CN218285523U - Picking device for olecranon peaches - Google Patents
Picking device for olecranon peaches Download PDFInfo
- Publication number
- CN218285523U CN218285523U CN202222208891.2U CN202222208891U CN218285523U CN 218285523 U CN218285523 U CN 218285523U CN 202222208891 U CN202222208891 U CN 202222208891U CN 218285523 U CN218285523 U CN 218285523U
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- mechanical arm
- picking
- main body
- rotating shaft
- body frame
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- 235000006040 Prunus persica var persica Nutrition 0.000 title claims abstract description 15
- 240000006413 Prunus persica var. persica Species 0.000 title claims 2
- 210000000080 chela (arthropods) Anatomy 0.000 claims abstract description 5
- 244000045195 Cicer arietinum Species 0.000 claims description 10
- 235000010523 Cicer arietinum Nutrition 0.000 claims description 10
- 235000013399 edible fruits Nutrition 0.000 abstract description 10
- 244000144730 Amygdalus persica Species 0.000 abstract description 9
- 240000005809 Prunus persica Species 0.000 description 4
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 239000002420 orchard Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
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- 206010011224 Cough Diseases 0.000 description 1
- 208000000059 Dyspnea Diseases 0.000 description 1
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- DGAQECJNVWCQMB-PUAWFVPOSA-M Ilexoside XXIX Chemical compound C[C@@H]1CC[C@@]2(CC[C@@]3(C(=CC[C@H]4[C@]3(CC[C@@H]5[C@@]4(CC[C@@H](C5(C)C)OS(=O)(=O)[O-])C)C)[C@@H]2[C@]1(C)O)C)C(=O)O[C@H]6[C@@H]([C@H]([C@@H]([C@H](O6)CO)O)O)O.[Na+] DGAQECJNVWCQMB-PUAWFVPOSA-M 0.000 description 1
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- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 description 1
- 238000009098 adjuvant therapy Methods 0.000 description 1
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Images
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Abstract
The utility model discloses a pick device for olecranon peach, including the main part frame, the rear side at the top of main part frame is provided with the container, the front side at main part frame top is provided with swivel work head, fixed mounting has the picking manipulator on the swivel work head, the picking manipulator includes first arm, second arm, third arm and picks pincers, the one end fixed mounting of first arm is in on the swivel work head, the other end of first arm with the one end of second arm is passed through first axis of rotation and is rotated the connection, just fixed mounting has first step motor on the first arm, need not pick ripe olecranon peach fruit through the workman, has reduced labour personnel's danger to greatly reduced the cost of labor, improved work efficiency.
Description
Technical Field
The utility model relates to a technical field is picked to fruit, especially relates to a pick device for olecranon peach.
Background
The top of the olecranon is similar to olecranon, the stem of the olecranon is sunken, the suture line is shallow, and the two halves are symmetrical; the peel is bright and light cyan; the pulp is white, the near-core part is red, and the pulp does not leave the core; the fruit has crisp and tasty meat and sweet taste like honey. The hawk bill peach has the functions of tonifying qi and blood, nourishing yin and promoting the production of body fluid, and can be used for patients with big diseases, deficiency of qi and blood, emaciation with yellowish complexion, palpitation and shortness of breath; the iron content is high, and the food is an ideal auxiliary food for patients with iron deficiency anemia; the product contains more potassium and less sodium, and is suitable for edema patients; semen Persicae has effects of promoting blood circulation, removing blood stasis, loosening bowel to relieve constipation, and can be used for adjunctive treatment of amenorrhea and traumatic injury; the semen Persicae extract has anticoagulant effect, and can inhibit cough center to relieve cough and lower blood pressure, and can be used for adjuvant treatment of hypertension. In recent years, the planting area of the hawk bill peach trees is rapidly increased, and in the picking work of the hawk bill peach fruits, the automation degree of fruit picking is still very low due to the complexity of the picking work environment and operation, the picking work of domestic fruits is basically completed manually, and a lot of problems can occur in manual picking: the labor efficiency is low, the labor cost is high, and the picking of high branches is dangerous.
Disclosure of Invention
The utility model overcomes prior art's is not enough, provides a pick device for olecranon peach.
In order to achieve the above purpose, the utility model adopts the technical scheme that:
the utility model discloses a picking device for olecranon, which comprises a main body frame, wherein a container is arranged at the rear side of the top of the main body frame, a rotary workbench is arranged at the front side of the top of the main body frame, a picking manipulator is fixedly arranged on the rotary workbench, and the picking manipulator comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and picking pincers;
one end of the first mechanical arm is fixedly arranged on the rotary workbench, the other end of the first mechanical arm is rotatably connected with one end of the second mechanical arm through a first rotating shaft, a first stepping motor is fixedly arranged on the first mechanical arm, the output end of the first stepping motor is matched and connected with the first rotating shaft, the other end of the second mechanical arm is rotatably connected with one end of the third mechanical arm through a second rotating shaft, a second stepping motor is fixedly arranged on the second mechanical arm, the output end of the second stepping motor is matched and connected with the second rotating shaft, a third stepping motor is fixedly arranged at the other end of the third mechanical arm, the output end of the third stepping motor is matched and connected with a third rotating shaft, and the third rotating shaft is matched and connected with the picking pliers;
and a first camera is fixedly mounted on the third mechanical arm.
Furthermore, the utility model discloses a in a preferred embodiment, be provided with the walking wheel on four corners of main part frame bottom, the walking wheel through corresponding direct current motor with the connecting axle with the main part frame is connected.
Furthermore, in a preferred embodiment of the present invention, the main frame is connected to the traveling wheels on the same side through a tank chain.
Furthermore, in a preferred embodiment of the present invention, a second camera is disposed on the front side of the main frame.
Furthermore, in a preferred embodiment of the present invention, a control box is disposed at the rear side of the main frame.
Further, in a preferred embodiment of the present invention, the picking forceps include a fixing frame, one end of the fixing frame is fixedly connected to the third rotation axis, four fixing blocks are fixedly mounted to the other end of the fixing frame along the circumferential direction, the fixing blocks are hinged to one end of the first adjusting rod, and the other end of the first adjusting rod is hinged to a clamping block.
Further, the utility model discloses a in a preferred embodiment, fixed mounting has the rotating electrical machines on the mount, the output of rotating electrical machines is connected with the one end cooperation of screw lead screw, just the other end of screw lead screw runs through the bottom of mount is stretched out to the mount outside, the cooperation is connected with the sliding block on the screw lead screw, the sliding block is articulated mutually with the one end of second regulation pole, the second adjust the pole the other end with the middle part of first regulation pole is articulated mutually.
Furthermore, the utility model discloses a in a preferred embodiment, the other end of screw lead screw is provided with the stopper.
Furthermore, in a preferred embodiment of the present invention, the clamping block is provided with anti-slip lines.
The utility model provides a defect that exists among the background art, the utility model discloses possess following beneficial effect:
the utility model discloses an automated control has realized intelligent harvesting, need not pick ripe olecranon peach fruit through the workman, has reduced labour personnel's danger to greatly reduced the cost of labor, improved work efficiency.
Drawings
Embodiments of the present invention will be understood more fully from the accompanying drawings of various embodiments of the invention given below, which, however, should not be taken to limit the invention to the specific embodiments, but are for explanation and understanding only, and other drawings may be devised by those skilled in the art without inventive faculty;
fig. 1 is a first perspective view of a picking apparatus;
fig. 2 is a schematic view of a second perspective structure of the picking apparatus;
fig. 3 is a third perspective view of the picking apparatus;
FIG. 4 is a first perspective view of the picking forceps;
FIG. 5 is a second perspective view of the picking forceps;
in the figure: 101. a main body frame; 102. a container; 103. rotating the working table; 104. a picking manipulator; 105. a first robot arm; 106. a second mechanical arm; 107. a third mechanical arm; 108. picking pincers; 109. a first rotating shaft; 201. a first stepper motor; 202. a second rotating shaft; 203. a second stepping motor; 204. a third step motor; 205. a third rotating shaft; 206. a first camera; 207. a traveling wheel; 208. a direct current motor; 209. a connecting shaft; 301. a tank chain; 302. a second camera; 303. a control box; 304. a fixed mount; 305. a fixed block; 306. a first adjusting lever; 307. a clamping block; 308. a rotating electric machine; 309. a threaded lead screw; 401. a slider; 402. a second adjusting lever; 403. a limiting block; 404. and (4) anti-skid lines.
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.
Reference throughout this specification to "an embodiment," "one embodiment," "some embodiments," or "other embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiments is included in at least some embodiments, but not necessarily all embodiments. The various appearances of "an embodiment," "one embodiment," or "some embodiments" are not necessarily all referring to the same embodiments. If the specification states a component, feature, structure, or characteristic "may", "might", or "could" be included, that particular component, feature, structure, or characteristic is not required to be included. If the specification or claim refers to "a" or "an" element, that does not mean there is only one of the element. If the specification or claim refers to "a further" element, that does not preclude there being more than one of the further element. Furthermore, the particular features, structures, functions, or characteristics may be combined in any suitable manner in one or more embodiments. For example, a first embodiment may be combined with a second embodiment as long as the particular features, structures, functions, or characteristics associated with the two embodiments are not mutually exclusive.
In the description of the present invention, unless otherwise specified the use of the ordinal adjectives "first", "second", and "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner. In the description of the invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
Referring to fig. 1-5, the utility model discloses a pick device for olecranon, including main part frame 101, the rear side at the top of main part frame 101 is provided with container 102, the front side at the top of main part frame 101 is provided with swivel work head 103, fixed mounting has picking manipulator 104 on swivel work head 103, picking manipulator 104 includes first arm 105, second arm 106, third arm 107 and picking pincers 108.
It should be noted that the picking manipulator 104 can be driven to rotate by rotating the workbench 103, so as to improve the flexibility of the picking manipulator 104. It should be noted that the rotary table 103 is a novel speed reducer product, which can obtain different output rotation speeds according to different reduction ratios, and is used in various rotary motion occasions, and the rotary table 103 belongs to the conventional technology, and the control principle and the detailed structure thereof are not described much here.
One end of the first mechanical arm 105 is fixedly mounted on the rotary worktable 103, the other end of the first mechanical arm 105 is rotatably connected with one end of the second mechanical arm 106 through a first rotating shaft 109, a first stepping motor 201 is fixedly mounted on the first mechanical arm 105, an output end of the first stepping motor 201 is connected with the first rotating shaft 109 in a matching manner, the other end of the second mechanical arm 106 is rotatably connected with one end of the third mechanical arm 107 through a second rotating shaft 202, a second stepping motor 203 is fixedly mounted on the second mechanical arm 106, an output end of the second stepping motor 203 is connected with the second rotating shaft 202 in a matching manner, a third stepping motor 204 is fixedly mounted at the other end of the third mechanical arm 107, an output end of the third stepping motor 204 is connected with a third rotating shaft 205 in a matching manner, and the third rotating shaft 205 is connected with the picking forceps 108 in a matching manner.
A first camera 206 is fixedly mounted on the third robot arm 107.
Furthermore, in a preferred embodiment of the present invention, the four corners of the bottom of the main body frame 101 are provided with traveling wheels 207, and the traveling wheels 207 are connected to the main body frame 101 through corresponding dc motors 208 and connecting shafts 209.
Further, in a preferred embodiment of the present invention, the traveling wheels 207 on the same side of the main body frame 101 are connected to each other through a tank chain 301.
It should be noted that through control dc motor 208 to drive walking wheel 207 and rotate, thereby make this picking device can remove on the orchard, and be provided with tank chain 301, make walking in the orchard mud ground that this picking device can be stable.
Further, in a preferred embodiment of the present invention, a second camera 302 is disposed on the front side of the main body frame 101.
It should be noted that the orchard road condition information is shot by the second camera 302, so that the device can achieve the autonomous obstacle avoidance and walking functions.
Further, in a preferred embodiment of the present invention, a control box 303 is disposed at the rear side of the main body frame 101.
The control box 303 is used to install components such as a controller, a data processor, and a data storage.
Furthermore, in a preferred embodiment of the present invention, the picking forceps 108 includes a fixing frame 304, one end of the fixing frame 304 is fixedly connected to the third rotating shaft 205, four fixing blocks 305 are fixedly mounted on the other end of the fixing frame 304 along the circumferential direction, the fixing blocks 305 are hinged to one end of the first adjusting rod 306, and the other end of the first adjusting rod 306 is hinged to a clamping block 307.
Furthermore, in a preferred embodiment of the present invention, the fixing frame 304 is fixedly provided with a rotating motor 308, the output end of the rotating motor 308 is connected with one end of the threaded screw 309 in a matching manner, and the other end of the threaded screw 309 runs through the bottom of the fixing frame 304 and extends out of the fixing frame 304, the threaded screw 309 is connected with a sliding block 401 in a matching manner, the sliding block 401 is hinged to one end of the second adjusting rod 402, and the other end of the second adjusting rod 402 is hinged to the middle of the first adjusting rod 306.
Furthermore, in a preferred embodiment of the present invention, the other end of the threaded screw 309 is provided with a limiting block 403.
It should be noted that the sliding block 401 is limited by the limiting block 403, so that the sliding block 401 is prevented from sliding out of the threaded screw 309, and the reliability of the device is improved.
Furthermore, in a preferred embodiment of the present invention, the clamping block 307 is provided with an anti-slip pattern 404.
It should be noted that the anti-slip pattern 404 is disposed on the clamping block 307, so as to increase the friction force of the clamping block 307 when clamping the chickpeas, and prevent the chickpeas from falling to the ground during picking.
It should be noted that, when the utility model is used, firstly, the image information of the olecranon fruit tree is collected by the first camera 206, then the collected image information is transmitted to the data processor in the control box 303, and the image is analyzed and processed by the set program, so as to obtain the identification result, wherein the identification result contains the position information and the maturity information of the olecranon fruit; then, the controller in the control box 303 controls the first stepping motor 201 and the second stepping motor 203 to rotate according to the recognition result, so as to drive the second mechanical arm 106 and the third mechanical arm 107 to change the shape of the picking manipulator 104, so that the picking pliers 108 move to a mature region of the peaches, then controls the rotating motor 308 to rotate, so that the rotating motor 308 drives the threaded screw 309 to rotate, so that the sliding block 401 moves up along the threaded screw 309, so that the sliding block 401 drives one end of the second adjusting rod 402 to move up, so that the other end of the second adjusting rod 402 pulls the first adjusting rod 306 to contract inward, so as to drive the clamping block 307 to contract inward, so that the clamping block 307 clamps the peaches, then controls the third stepping motor 204 to start, so that the third stepping motor 204 drives the third rotating shaft 205 to rotate, so as to drive the picking pliers 108 to rotate, so that the picking cavity rotates around the axis of the third mechanical arm 107, so as to pick the peaches, and then controls the first stepping motor 201 and the second stepping motor 203 to rotate, so as to drive the second mechanical arm 106 and the third mechanical arm 107 to change the shape of the picking pliers 104, and then the picking pliers 102 can be placed in the picking manipulator 104. The utility model discloses an automated control has realized intelligent harvesting, need not pick ripe olecranon peach fruit through the workman, has reduced labour personnel's danger to greatly reduced the cost of labor, improved work efficiency.
In light of the foregoing, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. The utility model provides a pick device for olecranon peach, its characterized in that: the picking machine comprises a main body frame, wherein a container is arranged on the rear side of the top of the main body frame, a rotary workbench is arranged on the front side of the top of the main body frame, a picking manipulator is fixedly mounted on the rotary workbench, and the picking manipulator comprises a first mechanical arm, a second mechanical arm, a third mechanical arm and picking pincers;
one end of the first mechanical arm is fixedly arranged on the rotary workbench, the other end of the first mechanical arm is rotatably connected with one end of the second mechanical arm through a first rotating shaft, a first stepping motor is fixedly arranged on the first mechanical arm, the output end of the first stepping motor is matched and connected with the first rotating shaft, the other end of the second mechanical arm is rotatably connected with one end of the third mechanical arm through a second rotating shaft, a second stepping motor is fixedly arranged on the second mechanical arm, the output end of the second stepping motor is matched and connected with the second rotating shaft, a third stepping motor is fixedly arranged at the other end of the third mechanical arm, the output end of the third stepping motor is matched and connected with a third rotating shaft, and the third rotating shaft is matched and connected with the picking pliers;
and a first camera is fixedly mounted on the third mechanical arm.
2. A picking device for chickpeas as claimed in claim 1, characterised in that: and four corners at the bottom of the main body frame are provided with walking wheels, and the walking wheels are connected with the main body frame through corresponding direct current motors and connecting shafts.
3. A picking device for chickpeas as claimed in claim 2, characterised in that: the walking wheels on the same side of the main body frame are connected through a tank chain.
4. Picking device for chickpeas according to claim 1, characterised in that: and a second camera is arranged on the front side of the main body frame.
5. Picking device for chickpeas according to claim 1, characterised in that: and a control box is arranged at the rear side of the main body frame.
6. A picking device for chickpeas as claimed in claim 1, characterised in that: the picking pliers comprise a fixing frame, one end of the fixing frame is fixedly connected with a third rotating shaft, four fixing blocks are fixedly mounted at the other end of the fixing frame along the circumferential direction, the fixing blocks are hinged to one end of a first adjusting rod, and the other end of the first adjusting rod is hinged to a clamping block.
7. A picking device for chickpeas as claimed in claim 6, characterised in that: the utility model discloses a fixing device for a motor, including mount, screw lead screw, sliding block, second regulation pole, fixed mounting has the rotating electrical machines on the mount, the output of rotating electrical machines is connected with the one end cooperation of screw lead screw, just the other end of screw lead screw runs through the bottom of mount is stretched out to the mount outside, the cooperation is connected with the sliding block on the screw lead screw, the sliding block is articulated mutually with the one end of second regulation pole, the other end of second regulation pole with the middle part of first regulation pole is articulated mutually.
8. A picking device for chickpeas as claimed in claim 7, characterised in that: and the other end of the threaded screw rod is provided with a limiting block.
9. A picking device for chickpeas as claimed in claim 6, characterised in that: and the clamping blocks are provided with anti-skid lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222208891.2U CN218285523U (en) | 2022-08-22 | 2022-08-22 | Picking device for olecranon peaches |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222208891.2U CN218285523U (en) | 2022-08-22 | 2022-08-22 | Picking device for olecranon peaches |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218285523U true CN218285523U (en) | 2023-01-13 |
Family
ID=84795329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222208891.2U Active CN218285523U (en) | 2022-08-22 | 2022-08-22 | Picking device for olecranon peaches |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218285523U (en) |
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2022
- 2022-08-22 CN CN202222208891.2U patent/CN218285523U/en active Active
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