CN215421744U - Orchard robot capable of achieving automatic picking - Google Patents
Orchard robot capable of achieving automatic picking Download PDFInfo
- Publication number
- CN215421744U CN215421744U CN202121787049.8U CN202121787049U CN215421744U CN 215421744 U CN215421744 U CN 215421744U CN 202121787049 U CN202121787049 U CN 202121787049U CN 215421744 U CN215421744 U CN 215421744U
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- China
- Prior art keywords
- control motor
- control
- fixed base
- main frame
- storage tank
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- Expired - Fee Related
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- 239000002420 orchard Substances 0.000 title claims abstract description 16
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 210000004556 brain Anatomy 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses an orchard robot capable of realizing automatic picking, which comprises a control main frame, wherein a fixed base is installed at the lower end of the control main frame, a hydraulic cylinder is installed on the fixed base, the lower end of the hydraulic cylinder is fixedly connected with a fixed sucker through a hydraulic support rod, a first control motor is installed on the surface of the upper end of the control main frame, two ends of the first control motor are connected with a first installation frame through a rotating shaft, the front end of a second control motor is connected with a fixed base through a transmission shaft, a third control motor is installed inside the fixed base, two ends of the third control motor are connected with a second installation frame through a rotating shaft, and a fourth control motor is installed inside the second installation frame. The fruit picking robot is provided with a plurality of groups of control motors, can pick fruits at multiple angles, is provided with a fruit storage tank structure capable of being adjusted in a telescopic mode, is convenient to pocket and connect fruits, can adjust the bottom of the robot in a moving and fixing two-way mode, and improves flexibility.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an orchard robot capable of achieving automatic picking.
Background
An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions. Because of this, we say that this is a true robot, although their appearance may be different.
The unable accurate harvesting that realizes of present orchard robot, the fruit storage tank can't adjust the removal simultaneously, leads to the unable timely pocket of fruit to live, influences the yield of fruit, therefore the market needs to develop a neotype orchard robot that can realize automatic harvesting.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an orchard robot capable of achieving automatic picking, and aims to solve the problems that the existing orchard robot in the background technology cannot achieve accurate picking, and meanwhile, a fruit storage tank cannot be adjusted and moved, so that fruits cannot be timely pocketed, and the rate of finished products of the fruits is affected.
In order to achieve the purpose, the utility model provides the following technical scheme: an orchard robot capable of realizing automatic picking comprises a control main frame, wherein a fixed base is arranged at the lower end of the control main frame, a hydraulic cylinder is arranged on the fixed base, a fixed sucker is fixedly connected at the lower end of the hydraulic cylinder through a hydraulic support rod, a driving cylinder is arranged in the control main frame, the front end of the driving cylinder is fixedly connected with a fruit storage tank through a telescopic rod, the lower end of the fruit storage tank is provided with a fixed mesh bag, the surface mounting of the upper end of control body frame has first control motor, and the both ends of first control motor are connected with first mounting bracket through the pivot, and the second control motor is installed to the upper end of first mounting bracket, and the front end of second control motor is connected with fixed frame through the transmission shaft, and fixed frame internally mounted has the third control motor, and the both ends of third control motor are connected with the second mounting bracket through the pivot, and the internally mounted of second mounting bracket has the fourth control motor.
Preferably, the front end of the fourth control motor is connected with a mechanical picking hand through a transmission rod.
Preferably, the mechanical picking hand is provided with a picking control cylinder.
Preferably, the upper end surface of the fruit storage tank is provided with a notch, and the fruit storage tank and the fixed mesh bag are of an integrated structure.
Preferably, the surface of the fixed base is provided with a slotted hole, and the hydraulic support rod passes through the slotted hole and extends to the lower part of the fixed base.
Preferably, four movable wheels are installed below the fixed base.
Compared with the prior art, the utility model has the beneficial effects that:
(1) the fruit picking machine comprises a control main frame, a first control motor, a second control motor, a fixed machine base, a third control motor, a second mounting frame, a fourth control motor, a mechanical picking hand, four groups of control motors, a fourth control motor, a multi-angle rotation adjustment device, a fruit picking hand and a fruit picking machine, wherein the first control motor is arranged on the upper end surface of the control main frame;
(2) the drive cylinder is arranged in the control main frame, the front end of the drive cylinder is fixedly connected with the fruit storage tank through the telescopic rod, the lower end of the fruit storage tank is provided with the fixed mesh bag, and meanwhile, the telescopic rod is arranged in a telescopic adjustable fruit storage tank structure;
(3) unable adjustment base is installed to the lower extreme of control body frame, the last pneumatic cylinder of installing of unable adjustment base, the lower extreme of pneumatic cylinder passes through hydraulic pressure bracing piece fixedly connected with fixed suction cup, four removal wheels are installed to unable adjustment base's below, through removing and fixed two-way regulation bottom the robot, mobile flexibility has been improved, when needs fix the equipment main part, go up and down through pneumatic cylinder drive hydraulic pressure bracing piece, thereby make fixed suction cup and ground contact, remove the wheel this moment and leave ground, can realize the stable operation of picking to fruit.
Drawings
FIG. 1 is an overall front view of the present invention;
FIG. 2 is a partial schematic view of the present invention;
fig. 3 is a top view of the present invention.
In the figure: 1. a first control motor; 2. a second control motor; 3. a drive shaft; 4. a third control motor; 5. a second mounting bracket; 6. a first mounting bracket; 7. a driving cylinder; 8. a telescopic rod; 9. a picking control cylinder; 10. picking hands mechanically; 11. a fruit storage tank; 12. fixing the mesh bag; 13. a fixed base; 14. moving the wheels; 15. controlling the main frame; 16. a hydraulic cylinder; 17. a hydraulic support rod; 18. fixing the sucker; 19. a fourth control motor; 20. and fixing the base.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-3, an embodiment of the present invention is shown: an orchard robot capable of realizing automatic picking comprises a control main frame 15, a fixed base 13 is installed at the lower end of the control main frame 15, a hydraulic cylinder 16 is installed on the fixed base 13, a fixed sucker 18 is fixedly connected at the lower end of the hydraulic cylinder 16 through a hydraulic support rod 17, a driving cylinder 7 is installed inside the control main frame 15, a fruit storage tank 11 is fixedly connected at the front end of the driving cylinder 7 through a telescopic rod 8, a fixed mesh bag 12 is arranged at the lower end of the fruit storage tank 11, a first control motor 1 is installed on the surface of the upper end of the control main frame 15, first installation frames 6 are connected at two ends of the first control motor 1 through a rotating shaft, a second control motor 2 is installed at the upper end of the first installation frame 6, a fixed base 20 is connected at the front end of the second control motor 2 through a transmission shaft 3, a third control motor 4 is installed inside the fixed base 20, and second installation frames 5 are connected at two ends of the third control motor 4 through a rotating shaft, a fourth control motor 19 is installed inside the second mounting bracket 5.
Further, the front end of the fourth control motor 19 is connected with a mechanical picking hand 10 through a transmission rod.
Further, a picking control cylinder 9 is arranged on the mechanical picking hand 10.
Further, the upper end surface of the fruit storage tank 11 is provided with a notch, and the fruit storage tank 11 and the fixed mesh bag 12 are of an integrated structure.
Further, the surface of the fixed base 13 is provided with a slotted hole, and the hydraulic support rod 17 passes through the slotted hole and extends to the lower part of the fixed base 13.
Further, four moving wheels 14 are installed below the stationary base 13.
The working principle is as follows: when in use, the surface of the upper end of the control main frame 15 is provided with the first control motor 1, the two ends of the first control motor 1 are connected with the first mounting frame 6 through the rotating shaft, the upper end of the first mounting frame 6 is provided with the second control motor 2, the front end of the second control motor 2 is connected with the fixed base 20 through the transmission shaft 3, the fixed base 20 is internally provided with the third control motor 4, the two ends of the third control motor 4 are connected with the second mounting frame 5 through the rotating shaft, the second mounting frame 5 is internally provided with the fourth control motor 19, the front end of the fourth control motor 19 is connected with the mechanical picking hand 10 through the transmission rod, the mechanical picking hand 10 can be adjusted in a multi-angle rotation manner by being provided with four groups of control motors, so that the fruit can be picked accurately and positioned, the fruit picking efficiency and the fruit picking precision can be improved, the picking control cylinder 9 is arranged on the mechanical picking hand 10, and the picking control cylinder 9 is used for driving and controlling the mechanical picking hand 10, the inside of the control main frame 15 is provided with a driving cylinder 7, the front end of the driving cylinder 7 is fixedly connected with a fruit storage tank 11 through a telescopic rod 8, the lower end of the fruit storage tank 11 is provided with a fixed mesh bag 12, and simultaneously, a telescopic adjustable fruit storage tank 11 structure is installed, the driving cylinder 7 can be used for driving the telescopic rod 8 to be adjusted in a telescopic way, the position of the fruit storage tank 11 is conveniently adjusted, so that the fruits are precisely connected in a wrapping way, the fruits are prevented from falling onto the ground, the fruit yield is improved, the lower end of the control main frame 15 is provided with a fixed base 13, a hydraulic cylinder 16 is installed on the fixed base 13, the lower end of the hydraulic cylinder 16 is fixedly connected with a fixed suction cup 18 through a hydraulic support rod 17, the bottom of the robot is moved and fixed in a two-way, the maneuvering flexibility is improved, when the equipment main body is required to be fixed, the hydraulic support rod 17 is driven to lift through the hydraulic cylinder 16, so that the fixed suction cup 18 is in contact with the ground, and the movable wheel 14 is separated from the ground, thereby realizing stable picking operation of the fruit.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model 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.
Claims (6)
1. An orchard robot capable of achieving automatic picking comprises a control main frame (15) and is characterized in that a fixing base (13) is installed at the lower end of the control main frame (15), a hydraulic cylinder (16) is installed on the fixing base (13), a fixing sucker (18) is fixedly connected to the lower end of the hydraulic cylinder (16) through a hydraulic support rod (17), a driving cylinder (7) is installed inside the control main frame (15), a fruit storage tank (11) is fixedly connected to the front end of the driving cylinder (7) through a telescopic rod (8), a fixing mesh bag (12) is arranged at the lower end of the fruit storage tank (11), a first control motor (1) is installed on the surface of the upper end of the control main frame (15), two ends of the first control motor (1) are connected with a first mounting frame (6) through a rotating shaft, a second control motor (2) is installed at the upper end of the first mounting frame (6), the front end of the second control motor (2) is connected with a fixed base (20) through a transmission shaft (3), a third control motor (4) is installed inside the fixed base (20), two ends of the third control motor (4) are connected with a second installation frame (5) through a rotating shaft, and a fourth control motor (19) is installed inside the second installation frame (5).
2. The orchard robot capable of achieving automatic picking according to claim 1, is characterized in that: the front end of the fourth control motor (19) is connected with a mechanical picking hand (10) through a transmission rod.
3. An orchard robot capable of achieving automatic picking according to claim 2, wherein: and a picking control cylinder (9) is arranged on the mechanical picking hand (10).
4. The orchard robot capable of achieving automatic picking according to claim 1, is characterized in that: the upper end surface of the fruit storage tank (11) is provided with a notch, and the fruit storage tank (11) and the fixed mesh bag (12) are of an integrated structure.
5. The orchard robot capable of achieving automatic picking according to claim 1, is characterized in that: the surface of the fixed base (13) is provided with a slotted hole, and the hydraulic support rod (17) penetrates through the slotted hole to extend to the lower part of the fixed base (13).
6. The orchard robot capable of achieving automatic picking according to claim 1, is characterized in that: four movable wheels (14) are arranged below the fixed base (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121787049.8U CN215421744U (en) | 2021-08-03 | 2021-08-03 | Orchard robot capable of achieving automatic picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121787049.8U CN215421744U (en) | 2021-08-03 | 2021-08-03 | Orchard robot capable of achieving automatic picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215421744U true CN215421744U (en) | 2022-01-07 |
Family
ID=79690764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121787049.8U Expired - Fee Related CN215421744U (en) | 2021-08-03 | 2021-08-03 | Orchard robot capable of achieving automatic picking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215421744U (en) |
-
2021
- 2021-08-03 CN CN202121787049.8U patent/CN215421744U/en not_active Expired - Fee Related
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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: 20220107 |