CN214257217U - Crawler-type agricultural picking robot - Google Patents
Crawler-type agricultural picking robot Download PDFInfo
- Publication number
- CN214257217U CN214257217U CN202022409863.8U CN202022409863U CN214257217U CN 214257217 U CN214257217 U CN 214257217U CN 202022409863 U CN202022409863 U CN 202022409863U CN 214257217 U CN214257217 U CN 214257217U
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- connecting arm
- motor
- arm
- output gear
- picking
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Abstract
The utility model discloses a crawler-type agricultural picking robot, wherein the output end sleeve of a first motor is provided with a first output gear, the picking arm is provided with a first transmission gear, the first output gear is meshed with the first transmission gear, a second connecting arm is positioned inside the first connecting arm, the second connecting arm is provided with a tooth part, the output end sleeve of the second motor is provided with a second output gear, the second output gear corresponds to the tooth part of the second connecting arm, a picking worker controls the first motor through a master controller, the first motor drives the first output gear to rotate, so that the picking arm moves, the second motor is driven by the master controller, the second motor drives the second output gear to rotate, the second output gear is meshed with the tooth part of the second connecting arm, thereby lengthening the length of the picking arm so that the picking arm can pick fruit located at a high position.
Description
Technical Field
The utility model relates to an agricultural apparatus technical field especially relates to a crawler-type agricultural picking robot.
Background
In daily production, the fruit tree picking is mostly carried out by using a hand-held special tool to pick forest fruits, but for some fruit trees with higher trunks, fruits are picked in such a way that the fruits are difficult to pick and the picking worker has higher working strength.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a crawler-type agricultural picking robot aims at solving the artifical specialized tool of handing of adoption among the prior art and picks the forest fruit, is difficult to pick the fruit of high higher department, and picks the great technical problem of workman's working strength.
In order to achieve the above object, the utility model discloses a crawler-type agricultural picking robot, including master controller, two crawler-type moving feet, mounting panel, installed part, picking arm and control mechanism, each the crawler-type moving foot with mounting panel fixed connection, and be located the both sides of mounting panel, the installed part with mounting panel fixed connection and be located the top of mounting panel, picking arm with the installed part swing joint, and be located the installed part is kept away from the one end of mounting panel, control mechanism includes first motor, first output gear and first transmission gear, first motor with the mounting panel can dismantle the connection, and be located the top of mounting panel, the output pot head of first motor is equipped with the first output gear, be provided with on the picking arm the first transmission gear, first output gear with first transmission gear engagement, the picking arm comprises a first connecting arm, a second connecting arm, a first placing plate, a second motor and a second output gear, the first connecting arm is arranged in a hollow structure, a sliding rail is arranged in the first connecting arm, a sliding groove is arranged on the second connecting arm, the second connecting arm is positioned in the first connecting arm, the sliding rail corresponds to the sliding groove, a tooth part is arranged on the second connecting arm, the first placing plate is fixedly connected with the first connecting arm and positioned at one side of the first connecting arm, the second motor is detachably connected with the first placing plate and positioned above the first placing plate, the output end of the second motor is sleeved with the second output gear, the outer wall of the first connecting arm is also provided with a rotating groove, the second output gear corresponds to the rotating groove and corresponds to the tooth part of the second connecting arm, the first motor and the second motor are both electrically connected with the main controller.
The crawler-type agricultural picking robot further comprises a cutting mechanism, wherein the cutting mechanism is fixedly connected with the second connecting arm and is positioned at one end, far away from the mounting piece, of the second connecting arm.
Wherein, tailoring mechanism includes that first cutter, second place board and power unit, first cutter with second linking arm fixed connection, the second cutter with second linking arm swing joint, the second place the board with second linking arm fixed connection, and be located the second linking arm is kept away from one side of installed part, the second is placed and is provided with on the board power unit, power unit with the second cutter rotates to be connected.
Wherein, first cutter includes cutter body and axis of rotation, be provided with the mounting groove on the second linking arm and rotate the hole, the cutter body is located in the mounting groove, the axis of rotation with cutter body fixed connection, the axis of rotation runs through rotate the hole.
The power mechanism comprises a third motor and a third output gear, the third motor is detachably connected with the second placing plate and is located above the second placing plate, the third output gear is sleeved at the output end of the third motor, a clamping tooth is arranged at one end of the rotating shaft, the third output gear is meshed with the clamping tooth, and the third motor is electrically connected with the main controller.
The crawler-type agricultural picking robot further comprises a picking net bag, one end of the picking net bag is fixedly connected with the second connecting arm, and a bag body of the picking net bag is located below the cutting mechanism.
The beneficial effects of the utility model are embodied in: the output end sleeve of the first motor is provided with the first output gear, the picking arm is provided with the first transmission gear, the first output gear is meshed with the first transmission gear, the second connecting arm is positioned inside the first connecting arm, the second connecting arm is provided with a tooth part, the output end sleeve of the second motor is provided with the second output gear, the outer surface wall of the first connecting arm is further provided with a rotating groove, the second output gear corresponds to the rotating groove and corresponds to the tooth part of the second connecting arm, the first motor and the second motor are both electrically connected with the main controller, a picking worker controls the crawler-type agricultural picking robot to reach the position below a fruit tree to be picked through the main controller, the main controller controls the first motor, and the first motor drives the first output gear to rotate, the picking arm moves under the action of the first transmission gear, the second motor is driven by the main controller and drives the second output gear to rotate, and the tooth part on the second connecting arm is meshed with the second output gear, so that the second connecting arm moves in the first connecting arm, the length of the picking arm is lengthened, and the picking arm can pick fruits at a high position.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the crawler-type agricultural picking robot of the utility model.
Fig. 2 is an enlarged schematic view of a partial structure at a in fig. 1 according to the present invention.
Fig. 3 is an enlarged schematic view of a partial structure at B of fig. 1 according to the present invention.
Fig. 4 is a schematic diagram of a separation structure of the first connecting arm and the second connecting arm according to the present invention.
The automatic picking device comprises a main controller 1, a 2-crawler type moving foot, a 3-mounting plate, a 4-mounting piece, a 5-picking arm, a 6-control mechanism, a 7-first motor, an 8-first output gear, a 9-first transmission gear, a 10-first connecting arm, a 11-second connecting arm, a 12-first placing plate, a 13-second motor, a 14-second output gear, a 15-sliding rail, a 16-tooth part, a 17-rotating groove, an 18-cutting mechanism, a 19-first cutting knife, a 20-second cutting knife, a 21-second placing plate, a 22-power mechanism, a 23-knife body, a 24-third motor, a 25-third output gear, a 26-clamping tooth and a 27-picking net bag.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to 4, the present invention provides a crawler-type agricultural picking robot, including a main controller 1, two crawler-type moving feet 2, a mounting plate 3, a mounting member 4, a picking arm 5 and a control mechanism 6, wherein each of the crawler-type moving feet 2 is fixedly connected to the mounting plate 3 and located at two sides of the mounting plate 3, the mounting member 4 is fixedly connected to the mounting plate 3 and located above the mounting plate 3, the picking arm 5 is movably connected to the mounting member 4 and located at one end of the mounting member 4 far from the mounting plate 3, the control mechanism 6 includes a first motor 7, a first output gear 8 and a first transmission gear 9, the first motor 7 is detachably connected to the mounting plate 3 and located above the mounting plate 3, the output end of the first motor 7 is sleeved with the first output gear 8, the picking arm 5 is provided with the first transmission gear 9, the first output gear 8 is in gear engagement with the first transmission gear 9, the picking arm 5 comprises a first connecting arm 10, a second connecting arm 11, a first placing plate 12, a second motor 13 and a second output gear 14, the first connecting arm 10 is arranged in a hollow structure, a slide rail 15 is arranged inside the first connecting arm 10, a slide groove is arranged on the second connecting arm 11, the second connecting arm 11 is positioned inside the first connecting arm 10, the slide rail 15 corresponds to the slide groove, a tooth part 16 is arranged on the second connecting arm 11, the first placing plate 12 is fixedly connected with the first connecting arm 10 and positioned on one side of the first connecting arm 10, the second motor 13 is detachably connected with the first placing plate 12 and positioned above the first placing plate 12, the output end sleeve of second motor 13 is equipped with second output gear 14, the exterior wall of first linking arm 10 still is provided with rotates groove 17, second output gear 14 with it is corresponding to rotate groove 17, and with the tooth portion 16 of second linking arm 11 is corresponding, first motor 7 with second motor 13 all with master controller 1 electric connection.
In the present embodiment, the picking arm 5 is movably connected to the mounting member 4 and located at an end of the mounting member 4 far from the mounting plate 3, an output end of the first motor 7 is sleeved with the first output gear 8, the picking arm 5 is provided with the first transmission gear 9, the first output gear 8 is in gear engagement with the first transmission gear 9, the picking arm 5 includes a first connecting arm 10, a second connecting arm 11, a first placing plate 12, a second motor 13 and a second output gear 14, the second connecting arm 11 is located inside the first connecting arm 10, the second connecting arm 11 is provided with a tooth portion 16, an output end of the second motor 13 is sleeved with the second output gear 14, an outer surface wall of the first connecting arm 10 is further provided with a rotating slot 17, and the second output gear 14 corresponds to the rotating slot 17, and corresponding to the tooth part 16 of the second connecting arm 11, the first motor 7 and the second motor 13 are both electrically connected with the main controller 1, a picking worker controls the crawler-type agricultural picking robot to reach the position below a fruit tree to be picked through the main controller 1, the main controller 1 controls the first motor 7, the first motor 7 drives the first output gear 8 to rotate, so that the picking arm 5 moves under the action of the first transmission gear 9, the main controller 1 drives the second motor 13, the second motor 13 drives the second output gear 14 to rotate, the second connecting arm 11 moves in the first connecting arm 10 by the tooth part 16 on the second connecting arm 11 meshing with the second output gear 14, thereby elongating the length of picking arm 5 so that picking arm 5 can pick fruit located at a high position.
Further, the crawler-type agricultural picking robot further comprises a cutting mechanism 18, and the cutting mechanism 18 is fixedly connected with the second connecting arm 11 and is located at one end, far away from the mounting part 4, of the second connecting arm 11.
In the present embodiment, when the picking arm 5 is moved to a fruit by the main controller 1, the fruit is picked by the cutting mechanism 18.
Further, cutting mechanism 18 includes that first cutting knife 19, second cutting knife 20, second place board 21 and power unit 22, first cutting knife 19 with 11 fixed connection of second linking arm, second cutting knife 20 with 11 swing joint of second linking arm, the second place board 21 with 11 fixed connection of second linking arm, and be located second linking arm 11 keeps away from one side of installed part 4, the second is placed and is provided with on the board 21 power unit 22, power unit 22 with second cutting knife 20 rotates and connects.
In this embodiment, the first cutting blade 19 is fixedly connected to the second connecting arm 11, and is integrally formed during manufacturing, so that the structure is more firm.
Further, first cutter 19 includes cutter body 23 and axis of rotation, be provided with mounting groove and rotation hole on the second linking arm 11, cutter body 23 is located in the mounting groove, the axis of rotation with cutter body 23 fixed connection, the axis of rotation runs through the rotation hole.
In this embodiment, the cutter body 23 is mounted in the rotary groove 17 through the rotary shaft, so that the second cutting blade 20 is movably coupled to the second coupling arm 11.
Further, the power mechanism 22 includes a third motor 24 and a third output gear 25, the third motor 24 is detachably connected to the second placing plate 21 and is located above the second placing plate 21, the third output gear 25 is sleeved on an output end of the third motor 24, a latch 26 is disposed at one end of the rotating shaft, the third output gear 25 is engaged with the latch 26, and the third motor 24 is electrically connected to the main controller 1.
In this embodiment, the main controller 1 controls the third motor 24 to operate, so that the third output gear 25 drives the second cutting blade 20 to rotate through the latch 26, and the cutting mechanism 18 picks the fruit.
Further, the crawler-type agricultural picking robot further comprises a picking net bag 27, one end of the picking net bag 27 is fixedly connected with the second connecting arm 11, and a bag body of the picking net bag 27 is located below the cutting mechanism 18.
In this embodiment, the picking net bag 27 allows the fruit to fall into the net bag after being picked by the cutting mechanism 18, ensuring the integrity of the fruit.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. A crawler-type agricultural picking robot, which is characterized in that,
including master controller, two crawler-type removal foot, mounting panel, installed part, pick arm and control mechanism, every the crawler-type removal foot with mounting panel fixed connection, and be located the both sides of mounting panel, the installed part with mounting panel fixed connection, and be located the top of mounting panel, pick the arm with installed part swing joint, and be located the installed part is kept away from the one end of mounting panel, control mechanism includes first motor, first output gear and first transmission gear, first motor with the connection can be dismantled to the mounting panel, and be located the top of mounting panel, the output pot head of first motor is equipped with first output gear, be provided with on the picking arm first transmission gear, first output gear with first transmission gear meshing, it includes first connecting arm, picks arm, The first connecting arm is of a hollow structure, a sliding rail is arranged inside the first connecting arm, a sliding groove is arranged on the second connecting arm, the second connecting arm is positioned inside the first connecting arm, the sliding rail corresponds to the sliding groove, a tooth part is arranged on the second connecting arm, the first placing plate is fixedly connected with the first connecting arm and positioned on one side of the first connecting arm, the second motor is detachably connected with the first placing plate and positioned above the first placing plate, the output end of the second motor is sleeved with the second output gear, the outer surface wall of the first connecting arm is also provided with a rotating groove, the second output gear corresponds to the rotating groove and corresponds to the tooth part of the second connecting arm, the first motor and the second motor are both electrically connected with the main controller.
2. A tracked agricultural picking robot according to claim 1,
the crawler-type agricultural picking robot further comprises a cutting mechanism, wherein the cutting mechanism is fixedly connected with the second connecting arm and is positioned at one end, far away from the mounting piece, of the second connecting arm.
3. A tracked agricultural picking robot according to claim 2,
tailor mechanism includes that first cutter, second are tailor sword, second and are placed board and power unit, first cutter with second linking arm fixed connection, the second cut the sword with second linking arm swing joint, the second place the board with second linking arm fixed connection, and be located the second linking arm is kept away from one side of installed part, the second is placed and is provided with on the board power unit, power unit with the second is tailor the sword and is rotated and is connected.
4. A tracked agricultural picking robot according to claim 3,
the first cutter comprises a cutter body and a rotating shaft, wherein a mounting groove and a rotating hole are formed in the second connecting arm, the cutter body is located in the mounting groove, the rotating shaft is fixedly connected with the cutter body, and the rotating shaft penetrates through the rotating hole.
5. A tracked agricultural picking robot according to claim 4,
the power mechanism comprises a third motor and a third output gear, the third motor is detachably connected with the second placing plate and is located above the second placing plate, the third output gear is sleeved at the output end of the third motor, a clamping tooth is arranged at one end of the rotating shaft, the third output gear is meshed with the clamping tooth, and the third motor is electrically connected with the main controller.
6. A tracked agricultural picking robot according to claim 2,
the crawler-type agricultural picking robot further comprises a picking net bag, one end of the picking net bag is fixedly connected with the second connecting arm, and a bag body of the picking net bag is located below the cutting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022409863.8U CN214257217U (en) | 2020-10-26 | 2020-10-26 | Crawler-type agricultural picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022409863.8U CN214257217U (en) | 2020-10-26 | 2020-10-26 | Crawler-type agricultural picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214257217U true CN214257217U (en) | 2021-09-24 |
Family
ID=77772806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022409863.8U Expired - Fee Related CN214257217U (en) | 2020-10-26 | 2020-10-26 | Crawler-type agricultural picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214257217U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114868525A (en) * | 2022-05-31 | 2022-08-09 | 黄山四月乡村农艺场有限公司 | Soilless culture tomato harvesting equipment |
-
2020
- 2020-10-26 CN CN202022409863.8U patent/CN214257217U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114868525A (en) * | 2022-05-31 | 2022-08-09 | 黄山四月乡村农艺场有限公司 | Soilless culture tomato harvesting equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20210924 Termination date: 20211026 |