CN214520209U - Novel grape picking robot - Google Patents
Novel grape picking robot Download PDFInfo
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- CN214520209U CN214520209U CN202023106262.6U CN202023106262U CN214520209U CN 214520209 U CN214520209 U CN 214520209U CN 202023106262 U CN202023106262 U CN 202023106262U CN 214520209 U CN214520209 U CN 214520209U
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- knife
- fixedly connected
- picking robot
- shearing device
- shearing
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Abstract
The utility model discloses a novel grape picking robot, concretely relates to grape picking robot. The utility model comprises a crawler belt walking device, a collecting device and a shearing device; the crawler belt walking device reduces jolt in driving through a spring steel plate and the like, and the collection device mainly reduces the damage rate of grapes through the ventilation net plate for better collection and storage. The shearing device is combined with a mechanical hand to grab the grapes for picking, so that damage to the grapes is further reduced. The utility model discloses to the grape can be comparatively convenient harvesting, also can pick to other fruits that require not high, can accomplish a tractor serves several purposes, especially shearing mechanism, can carry out simple pruning to the fruit tree, cost economy is applicable to various occasions in a flexible way.
Description
Technical Field
The utility model relates to an equipment technical field is picked to agricultural machinery, concretely relates to grape picking robot.
Background
At present, grapes are one of the most widely distributed fruit tree species in China, fresh food is still the main part of grape planting in China to account for 80% of the total planting area, and the yield of fresh food grapes in China is the first in the world from 2011. Timely, efficient and lossless grape picking is the most important link in the whole grape production operation process, a large amount of labor is consumed in a short time in a seasonal intensive picking time concentration of fresh grapes, and manual picking is still adopted for domestic grape harvesting, so that time and labor are wasted.
For the grape picking mainly based on fresh food in the current market, most of the grape picking mainly based on manual picking, and the grape picking robots in the market still cannot meet the requirement. Therefore, a novel grape picking robot is urgently needed to solve the problem of manual picking.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a: to the problems existing in the prior art, a novel grape picking robot is designed.
As a further optimization scheme of the utility model, a novel grape picking robot, its characterized in that: the shearing device (4) consists of a shearing device base (39), a transmission gear (40), an air cylinder (41), a main knife (42), an auxiliary knife (43), a rotating bracket (44), a driving motor (45), a transmission shaft (46), a piston (47) and a cylinder barrel (48), wherein the shearing device base (39) is rotationally connected with the six-degree-of-freedom mechanical arm (2); rotation that can be nimble makes things convenient for the shearing of fruit ben. The driving motor (45) is fixedly connected with the shearing device base (39); can stably provide power. The driving motor (45) is in transmission connection with the transmission gear (40); the transmission gear (40) is rotationally connected with the transmission shaft (46); the transmission shaft (46) is rotationally connected with the rotating bracket (44), so that the shearing freedom degree can be improved; the rotating bracket (44) is fixedly connected with the auxiliary knife (43); the cylinder (41) consists of a piston (47) and a cylinder barrel (48), and the auxiliary knife (43) is fixedly connected with the cylinder barrel (48); the auxiliary knife (43) is connected with the main knife (42) in a sliding way, so that the shearing is rapid and convenient; the main knife (42) is fixedly connected with the piston (47), so that the structure is simple and the disassembly is convenient; the collecting device (3) is connected with the ventilating net plate (49) in a sliding way. The grapes can be preserved for a longer time in the collecting process.
The utility model discloses a novel grape picking robot, constitute including track running gear (1), six degree of freedom robotic arm (2), collection device (3), shearing mechanism (4), mechanical gripper (5) five parts. The method is characterized in that: the bogie wheel connecting transverse frame (13) of the crawler traveling device (1) is of a tripod structure, the shock absorption performance of the grape picking robot can be better improved, and the stability and the fluency of the grape picking robot during movement can be improved by rotationally connecting the spring steel plate (15) with the bogie wheels (12) on two sides. The six-degree-of-freedom mechanical arm (2) is rotatably connected with the binocular camera (28). The binocular camera is added on the mechanical arm to identify and pick fruit stalks.
As a further optimization scheme of the utility model, the main knife (42) and the auxiliary knife (43) are made of stainless steel. The cutting of the fruit stalks can avoid the inconvenience caused by rusting. The material of the vent net plate (49) is rubber. The damage caused by jolting when the picking robot walks is well protected.
Compared with the prior art, the beneficial effects of the utility model are that: 1. the grape picking device has the advantages of good flexibility, wide range of motion and high efficiency. 2. The damage rate of fruits is greatly reduced; 3. the shock absorption is improved; 4. has wide application and can pick other fruits.
Drawings
Fig. 1 and 2 are schematic views of the crawler belt device of the present invention.
Fig. 3 is a schematic view of the collecting device of the present invention.
Fig. 4 is a schematic view of the gripper of the present invention.
Fig. 5 is a schematic view of the shearing apparatus of the present invention.
Fig. 6 is an assembly schematic of the present invention.
1. Crawler traveling device, 2, six-degree-of-freedom mechanical arm, 3, collecting device, 4, shearing device, 5, mechanical gripper, 6, hydraulic motor, 7, driving wheel coupler, 8, driving wheel power system assembly frame, 9, rear driven wheel mounting frame, 10, trolley chain wheel, 11, rear driven wheel, 12, bogie wheel, 13, bogie wheel connecting cross frame, 14, bogie wheel connecting cross frame sleeve, 15, spring steel plate, 16, spring steel plate gasket, 17, spring steel plate fixing pressing plate, 18, spring steel plate double-lug gasket, 19, bogie wheel double-side gasket, 20, crawler, 21, rear driven wheel shaft inner side sleeve, 22, rear driven wheel shaft, 23, rear driven wheel bearing cover plate, 24, belt, 25, chassis, 26, six-degree-of-freedom mechanical arm base, 27, built-in motor, 28, binocular camera, 29, metal steering wheel, 30, gripper, 31, shearing device, and the like, The device comprises a mounting buckle, 32, a main claw gear, 33, an auxiliary claw gear, 34, a long rod, 35, a small cross rod, 36, a stud, 37, a nut, 38, a steering engine, 39, a shearing device base, 40, a transmission gear, 41, a cylinder, 42, a main knife, 43, an auxiliary knife, 44, a rotating support, 45, a driving motor, 46, a transmission shaft, 47, a piston, 48, a cylinder barrel, 49, a ventilation screen plate, 50 and a top shell.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in figure 6, the novel grape picking robot comprises a crawler traveling device (1), a six-degree-of-freedom mechanical arm (2), a collecting device (3), a shearing device (4), a mechanical gripper (5), a hydraulic motor (6), a driving wheel coupler (7), a driving wheel power system assembly rack (8), a rear driven wheel mounting rack (9), a trolley chain wheel (10), a rear driven wheel (11), a bogie wheel (12), a bogie wheel connecting cross frame (13), a bogie wheel connecting cross frame sleeve (14), a spring steel plate (15), a spring steel plate gasket (16), a spring steel plate fixing pressing plate (17), a spring steel plate double-lug gasket (18), a bogie wheel double-side gasket (19), a crawler (20), a rear driven wheel shaft inner side sleeve (21), a rear driven wheel shaft (22), a rear driven wheel bearing cover plate (23), a belt (24), a chassis (25), The mechanical arm comprises a six-degree-of-freedom mechanical arm base (26), a built-in motor (27), a binocular camera (28), a metal steering wheel (29), a paw (30), a mounting buckle (31), a main paw gear (32), an auxiliary paw gear (33), a long rod (34), a small cross rod (35), a stud (36), a nut (37), a steering gear (38), a shearing device base (39), a transmission gear (40), a cylinder (41), a main knife (42), an auxiliary knife (43), a rotating support (44), a driving motor (45), a transmission shaft (46), a piston (47), a cylinder (48), a ventilation screen (49) and a top shell (50).
A motor (27) is arranged in the six-degree-of-freedom mechanical arm (2); the six-degree-of-freedom mechanical arm (2) is fixedly connected with the six-degree-of-freedom mechanical arm base (26); the six-degree-of-freedom mechanical arm (2) is rotationally connected with the binocular camera (28); the six-degree-of-freedom mechanical arm (2) is rotatably connected with the metal rudder disk (29).
As shown in fig. 1 and 2, the crawler traveling device (1) is composed of a hydraulic motor (6), a driving wheel coupler (7), a driving wheel power system assembly frame (8), a rear driven wheel mounting frame (9), a trolley chain wheel (10), a rear driven wheel (11), a bogie wheel (12), a bogie wheel connecting cross frame (13), a bogie wheel connecting cross frame sleeve (14), a spring steel plate (15), a spring steel plate gasket (16), a spring steel plate fixing pressing plate (17), a spring steel plate double-lug gasket (18), a bogie wheel double-side gasket (19), a crawler (20), a rear driven wheel shaft inner side sleeve (21), a rear driven wheel shaft (22), a rear driven wheel bearing cover plate (23), a belt (24), a chassis (25), a six-degree-of-freedom mechanical arm base (26) and a top shell degree-of-freedom mechanical arm (50). The hydraulic motor (6) is fixedly connected with the driving wheel power system assembly frame (8); the hydraulic motor (6) is rotationally connected with the driving wheel coupler (7); the driving wheel coupler (7) is coaxially connected with the driving wheel power system assembly rack (8); the driving wheel coupling (7) is rotationally connected with the trolley chain wheel (10); the driving wheel power system assembling frame (8) is fixedly connected with a six-degree-of-freedom mechanical arm base (26); the driving wheel coupling (7) is rotationally connected with the chassis (25); the bottom plate (25) is fixedly connected with the top shell (50); the trolley chain wheel (10) is in transmission connection with the crawler belt (20); the spring steel plate gasket (16) is fixedly connected with the chassis (25); the spring steel plate (15) is fixedly connected with a spring steel plate gasket (16); the spring steel plate (15) is rotatably and coaxially connected with the spring steel plate double-lug gasket (18) through a bogie wheel connecting cross frame (13); a bogie wheel connecting cross frame sleeve (14) is sleeved between the spring steel plate (15) and the bogie wheel connecting cross frame (13) and is coaxially and rotatably connected with the spring steel plate; the spring steel plate fixing pressing plate (17) is fixedly connected with the spring steel plate (15); the loading wheel (12) is rotationally connected with the loading wheel double-side gasket (19) through the loading wheel connecting cross frame (13); the belt (24) is connected with the loading wheel (12); the crawler belt (20) is in transmission connection with the belt (24). The bottom plate (25) is fixedly connected with the top shell (50)
As shown in fig. 3, the collecting device (3) is fixedly connected with the chassis (25); the collecting device (3) is connected with the ventilating net plate (49) in a sliding way.
As shown in fig. 4, the mechanical gripper (5) is composed of a metal steering wheel (29), a gripper (30), a mounting buckle (31), a main gripper gear (32), an auxiliary gripper gear (33), a long rod (34), a small cross rod (35), a stud (36), a nut (37) and a steering engine (38), wherein the metal steering wheel (29) is fixedly connected with the mounting buckle (31); the mounting buckle (31) is fixedly connected with the paw (30) through a stud (36) and a nut (37); the paw (30) is fixedly connected with the main paw gear (32) through a stud (36) and a nut (37); the main claw gear (32) is fixedly connected with the long rod (34) through a stud (36) and a nut (37); the main claw gear (32) is in transmission connection with the auxiliary main claw gear (33); the main claw gear (32) is rotationally connected with the steering engine (38); the steering engine (38) is fixedly connected with the paw (30); the long rod (34) is fixedly connected with the small cross rod (35); the small cross rod (35) is fixedly connected with the paw (30).
As shown in fig. 5, the shearing device (4) is composed of a shearing device base (39), a transmission gear (40), a cylinder (41), a main knife (42), an auxiliary knife (43), a rotating bracket (44), a driving motor (45), a transmission shaft (46), a piston (47) and a cylinder barrel (48), wherein the shearing device base (39) is rotatably connected with the six-degree-of-freedom mechanical arm (2); the driving motor (45) is fixedly connected with the shearing device base (39); the driving motor (45) is in transmission connection with the transmission gear (40); the transmission gear (40) is rotationally connected with the transmission shaft (46); the transmission shaft (46) is rotationally connected with the rotating bracket (44); the rotating bracket (44) is fixedly connected with the auxiliary knife (43); the cylinder (41) consists of a piston (47) and a cylinder barrel (48), and the auxiliary knife (43) is fixedly connected with the cylinder barrel (48); the auxiliary knife (43) is connected with the main knife (42) in a sliding way; the main knife (42) is fixedly connected with the piston (47).
As shown in fig. 4, the clamping end sleeve of the long rod is made of a PVP (polyvinyl chloride) clamping sleeve. The damage of the mechanical claw to the grapes can be well protected, and the mechanical claw can be replaced conveniently at a low price.
As shown in fig. 5, the material of the primary knife and the secondary knife is stainless steel. The cutting of the fruit stalks can avoid the inconvenience caused by rusting.
As shown in fig. 3, the material of the vent net plate is rubber. The grape harvesting robot has the advantages that damage caused by jolting when the harvesting robot walks is well protected, ventilation is realized, and the grape harvesting robot is easier to store.
The above embodiments are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea provided by the present invention falls within the protection scope of the present invention; the technology not related to the utility model can be realized by the prior art.
Claims (3)
1. A novel grape picking robot mainly comprises a crawler traveling device (1), a six-degree-of-freedom mechanical arm (2), a collecting device (3), a shearing device (4) and a mechanical paw (5); the method is characterized in that: the shearing device (4) mainly comprises a shearing device base (39), a transmission gear (40), an air cylinder (41), a main knife (42), an auxiliary knife (43), a rotating bracket (44), a driving motor (45), a transmission shaft (46), a piston (47) and a cylinder barrel (48); the shearing device base (39) is rotationally connected with the six-degree-of-freedom mechanical arm (2); the driving motor (45) is fixedly connected with the shearing device base (39); the driving motor (45) is in transmission connection with the transmission gear (40); the transmission gear (40) is rotationally connected with the transmission shaft (46); the transmission shaft (46) is rotationally connected with the rotating bracket (44); the rotating bracket (44) is fixedly connected with the auxiliary knife (43); the cylinder (41) mainly comprises a piston (47) and a cylinder barrel (48), and the auxiliary knife (43) is fixedly connected with the cylinder barrel (48); the auxiliary knife (43) is connected with the main knife (42) in a sliding way; the main knife (42) is fixedly connected with the piston (47); the collecting device (3) is connected with the ventilating net plate (49) in a sliding way.
2. A novel grape picking robot as claimed in claim 1, wherein: the bogie wheel connecting cross frame (13) of the crawler belt walking device (1) is of a triangular structure and is rotationally connected with the bogie wheels (12) on the two sides through spring steel plates (15); the six-degree-of-freedom mechanical arm (2) is rotatably connected with the binocular camera (28).
3. A novel grape picking robot as claimed in claim 1, wherein: the main knife (42) and the auxiliary knife (43) are made of stainless steel; the material of the vent net plate (49) is rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023106262.6U CN214520209U (en) | 2020-12-22 | 2020-12-22 | Novel grape picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023106262.6U CN214520209U (en) | 2020-12-22 | 2020-12-22 | Novel grape picking robot |
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| Publication Number | Publication Date |
|---|---|
| CN214520209U true CN214520209U (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023106262.6U Active CN214520209U (en) | 2020-12-22 | 2020-12-22 | Novel grape picking robot |
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| Country | Link |
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| CN (1) | CN214520209U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114931024A (en) * | 2022-04-22 | 2022-08-23 | 新疆大学 | Single-drive grape picking robot end effector for clamping and cutting fruit stalks |
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2020
- 2020-12-22 CN CN202023106262.6U patent/CN214520209U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114931024A (en) * | 2022-04-22 | 2022-08-23 | 新疆大学 | Single-drive grape picking robot end effector for clamping and cutting fruit stalks |
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