sets up of No. two pneumatic cylinders is the same.
No. two detection cameras of hydraulic stem top fixedly connected with, the direction of taking a candid photograph of No. two detection cameras with the pruning shear device direction of shearing is unanimous.
The mechanical grabbing device is a mechanical arm which is of a three-finger or two-finger structure, each finger is provided with three groups of knuckles, two adjacent groups of knuckles are connected in a clamping mode, a motion shaft is arranged in each knuckle, and each motion shaft is in transmission connection with a driver.
Each finger of the manipulator is connected with a rubber sleeve in a sleeved mode, and the surface of the rubber sleeve is connected with a pressure-sensitive sensor in an embedded mode.
The branch shears device includes the branch shears shell, shears sword, control motor, it is provided with two sets ofly and becomes scissors form hinged joint, and is two sets of to shear the sword setting inside the branch shears shell, the blade that shears the sword stretches out the branch shears shell sets up externally, and wherein a set of it connects through the gag lever post joint branch shears shell bottom, another group the fan-shaped gear of upper end hinge department fixedly connected with of shearing sword, fan-shaped gear meshing is connected with No. two fan-shaped gears, No. two fan-shaped gear fixed connection is in the axis of rotation of control motor, control motor fixed connection be in on the lateral surface of branch shears shell, fixedly connected with spring between the shearing sword other end.
The power box top end fixedly connected with control box, pneumatic cylinder, No. two pneumatic cylinders, hydraulic stem, No. two hydraulic stems, survey camera, No. two survey cameras, mechanical grabbing device, pruning device, driving motor, control motor all through the data line with control box is connected.
The middle part of the push handle at the upper end of the push rod is fixedly connected with an operating machine box, the surface of the operating machine box is provided with operating keys, and the operating machine box is connected with the control cabinet through a data line.
The utility model has the advantages that: this device can accurately detect the exact position of fruit vegetables through two visual angle location, and then improves branch shear device and mechanical grabbing device's operation and advances the accuracy, prevents accidental injury or grabs empty fruit vegetables, causes the damage of fruit vegetables, and this device still has that degree of automation is high, the walking is nimble, pick advantage such as efficient.
Drawings
Fig. 1 is a schematic view of the three-dimensional structure of the present invention.
In the figure: 1 travelling carriage, 2 push rods, 3 bearings, 4 hydraulic cylinders, 5 mounting blocks, 6 hydraulic cylinders, 7 mounting plates, 8 hydraulic rods, 9 hydraulic rods, 10 mechanical grabbing devices, 11 pruning devices, 12 power boxes, 14 driving motors, 14 fruit and vegetable baskets, 15U-shaped supports, 16 first detection cameras, 17 second detection cameras, 18 control cabinets and 19 operation machine boxes.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, an automatic picking device suitable for fruits and vegetables comprises a moving frame 1, a push rod 2 is fixedly connected to the front end of the moving frame 1, two sets of bearings 3 are respectively connected to the moving frame 1 on one side of the push rod 2 in an embedded manner, the bearings 3 are symmetrically arranged on the two side edges of the moving frame 1, a first hydraulic cylinder 4 is fixedly connected in each bearing 3, a mounting block 5 is fixedly connected to the top end of a mandril of each hydraulic cylinder, a second hydraulic cylinder 6 is fixedly connected to one side of the mounting block 5, the first hydraulic cylinder 4 and the second hydraulic cylinder 6 are arranged perpendicular to each other, two sets of mounting plates 7 are fixedly connected to the tail ends of the mandrils of the second hydraulic cylinders 6, a first hydraulic rod 8 is fixedly connected between the two sets of mounting plates 7, a second hydraulic rod 9 is fixedly connected to the bottom of the mandril of the first hydraulic rod 8, a mechanical gripping device 10 is, the movable frame is characterized in that a mounting seat is fixedly connected to the movable frame 1 between two groups of hydraulic cylinders 4, a power box 12 is fixedly connected to the upper end of the mounting seat, a power device is fixedly mounted in the power box 12 and is connected with all groups of electric equipment through wires and used for supplying power to the equipment, driving motors 13 are fixedly connected to two sides of the power box 12 respectively, driving gears are fixedly connected to rotating shafts of the driving motors 13, transmission gears are fixedly connected to the outer side walls of the hydraulic cylinders 4, the driving gears are meshed with the transmission gears and are connected with each other, and fruit and vegetable baskets 14 are fixedly connected to the upper end surfaces of the other ends of the movable frame 1.
In the utility model, the top end of the mounting block 5 is fixedly connected with a U-shaped bracket 15, two ends of the top of the U-shaped bracket 15 are respectively and fixedly connected with a first detection camera 16, and the snapping direction of the cameras is the same as the setting direction of a second hydraulic cylinder 6 and is used for catching the position of fruits and vegetables;
the top end of the first hydraulic rod 8 is fixedly connected with a second detection camera 17, and the snapshot direction of the second detection camera 17 is consistent with the shearing direction of the branch shearing device 11 and is used for accurately controlling the shearing device to accurately shear fruit and vegetable stalks;
the mechanical grabbing device 10 is a mechanical arm which is of a three-finger or two-finger structure, each finger is provided with three groups of knuckles, two adjacent groups of knuckles are connected in a clamping manner, a moving shaft is arranged in each group of knuckles, each group of moving shaft is in transmission connection with a driver, the drivers are used for grabbing fruits and vegetables, and the fruits and vegetables are prevented from falling after fruit stems are sheared;
each finger of the manipulator is connected with a rubber sleeve in a sleeved mode, and the surface of the rubber sleeve is connected with a pressure-sensitive sensor in an embedded mode, so that fruits and vegetables are prevented from being grabbed by too strong force;
the pruning device 11 comprises a pruning shell, shearing knives and a control motor, wherein the shearing knives are provided with two groups which are connected in a scissor-shaped hinge manner, the two groups of shearing knives are arranged inside the pruning shell, the cutting edges of the shearing knives extend out of the pruning shell and are arranged outside, one group of shearing knives is connected to the bottom of the pruning shell in a clamping manner through a limiting rod, a first sector gear is fixedly connected to the hinge at the upper end of the other group of shearing knives, the first sector gear is connected with a second sector gear in a meshing manner, the second sector gear is fixedly connected to a rotating shaft of the control motor, the control motor is fixedly connected to the outer side surface of the pruning shell, and a spring is fixedly connected between the other ends;
the top end of the power box 12 is fixedly connected with a control cabinet 18, and the first hydraulic cylinder 4, the second hydraulic cylinder 6, the first hydraulic rod 8, the second hydraulic rod 9, the first detection camera 16, the second detection camera 17, the mechanical grabbing device 10, the branch shearing device 11, the driving motor 13 and the control motor are all connected with the control cabinet 18 through data lines and used for coordinating the work of all groups of equipment;
the middle part of the push handle at the upper end of the push rod 2 is fixedly connected with an operating machine box 19, the surface of the operating machine box 19 is provided with operating keys, and the operating machine box 19 is connected with the control cabinet 18 through a data line and is used for manual control of the device.
The utility model discloses a theory of operation is: when the fruit and vegetable picking machine is used, fruits and vegetables are identified and analyzed through the first detection camera 16 and a target is confirmed to be picked, the picking operation is performed in the first step, the stretching direction of the second hydraulic cylinder 6 is adjusted through the driving motor 13, then the height of the branch shearing device 11 is adjusted through the first hydraulic cylinder 4, the branch shearing device 11 is stretched to the position close to the target through the second hydraulic cylinder 6 in the second step, in the third step, the direction of the second hydraulic cylinder 6 and the height of the branch shearing device 11 are adjusted again through image information shot by the second detection camera 17, after the adjustment is completed, in the fourth step, the second hydraulic cylinder 6 is extended to enable fruit and vegetable stems to be arranged between cutting edges of two groups of shearing knives, in the fifth step, the position height of the manipulator is adjusted through the first hydraulic rod 8, the manipulator is stretched to the fruits and vegetables through the second hydraulic rod 9, in the sixth step, the fruits and vegetables are grabbed by the manipulator and, cut off the fruit stem through opening and shutting of shearing sword, the seventh step, rotate through a pneumatic cylinder 4 of driving motor 13 control, make No. two pneumatic cylinders 6 towards 14 directions of fruit vegetables basket, then shrink a pneumatic cylinder 4 to the flexible distance of control No. two pneumatic cylinders 6 makes the fruit vegetables setting in 14 tops of fruit vegetables basket, loosens the manipulator at last, makes the fruit vegetables fall into fruit vegetables basket 14, thereby the completion is plucked the operation in proper order.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides an automatic device of picking suitable for fruit vegetables, includes moving vehicle frame (1), its characterized in that: the front end of the moving frame (1) is fixedly connected with a push rod (2), the moving frame (1) on one side of the push rod (2) is respectively connected with two groups of bearings (3) in an embedded mode, the bearings (3) are symmetrically arranged on the edges of two sides of the moving frame (1), a first hydraulic cylinder (4) is fixedly connected in each bearing (3), an installation block (5) is fixedly connected to the top end of a mandril of each hydraulic cylinder, a second hydraulic cylinder (6) is fixedly connected on one side of the installation block (5), the first hydraulic cylinder (4) and the second hydraulic cylinder (6) are perpendicular to each other, two groups of installation plates (7) are fixedly connected to the tail end of the mandril of the second hydraulic cylinder (6), a first hydraulic rod (8) is fixedly connected between the two groups of installation plates (7), and a second hydraulic rod (9) is fixedly connected to the bottom of the mandril, no. two hydraulic stem (9) ejector pin end fixedly connected with machinery grabbing device (10), fixedly connected with branch shears device (11) are located two sets ofly on the relative lateral surface of mounting panel (7) fixedly connected with mount pad on moving vehicle frame (1) between pneumatic cylinder (4), mount pad upper end fixedly connected with power supply box (12), fixed mounting has power supply unit in power supply box (12), power supply box (12) both sides fixedly connected with driving motor (13) respectively, fixedly connected with drive gear in the axis of rotation of driving motor (13), fixedly connected with drive gear on the lateral wall of pneumatic cylinder (4), drive gear with drive gear intermeshing connects, the last end fixed surface of moving vehicle frame (1) the other end is connected with fruit vegetables (14).
2. The automatic picking device suitable for fruits and vegetables according to claim 1, characterized in that: install piece (5) top fixedly connected with U type support (15), the top both ends of U type support (15) are fixedly connected with respectively and detect camera (16), the direction of taking a candid photograph of camera with the direction that sets up of No. two pneumatic cylinders (6) is the same.
3. The automatic picking device suitable for fruits and vegetables according to claim 2, characterized in that: no. two detection cameras (17) of hydraulic stem (8) top fixedly connected with, the direction of taking a candid photograph of No. two detection cameras (17) with the direction is unanimous in pruning shear device (11) shearing direction.
4. The automatic picking device suitable for fruits and vegetables according to claim 3, wherein: the mechanical grabbing device (10) is a mechanical arm which is of a three-finger or two-finger structure, each finger is provided with three groups of knuckles, the two adjacent groups of knuckles are connected in a clamping manner and are internally provided with motion shafts, and each group of motion shafts is in transmission connection with a driver.
5. The automatic picking device suitable for fruits and vegetables according to claim 4, wherein: each finger of the manipulator is connected with a rubber sleeve in a sleeved mode, and the surface of the rubber sleeve is connected with a pressure-sensitive sensor in an embedded mode.
6. The automatic picking device suitable for fruits and vegetables according to claim 5, wherein: branch shearing device (11) are including the branch shear shell, cut sword, control motor, it is provided with two sets ofly and becomes scissors form hinged joint, and is two sets of to cut the sword setting inside the branch shear shell, the blade that cuts the sword stretches out the branch shear shell sets up externally, and one of them is a set of it connects through the gag lever post joint branch shear shell bottom, another group cut the fan-shaped gear of upper end hinge department fixedly connected with of sword, fan-shaped gear meshing is connected with No. two fan-shaped gears, No. two fan-shaped gear fixed connection is in the axis of rotation of control motor, control motor fixed connection be in on the lateral surface of branch shear shell, fixedly connected with spring between the shearing sword other end.
7. The automatic picking device suitable for fruits and vegetables according to claim 6, wherein: the power supply box (12) top fixedly connected with control machine case (18), pneumatic cylinder (4), No. two pneumatic cylinders (6), hydraulic stem (8), No. two hydraulic stem (9), a survey camera (16), No. two survey camera (17), mechanical grabbing device (10), pruning device (11), driving motor (13), control motor all through the data line with control machine case (18) are connected.
8. The automatic picking device suitable for fruits and vegetables according to claim 7, wherein: the middle part of a push handle at the upper end of the push rod (2) is fixedly connected with an operating machine box (19), an operating key is arranged on the surface of the operating machine box (19), and the operating machine box (19) is connected with the control cabinet (18) through a data line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922470035.2U CN211630902U (en) | 2019-12-31 | 2019-12-31 | Automatic picking device suitable for fruits and vegetables |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922470035.2U CN211630902U (en) | 2019-12-31 | 2019-12-31 | Automatic picking device suitable for fruits and vegetables |
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| Publication Number | Publication Date |
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| CN211630902U true CN211630902U (en) | 2020-10-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922470035.2U Active CN211630902U (en) | 2019-12-31 | 2019-12-31 | Automatic picking device suitable for fruits and vegetables |
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| CN (1) | CN211630902U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112790006A (en) * | 2021-01-27 | 2021-05-14 | 江门职业技术学院 | Fruit and vegetable picking mechanical arm |
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2019
- 2019-12-31 CN CN201922470035.2U patent/CN211630902U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112790006A (en) * | 2021-01-27 | 2021-05-14 | 江门职业技术学院 | Fruit and vegetable picking mechanical arm |
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