WO2018090514A1 - 一种用于自动采果机的机械臂及自动采果机 - Google Patents

一种用于自动采果机的机械臂及自动采果机 Download PDF

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Publication number
WO2018090514A1
WO2018090514A1 PCT/CN2017/077624 CN2017077624W WO2018090514A1 WO 2018090514 A1 WO2018090514 A1 WO 2018090514A1 CN 2017077624 W CN2017077624 W CN 2017077624W WO 2018090514 A1 WO2018090514 A1 WO 2018090514A1
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WIPO (PCT)
Prior art keywords
fixed
plate
fruit
cylinder
base
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PCT/CN2017/077624
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English (en)
French (fr)
Inventor
沈秀昌
俞世顺
王彬
Original Assignee
镇江市胜得机械制造有限责任公司
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Application filed by 镇江市胜得机械制造有限责任公司 filed Critical 镇江市胜得机械制造有限责任公司
Publication of WO2018090514A1 publication Critical patent/WO2018090514A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/20—Platforms with lifting and lowering devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/22—Baskets or bags attachable to the picker

Definitions

  • the invention belongs to the field of agricultural machinery, and particularly relates to a mechanical arm and an automatic fruit picking machine for an automatic fruit picking machine.
  • Palm oil is an important industrial and livelihood raw material, mainly produced in Africa, South America and Southeast Asia.
  • palm fruit most of which grows at a height of more than 5 meters, is usually picked by hand.
  • the fruit farmers' labor intensity and difficulty are high, and the labor efficiency is low.
  • the supply of palm fruit picking labor is seriously insufficient, which has become an important factor restricting the development of the palm oil industry.
  • the invention aims at the above problems, and proposes a mechanical arm for an automatic fruit picking machine, which has a multi-segment adjustable telescopic function and a rotating function for realizing the lifting and rotating of the fruit picking operation platform.
  • an automatic fruit picker is also provided for picking palm fruit on palm trees of 5 meters or more, providing fruit picking machine operation space and fruit picking platform for fruit picking, fruit harvesting and fruit collection. And the automation of unloading fruit enables the fruit picking to be carried out quickly and efficiently, ensuring the safe and effective completion of the fruit picking operation.
  • a mechanical arm for an automatic fruit picker comprising: a base, a first support base, a first telescopic arm, a second telescopic arm, a third telescopic arm, a support arm, a first oil cylinder, a second oil cylinder, a third oil cylinder, a second support column and a slewing bearing device, wherein the first support base is composed of two first support plates, the first support plate comprises an upper support plate and a lower support plate, and the first telescopic arm is rotatable at one end Fixed between the two upper support plates, the other end is provided with a first transfer block, the second telescopic arm is rotatably fixed on the first transfer block, and one end of the first oil cylinder is rotatably fixed to the two lower support plates The other end is rotatably fixed under the first telescopic arm, the second cylinder is rotatably fixed above the first telescopic arm, and the other end is rotatably fixed above the second telescopic arm; the second
  • the first support base is fixed on the base
  • the second support column is rotatably fixed on the telescopic end of the third telescopic arm
  • the bottom of the second support post is connected to the fourth oil cylinder fixed on the third telescopic arm
  • the slewing bearing device comprises a slewing support column, a fifth oil cylinder and an adapter disk.
  • the slewing support column is vertically fixed on one side of the second support column, and the slewing support column is provided with a first rotating shaft, and the bottom of the adapter plate is The rotation is fixed on the second support column, the top of the adapter plate is fixed on the transfer plate, the outer circumference of the adapter plate is provided with a second rotating shaft, and one end of the fifth oil cylinder is rotatably disposed on the first rotating shaft through the first snap ring The other end is rotatably disposed on the second rotating shaft through the second snap ring, and the transfer disk is rotated by the expansion and contraction of the fifth cylinder.
  • a base comprising a base, the mechanical arm, a traveling operation table, a travel control box, a fruit picking operation table, a fruit picking control box, a fruit drop box, a fruit unloading mechanism, a traveling mechanism, a support mechanism, and a transfer trolley;
  • the arm is fixed on the base by a slewing mechanism, and the traveling operation table is fixed on the second telescopic arm of the mechanical arm, the picking operation table is fixed on the slewing bearing device of the mechanical arm;
  • the traveling control box is fixed on the base by the bracket Located on the side of the traveling operation workbench, the fruit picking control box is fixed on the fruit picking operation workbench; the fruit drop box is fixed on the bottom of the fruit picking operation workbench, and the fruit unloading mechanism is fixed on the base and below the fruit drop box,
  • the number of supporting mechanisms is four, and the two opposite sides are respectively fixed on two side edges of the base, the traveling mechanism is fixed under the base, the transport trolley is attached to the base, and the traveling control
  • the traveling operation table includes a first frame that is open at the top and a second frame that is open at the top.
  • the first frame and the second frame communicate with each other, and the side wall of the first frame is disposed on the side wall.
  • the door that opens and closes has a seat that can be accommodated inside the side wall of the second frame.
  • a connecting mechanism is further disposed on the first frame bottom plate of the traveling operation table, the connecting mechanism includes a first connecting rod and a connecting plate, and the first connecting rod is fixed between the two side plates of the first frame
  • the bottom of the connecting plate is rotatably fixed between the two side plates of the first frame by the rotating shaft, and the connecting plate is located above the first connecting rod, and the top of the connecting plate is oppositely provided with two first connecting rods
  • a first latching cavity is disposed on a sidewall of the frame, the first latching bar can be locked into the first latching cavity, and is fixed by the first latching mechanism, and the bottom of the connecting plate is provided with a strap .
  • the first clamping cavity has a semi-circular structure, a first adjusting cavity is disposed above the first clamping cavity, and a first limiting plate is disposed in the first adjusting cavity, the first clamping mechanism
  • the second clamping rod, the second limiting plate and the first spring second locking rod extend through the first adjusting cavity and the first clamping cavity, and the second limiting plate is fixed outside the second clamping bar.
  • the first spring is fixed between the first limiting plate and the second limiting plate, one end of the lever is fixed on the second clamping bar, and the other end passes through the first adjusting cavity, and the first
  • the second guiding groove on the adjusting chamber wall is engaged with the cross section of the first clamping rod having a semicircular shape, and the bottom of the second clamping rod is provided with a locking protrusion having a triangular structure.
  • the bottom of the fruit picking operation table is fixed on the adapter plate by an adapter plate
  • the fruit picking operation table comprises a fruit picking bottom plate, a first longitudinal fixing plate, a second longitudinal fixing plate, and a third longitudinal fixing plate.
  • a fourth longitudinal fixing plate, the first longitudinal fixing plate, the second longitudinal fixing plate and the third longitudinal fixing plate are vertically fixed on the edge of the fruit collecting bottom plate, and the number of the second longitudinal fixing plates is two, two The two longitudinal fixing plates are respectively disposed opposite to each other, and the first longitudinal fixing plate and the third longitudinal fixing plate are respectively disposed opposite to each other on the two sides of the second longitudinal fixing plate, and the number of the fourth longitudinal fixing plates is three, and is fixed perpendicularly to each other.
  • the fourth longitudinal fixing plate and the first longitudinal fixing plate surround the first vertical fixing plate, and the fruit collecting control box is fixed on the inner wall of the first longitudinal fixing plate, and the third longitudinal fixing plate is provided with a door panel. One side of the door panel is fixedly connected to the third rotating shaft, and the other side is fixed by a bolt.
  • the height of the first longitudinal fixing plate is greater than the height of the fourth longitudinal fixing plate, and the height of the fourth longitudinal fixing plate is greater than The height of the two longitudinal fixing plates, the height of the second longitudinal fixing plate is equal to the third longitudinal fixing plate, the plucking plate is provided with a lap plate, the lap plate is located below the third longitudinal fixing plate, and the connection of the traveling operation table is The lap strips on the board can be matched to the lap panels.
  • the fruit drop box comprises an upper box body, a lower box body and a third adjusting mechanism
  • the upper box body comprises a first side panel and three second side panels, the first side panel and the second side panel being perpendicular to each other Welding the growth square structure, the first side plate and the second side plate opposite thereto are provided as two regulating walls, and the other two oppositely disposed second side plates serve as two fixed walls;
  • the lower casing comprises two third side plates, and the two blocks are rotatably fixed to the fixing blocks at the bottom of the two fixed walls by the fourth rotating shaft, and the bottom of the third side plate is provided with a limiting convex with a right-angled triangular structure.
  • a block, the inner wall of the third side plate is provided with a cushion;
  • the third adjustment mechanism includes a sixth cylinder, a first push plate and a second push plate.
  • the sixth oil cylinder is fixed on the first side plate by a fixing piece, and the first push plate is horizontally disposed, and the center of the first push plate is The push rod of the sixth cylinder is fixedly connected, and the number of the second push plates is two, one end of the two second push plates is rotatably fixed on the first push plate, and the other end is rotatably fixed on the third side plate;
  • Two third adjusting rods are disposed on two third side plates on one side of the second side plate as the adjusting wall, and one ends of the two third adjusting rods are respectively rotatably fixed on the side walls of the two third side plates. The other end is rotatably coupled together; the fruit drop box is fixed at the bottom of the adapter plate and below the fruit drop channel.
  • the unloading mechanism includes an upper base, a lower base, a carrying case and a lifting mechanism
  • the lifting mechanism comprises two first adjusting mechanisms, two second adjusting mechanisms, a seventh oil cylinder and a fifth rotating shaft.
  • the first adjustment mechanism includes two first adjustment rods and two first linkage rods, the two first adjustment rods are oppositely disposed, and the two first linkage rods are fixed between the two first adjustment rods, and are located at the first adjustment rod
  • the two ends of the second adjustment rod group include two second adjustment rods and two second linkage rods, the two second adjustment rods are oppositely disposed, and the two second linkage rods are fixed between the two second adjustment rods.
  • two first adjusting mechanisms are oppositely disposed, and the second adjusting mechanism is disposed between the two first adjusting rods of the first adjusting mechanism, and is connected by the fifth rotating shaft to form a cross structure.
  • a first adjusting plate is fixed between the two first adjusting mechanisms, the first adjusting plate is located below the fifth rotating shaft, the first adjusting plate is fixed with a sixth rotating shaft by two first bushings, and two of the sixth rotating shaft are provided.
  • a positioning block two positioning blocks are respectively located inside the two first sleeves, a positioning position of the cylinder is formed between the positioning block and the first sleeve, and two second linkage rods of the two second adjustment mechanisms respectively Rotatablely fixed on the upper base and the lower base, the two first linkage rods of the first adjustment mechanism are respectively rotatably fixed on the first slider, and the first sliders at the two ends of the same first adjustment mechanism respectively
  • the sliding type is fixed in the first sliding groove of the upper base and the lower base, the number of the seventh oil cylinders 87 is two, the seventh oil cylinder is provided with a third snap ring, and the seventh oil cylinder is provided on the push rod There is a fourth snap ring, and the third snap ring is rotatably fixed at The base, the fourth snap ring is rotatably fixed to the shaft of a sixth cylinder holding position;
  • the bottom of the fixed end of the carrying case is provided with two first supporting blocks, the first supporting block is located at the fixed end of the carrying case, and the second top supporting block 2 and the two third supporting blocks are disposed at the top of the upper base.
  • the fixed end of the box is rotatably fixed to the second support block of the upper base by the first support block, and the lifting end of the carrying box can be contact-positioned on the third support block, and the upper base is fixed.
  • the eight-cylinder, the push rod of the eighth cylinder is connected to the lifting end of the carrying case.
  • the carrying box is a rectangular parallelepiped structure box with an open top, and the top end of the fixed end side plate of the carrying box is rotatably fixed on the carrying box through the seventh rotating shaft, and the limiting rod is arranged on the carrying box, and the limiting rod is L
  • the supporting structure of the limiting rod is rotatably fixed at the bottom of the carrying case, and the adjustable end of the limiting rod is provided with a pulling rope, and the pulling rope is fixed around the bottom of the carrying case by a pulley fixed on the upper base,
  • a second spring is disposed between the supporting end of the rod and the upper base; when the carrying box is in a horizontal state, the second spring is in a stretched state, and the adjustable end of the limiting rod is in a vertical state, thereby blocking the fixed end side
  • the function of opening the plate when the lifting end of the carrying case is lifted under the pushing of the eighth cylinder, the adjustable end of the limiting rod is rotated downward by the pulling rope, and the fixed end side plate is opened under the weight.
  • the traveling mechanism is further provided with a shovel mechanism
  • the shovel mechanism includes a fourth adjusting rod, a second connecting rod, a tenth cylinder and a mud shovel
  • the number of the fourth adjusting rod is two, two One end of the fourth adjusting rod is respectively rotatably fixed to the bottom of the supporting base, and the other end is connected by a second connecting rod.
  • One end of the tenth cylinder is fixed on the supporting base, and the other end is rotatably fixed on the second connecting rod.
  • the shovel is fixed on the second connecting rod, and the upper and lower ends of the shovel are folded outward to form an auxiliary shovel.
  • the traveling mechanism is a crawler type traveling mechanism or a wheeled traveling mechanism.
  • an escalator is arranged on the mechanical arm.
  • the beneficial effects of the invention are:
  • the mechanical arm of the present invention is used for the fruit picker.
  • the third telescopic arm is contracted in the second telescopic arm, and the second telescopic arm and the first telescopic arm are overlapped with each other.
  • the first cylinder controls the first telescopic arm to be lifted
  • the second cylinder controls the second telescopic arm to be lifted
  • the third cylinder controls the third telescopic arm to extend, thereby controlling the extension length of the telescopic arm
  • the fourth cylinder controls the second support
  • the column rotates, so that the slewing bearing device is always in a horizontal state
  • the fifth cylinder controls the rotation of the adapter plate, thereby controlling the fruit picking operation mechanism fixed on the adapter plate to perform rotation, and completing the fruit picking operation
  • the invention has multi-stage adjustable telescopic function It can be used to pick palm fruit on palm trees at a distance of 5 meters or more to ensure safe and effective fruit harvesting.
  • the operator enters the travel operation workbench through the escalator, controls the travel mechanism operation through the travel control box, moves the fruit picker to the desired position, and then controls the four support mechanisms.
  • the fruit picker support is lifted off the ground to play a fixed role.
  • the operator enters the fruit picking operation table, controls the robot arm through the fruit picking control box, and makes the fruit picking operation through a series of actions of rotation and stretching.
  • the workbench is located under the fruit tree.
  • the palm fruit is cut with a saw.
  • the palm fruit falls into the fruit box, the falling fruit box is controlled to open, and the palm fruit enters the unloading mechanism.
  • the fruit unloading mechanism is controlled. From the beginning, the palm fruit is transferred to the transfer trolley to complete the fruit picking operation;
  • the invention is convenient for the user to take the fruit picking operation, has good safety performance, good stability, convenient operation and substantial cost saving.
  • Fig. 1 is a structural view showing the initial state of the fruit picker according to the present invention.
  • FIG. 2 is a structural diagram showing the working state of the fruit picker according to the present invention.
  • Figure 3 is a structural view showing the initial state of the mechanical arm of the present invention.
  • Figure 4 is a structural view showing the extended state of the mechanical arm of the present invention.
  • Figure 5 is a structural view of the slewing bearing device of the mechanical arm of the present invention.
  • Figure 6 is a structural view of an adapter disk of the robot arm of the present invention.
  • Figure 7 is a top view of the fifth cylinder of the robot arm of the present invention.
  • Figure 8 is a structural view of the traveling operation table of the present invention.
  • Figure 9 is a top plan view of the travel operation table of the present invention.
  • Figure 10 is a left side view of the travel operation table of the present invention.
  • Figure 11 is a cross-sectional view of the traveling operation table A-A of the present invention.
  • Figure 12 is a cross-sectional view of the traveling operation table B of the present invention.
  • Figure 13 is a side elevational view of the horizontal fixing plate and the seat cushion of the present invention.
  • Figure 14 is an enlarged view of a portion C of the traveling operation table of the present invention.
  • Figure 15 is a structural view of the picking operation workbench of the present invention.
  • Figure 16 is a top plan view of the fruit picking operation table of the present invention.
  • Figure 17 is a right side elevational view of the fruit picking operation table of the present invention.
  • Figure 18 is a structural view of the fruit drop box of the present invention.
  • Figure 19 is a right side view of the fruit drop box of the present invention.
  • Figure 20 is a left side view of the fruit drop box of the present invention.
  • Figure 21 is a structural diagram showing the initial state of the unloading mechanism of the present invention.
  • Figure 22 is a structural diagram showing the lifting state of the unloading mechanism of the present invention.
  • Figure 23 is a side elevational view of the lifting mechanism of the unloading mechanism of the present invention.
  • Figure 24 is an enlarged view of a portion D of the unloading mechanism of the present invention.
  • Figure 25 is a side view of the unloading mechanism carrying case of the present invention.
  • Figure 26 is a structural view of the support mechanism of the present invention.
  • Figure 27 is a structural view of a base fixing plate of the supporting mechanism of the present invention.
  • Figure 28 is an enlarged view of the mudguard mechanism of the present invention.
  • the automatic fruit picking machine of the present invention comprises a base 1, a robot arm 2, a traveling operation table 3, a travel control box 4, a fruit picking operation table 5, a fruit picking control box 6, a fruit drop box 7, a fruit unloading mechanism 8, a traveling mechanism 9, a support mechanism 10, a mud shovel mechanism 11, and a transport trolley 12;
  • the mechanical arm 2 is fixed to the base 1 by a swing mechanism 13, the travel operation table 3 and the picking operation
  • the worktable 5 is fixed on the robot arm 2
  • the travel control box 4 is fixed on the base 1 by the bracket 14, on the side of the travel operation table 3, and the picking control box 6 is fixed on the picking operation table 5,
  • the fruit drop box 7 is fixed on the bottom of the fruit picking operation table 5, and the fruit unloading mechanism 8 is fixed on the base 1 under the fruit drop box 7.
  • the number of the support mechanisms 10 is four, and the two opposite sides are respectively fixed on the base 1.
  • the traveling mechanism 9 and the mud shovel mechanism 11 are both fixed under the base 1, the transfer trolley 12 is attached to the base 1, and the travel control box 4 is used for controlling the traveling mechanism 9 and the support mechanism 10,
  • the fruit picking control box 6 is used for controlling the robot arm 2, the fruit drop box 7 and the fruit unloading mechanism 8;
  • the travel mechanism 9 includes two overlay chassis 16 and a diesel engine 17, which controls the movement of the cover chassis 16.
  • the mechanical arm 2 includes a first support base 22, a first telescopic arm 23, a second telescopic arm 24, a third telescopic arm 25, a bracket arm 26, a first cylinder 27, a second cylinder 28, a third cylinder 29, and a Two support columns 210 and a slewing bearing device 211.
  • the first support base 22 is composed of two first support plates 212.
  • the first support plate 212 includes an upper support plate 213 and a lower support plate 214.
  • One end of the first telescopic arm 23 Rotatingly fixed between the two upper support plates 213, the other end is provided with a first transition piece 215, the second telescopic arm 24 is rotatably fixed on the first transfer block 215, and the first oil cylinder 27 is rotatable at one end.
  • the other end is rotatably fixed under the first telescopic arm 23, and the other end of the second cylinder 28 is rotatably fixed above the first telescopic arm 23, and the other end is rotatably fixed at the other end.
  • Second expansion The second telescopic arm 24 is fixed in the adjustment cavity, and the third telescopic arm 25 is inserted into the adjustment cavity and fixedly connected with the third cylinder 29, One end of the arm rest is fixed on the third telescopic arm 25, and the other end is movably wrapped on the outside of the second telescopic arm 24;
  • the first support base 22 is rotatably fixed to the base 1 by a swing mechanism 13.
  • the first support base 22 is provided with an escalator 10, and the second support post 210 is rotatably fixed to the third telescopic arm 25 for expansion and contraction.
  • the bottom of the second support column 210 is connected to a fourth cylinder 217 fixed to the third telescopic arm 25, and the slewing bearing device 211 is fixed on the second support column 210.
  • the slewing bearing device 211 includes a slewing support column 218, a fifth cylinder 219 and an adapter disk 220.
  • the slewing support column 218 is vertically fixed to one side of the second support column 210, and the slewing support column 218 is provided with a first rotating shaft 221.
  • the bottom of the adapter plate 220 is rotatably fixed on the second support column 210.
  • the top of the adapter plate 220 is fixed on the adapter plate 222.
  • the outer circumference of the adapter plate 222 is provided with a second rotating shaft 223, and the fifth oil cylinder 219 passes through the first end.
  • the snap ring 224 is rotatably disposed on the first rotating shaft 221, and the other end is rotatably disposed on the second rotating shaft 223 through the second snap ring 225, and the adapter disk 220 is rotated by the expansion and contraction of the fifth cylinder 219.
  • the traveling operation table 3 is fixed on the second telescopic arm 24, and the traveling operation table 3 includes a first frame 31 with a top opening and a second frame 32 with a top opening, a first frame 31 and a second frame
  • the second frame body 32 is provided with a horizontal fixing plate 33.
  • the horizontal fixing plate 33 is rotatably provided with a seat cushion 34, and the seat pad 34 is provided with a third limiting plate 35
  • the first frame body 31 includes two first frame side plates 36 and a first frame bottom plate 37.
  • the first frame side plates 36 are vertically fixed to the first frame bottom plate 37 and the second frame on the second frame 32.
  • the body side plates are connected, the first frame side plate 36 is provided with an open slot, and the opening slot is provided with a moving sliding door 38.
  • the moving sliding door 38 is slidably fixed on the first frame side plate 36, and the sliding door is moved.
  • the top of the second frame is provided with a fixing tab 39.
  • the top of the second frame side plate which is in contact with the sliding sliding door 38 is provided with a locking plate 310 through a loose-leaf connection, and the fixing protrusion 39 is matched with the card interface on the clamping plate 310.
  • the moving sliding door 38 is fixed.
  • a connecting mechanism 311 is further disposed on the bottom plate of the first frame body 31.
  • the connecting mechanism 311 includes a first connecting rod 312 and a connecting plate 313.
  • the first connecting rod 312 is fixed between the two first frame side plates 36.
  • the bottom of the plate 313 is rotatably fixed between the two first frame side plates 36 through the rotating shaft.
  • the connecting plate 313 is located above the first connecting rod 312, and the first connecting rod 314 is oppositely disposed on the top of the connecting plate 313.
  • the first latching bar 314 is slidably disposed in the first latching cavity 315 and is fixed by the first latching mechanism 316.
  • the first latching cavity 315 has a semicircular cross section, and the first latching cavity 315 A first adjusting cavity 317 is disposed on the upper side, and a first limiting plate 318 is disposed in the first adjusting cavity 317.
  • the first engaging mechanism 316 includes a second clamping bar 319, a lever 320, and a second limiting plate. 321 and the first spring 322, the second clamping rod 319 penetrates the first adjusting cavity 317 and the first engaging cavity 315, and the second limiting plate 321 is fixed.
  • the first spring 322 is fixed between the first limiting plate 318 and the second limiting plate 321 , and the first end of the lever 320 is fixed to the second clamping plate.
  • the other end of the rod 319 passes through the first adjusting chamber 317 and is engaged with the second guiding groove on the wall of the first adjusting chamber 317.
  • the cross-sectional shape of the first engaging rod 314 is a semi-circular structure.
  • the bottom of the second card post 319 is provided with a latching protrusion 323 having a triangular structure, and the bottom of the connecting plate 313 is provided with a strap 324.
  • the bottom of the fruit picking operation table 5 is provided with an adapter plate 222, and the adapter plate 222 is fixed on the adapter plate 220.
  • the fruit picking operation table 5 includes a fruit picking plate 51, a first longitudinal fixing plate 52, and a second longitudinal direction.
  • the fixing plate 53, the third longitudinal fixing plate 54, and the fourth longitudinal fixing plate 55, the first longitudinal fixing plate 52, the second longitudinal fixing plate 53, and the third longitudinal fixing plate 54 are vertically fixed on the edge of the fruit collecting bottom plate 51.
  • the number of the second longitudinal fixing plates 53 is two, and the two second longitudinal fixing plates 53 are respectively disposed opposite to each other.
  • the first longitudinal fixing plate 52 and the third longitudinal fixing plate 54 are respectively disposed opposite to each other on the second longitudinal fixing plate 53.
  • the number of the fourth longitudinal fixing plates 55 is three, and is fixed perpendicularly to the outer wall of the first longitudinal fixing plate 52.
  • the fourth longitudinal fixing plate 55 and the first longitudinal fixing plate 52 surround the fruit setting channel 57.
  • the control box 6 is fixed on the inner wall of the first longitudinal fixing plate 52.
  • the third longitudinal fixing plate 54 is provided with a door panel 58. The side of the door panel 58 is fixedly connected with the third rotating shaft 59, and the other side is fixed by the bolt 510.
  • the height of the first longitudinal fixing plate 52 is greater than the fourth longitudinal The height of the fixing plate 55, the height of the fourth longitudinal fixing plate 55 is greater than the height of the second longitudinal fixing plate 53, the height of the second longitudinal fixing plate 53 is equal to the third longitudinal fixing plate 54, and the collecting fruit bottom plate 51 is provided with
  • the splicing plate 511 is located below the third longitudinal fixing plate 54, and the lap 324 on the connecting plate 313 of the traveling operation table 3 is engaged with the lap plate 511.
  • the fruit drop box 7 comprises an upper box body 71, a lower box body 72 and a third adjusting mechanism 73.
  • the upper box body 71 comprises a first side panel 74 and three second side panels 75, a first side panel 74 and a second panel
  • the side plates 75 are perpendicular to each other, and the second side plate 75 is disposed as two adjusting walls 710, and the other two opposite side plates 75 are provided as two fixed walls 711;
  • the lower case 72 includes two third side plates 712 which are rotatably fixed to the bottom of the two fixed walls 711 by a fourth rotating shaft 716.
  • the bottom of the third side plate 712 has a right angle at the bottom. a triangular structure of the limiting protrusion 718, the third side plate 712 has a cushion on the inner wall thereof;
  • the third adjusting mechanism 73 includes a sixth cylinder 719, a first pushing plate 720 and a second pushing plate 721.
  • the sixth cylinder 719 is fixed on the first side plate 74 by a fixing piece, and the first pushing plate 720 is horizontally disposed.
  • the center of a push plate 720 is fixedly connected to the push rod of the sixth cylinder 719, and the number of the second push plates 721 is two.
  • the two second push plates 721 are rotatably fixed to the first push plate 720 at one end. One end is rotatably fixed to the third side plate 712;
  • Two third adjustment rods are disposed on the two third side plates 712 on the side of the second side plate 75 as the adjustment wall 710.
  • 723723, one end of the two third adjusting rods 723 are respectively rotatably fixed on the side walls of the two third side plates 712, and the other end is rotatably connected together;
  • the fruit drop box 7 is fixed at the bottom of the adapter plate 222 at the falling fruit Below channel 57.
  • the unloading mechanism 8 includes an upper base 81, a lower base 82, a carrying case 83 and a lifting mechanism 84.
  • the lifting mechanism 84 includes two first adjusting mechanisms 85, two second adjusting mechanisms 86, and a seventh cylinder 87.
  • the first adjusting mechanism 85 includes two first adjusting rods 89 and two first connecting rods 810, the two first adjusting rods 89 are oppositely disposed, and the two first connecting rods 810 are fixed at two An adjusting rod 89 is located at two ends of the first adjusting rod 89, and the second adjusting rod 811 group includes two second adjusting rods 811 and two second connecting rods 812, and the two second adjusting rods 811 are oppositely disposed.
  • Two second linkage rods 812 are fixed between the two second adjustment rods 811 at two ends of the second adjustment rod 811, two first adjustment mechanisms 85 are oppositely disposed, and the second adjustment mechanism 86 is disposed at the first adjustment mechanism.
  • a first adjusting plate 813 is fixed between the two first adjusting mechanisms 85, and the first adjusting plate 813 is located at the fifth Below the rotating shaft 88, the first adjusting plate 813 is fixed by a sixth sleeve 814 to fix a sixth Turning 815, the sixth rotating shaft 815 is provided with two positioning cards 816.
  • the two positioning clamping blocks 816 are respectively located inside the two first sleeves 814, and the positioning positions between the positioning block 816 and the first sleeve 814 form a cylinder fixing position.
  • the two second linkage rods 812 of the two second adjustment mechanisms 86 are rotatably fixed to the upper base 81 and the lower base 82, respectively, and the two first linkage rods 810 of the first adjustment mechanism 85 are respectively rotatable.
  • Fixed on the first slider 817, the first sliders 817 at the two ends of the same first adjustment mechanism 85 are respectively slidably fixed in the first sliding slot 818 of the upper base 81 and the lower base 82, the seventh
  • the number of the cylinders 87 is two.
  • the seventh cylinder 87 is provided with a third snap ring.
  • the push rod of the seventh cylinder 87 is provided with a fourth snap ring.
  • the third snap ring is rotatably fixed to the lower base 82.
  • the four snap ring is rotatably fixed on the fixed position of the cylinder of the sixth rotating shaft 815;
  • the bottom of the carrying case 83 is provided with two first supporting blocks 821.
  • the first supporting block 821 is located at the fixed end 825 of the carrying case 83.
  • the top of the upper base 81 is provided with two second supporting blocks 822 and two third supports.
  • Block 823, the side of the carrying case 83 is rotatably fixed to the second supporting block 822 of the upper base 81 by the first supporting block 821, and the other side of the carrying case 83 is placed in contact with the third supporting block 823.
  • the eighth cylinder 824 is fixed to the base 81, and the push rod of the eighth cylinder 824 is connected to the lifting end 826 of the carrying case 83.
  • the carrying case 83 is a rectangular parallelepiped structure box with an open top.
  • the top of the fixed end side plate 827 of the carrying case 83 is rotatably fixed to the carrying case 83 via a seventh rotating shaft 828.
  • the carrying box 83 is provided with a limiting rod 829.
  • the rod 829 has an L-shaped structure, and the supporting end of the limiting rod 829 is rotatably fixed to the bottom of the carrying box 83.
  • the adjustable end of the limiting rod 829 is provided with a drawstring 830, and the pull cord 830 is fixed around the upper base.
  • the pulley 831 on the 81 is fixed at the bottom of the carrying case 83, and a second spring 832 is disposed between the supporting end of the limiting rod 829 and the upper base 81; when the carrying case 83 is in a horizontal state, the second spring 832 is in a stretched state.
  • the adjustable end of the limiting rod 829 is in a vertical state, and blocks the fixed end side plate The function of opening 827; when the lifting end 826 of the carrying case 83 is lifted under the pushing of the eighth cylinder 824, the adjustable end of the limiting rod 829 is rotated downward by the pulling rope 830, and the fixed end side plate 827 is in weight. Open under effect.
  • the supporting mechanism 10 includes a first fixing base 43, a support rod 44, a ninth cylinder 45 and a bearing plate 46.
  • the first fixing base 43 is fixed on the supporting bottom plate, and one end of the supporting rod 44 is fixed at the first fixing.
  • the other end of the base 43 is connected to the bearing plate 46.
  • One end of the ninth cylinder 45 is fixed on the first fixed base 43 and the other end is fixed on the support rod 44.
  • the ninth cylinder 45 is located on the support rod. Above 44.
  • the first fixing base 43 is oppositely disposed by two base fixing plates 47.
  • the base fixing plate 47 is a right-angled trapezoidal structure, and the base fixing plate 47 is provided with a first fixing hole 48 and a second portion.
  • a fixing hole 49 the first fixing hole 48 is located obliquely below the second fixing hole 49, and the angle between the line between the center of the first fixing hole 48 and the center of the second fixing hole 49 and the horizontal direction is 56°.
  • the vertical distance between the first fixing hole 48 and the center of the second fixing hole 49 is h1; the support rod 44 is rotatably fixed to the first fixing hole 48 through the eighth rotating shaft 410, and the ninth cylinder 45 passes
  • the ninth rotating shaft 411 is rotatably fixed to the second fixing hole 49.
  • the pressure receiving plate 46 includes a bearing plate 46 body 412 and a connecting plate body 413.
  • the connecting plate body 413 is vertically fixed on the body of the bearing plate 46.
  • the connecting plate body 413 is rotatably fixed to the supporting rod through the tenth rotating shaft 414. 44, the two sides of the body of the pressure plate 46 are folded upward to form a protection plate 415.
  • the pressure plate 46 is provided with a cushion plate 416 below the body; the support rod 44 is provided with a second fixed base 419.
  • the second fixing base 419 is provided with a third fixing hole 420.
  • the shovel mechanism 11 includes a fourth adjusting rod 62, a second connecting rod 63, a tenth cylinder 64 and a shovel 65.
  • the number of the fourth adjusting rods 62 is two, and the two fourth adjusting rods 62 are respectively at one end.
  • the rotation is fixed on the bottom of the support base 1, and the other end is connected by the second connecting rod 63.
  • the tenth cylinder 64 is fixed at one end to the support base 1, and the other end is rotatably fixed to the second connecting rod 63.
  • 65 is fixed on the second connecting rod 63, and the upper and lower ends of the slab 65 are folded outward to form an auxiliary shovel 66.
  • the operator enters the travel operation table 3 through the escalator, controls the travel mechanism 9 to operate by the travel control box 4 to move the fruit picker to the desired position, and then controls the four support mechanisms 10 to pick the fruit.
  • the machine support is lifted off the ground to play a fixed role.
  • the operator enters the fruit picking operation table 5, controls the robot arm 2 through the fruit picking control box 6, and makes the fruit picking through a series of actions of rotation and stretching.
  • the operation table 5 is located under the fruit tree, the palm fruit is cut using a saw, the palm fruit falls into the fruit box 7, the fruit box 7 is controlled to open, and the palm fruit enters the fruit removal mechanism 8, and after picking 5-10 palm fruits, The control unloading mechanism 8 is lifted up, and the palm fruit is transferred to the transfer trolley 12 to complete the fruit picking operation;
  • the invention is convenient for the user to take the fruit picking operation, has good safety performance, good stability, convenient operation and substantial cost saving.
  • Manipulator 2 When the fruit picker is in the initial state, the third telescopic arm 25 is contracted in the second telescopic arm 24, and the second telescopic arm 24 and the first telescopic arm 23 are overlapped with each other at the first support base.
  • the first cylinder 27 controls the first telescopic arm 23 to be lifted
  • the second cylinder 28 controls the second telescopic arm 24 to be lifted
  • the third cylinder 29 controls the third telescopic arm 25 to extend, thereby controlling The extension length of the telescopic arm
  • the fourth cylinder 217 controls the rotation of the second support column 210, so that the slewing bearing device 211 is always in a horizontal state
  • the fifth cylinder 219 controls the rotation of the adapter plate 220, thereby controlling the rotation of the adapter plate 220.
  • the operating mechanism rotates to complete the fruit picking operation; the robot arm 2 has a multi-end adjustable telescopic function, which can be used for picking palm fruits on palm trees of 5 meters or more to ensure the safe and effective completion of the fruit picking operation.
  • Travel operation table 3 The operator opens the sliding door 38 to enter the first frame body 31 and closes the moving door 38. When the traveling operation is required, the second frame body is entered, and the seat cushion 34 is moved downward. The three limiting plates 35 are fixed and can be seated for operation. If the fruit picking operation is required, only the lever 320 needs to be pulled upward to open the first engaging mechanism 316, and then the connecting plate is rotated to make the connecting plate.
  • the lap 324 is fixed on the lap plate 511 of the adjacent plucking operation table 5, and can be transferred to the plucking operation table 5, which is convenient to operate, and is convenient for the operator to perform the operation of the traveling machine of the fruit picking machine. , good safety performance and good stability.
  • Unloading mechanism 8 In the initial state, the first adjusting mechanism 85 and the second adjusting mechanism 86 are horizontally disposed in the lower base 82, and the upper base 81 is overlapped on the lower base 82.
  • the first cylinder 27 is activated to push the first adjustment mechanism 85 to move along the chute, so that the first adjustment mechanism 85 and the second adjustment mechanism 86 are cross-lifted, so that the carrying box 83 is lifted upward with the upper base 81, and then the first
  • the two cylinders 28 lift the lifting end 826 of the carrying case 83, and the fixed end side plate 827 of the carrying case 83 is opened, and the palm fruit entering the carrying case 83 from the falling fruit box 7 slides down.
  • One-step transfer easy to operate, economical and practical, improve work efficiency and save costs.
  • Supporting mechanism 10 When the fruit picker is in the traveling state, the supporting mechanism 10 is vertically disposed on the supporting bottom plate. When the picking operation is required, the push rod of the oil cylinder extends outward until the bearing plate 46 falls on the ground. When the cylinder stops working and the cylinder continues to push, the automatic fruit picker can be lifted off the ground, which is convenient for the operator to carry out the series operation of the fruit picker. The safety performance is good and the stability is good; the pressure plate 46 The structure setting ensures that the equipment will not cause damage to other personnel during the operation. The thickness of the cushion pad 416 can be increased or decreased according to the actual situation of the site, thereby finely adjusting the lifting height and adapting to various picking sites. Strong.
  • Traveling device The crawler type structure or wheel type structure can be selected according to actual needs, which is suitable for local conditions and has strong practicability.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
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  • Harvesting Machines For Specific Crops (AREA)
  • Manipulator (AREA)

Abstract

一种用于自动采果机的机械臂（2），包括底座（1）、第一支撑座（22）、第一伸缩臂（23）、第二伸缩臂（24）、第三伸缩臂（25）、托臂（6）、第一油缸（27）、第二油缸（28）、第三油缸（29）、第二支撑柱（210）和回转支承装置（211）。第一支撑座（22）通过回转机构固定在底座（1）上，第二支撑柱（22）可转动的固定在第三伸缩臂（25）的伸缩端上，第二支撑柱（22）底部与固定在第三伸缩臂（25）上的第四油缸（217）相连接。一种包含上述机械臂的自动采果机，包括底座（1）、机械臂（2）、行进操作工作台（3）、行进控制箱（4）、采果操作工作台（5）、采果控制箱（6）、落果箱（7）、卸果机构（8）、行进机构（9）、支撑机构（10）、铲泥机构（11）和转运小车（12）。机械臂（2）的回转支承装置（211）固定在第二支撑柱（22）上，具有多端可调式伸缩功能，能够用于采摘5米甚至更高距离的棕榈树上的棕榈果，确保采果作业安全有效的完成。

Description

一种用于自动采果机的机械臂及自动采果机 技术领域
本发明属于农机领域，具体涉及一种用于自动采果机的机械臂及自动采果机。
背景技术
棕榈油是重要的工业和民生原料，主要产于非洲、南美和东南亚各国。作为棕榈油的生产原料——棕榈果，大部分生长高度在5米以上，一般由手工采摘。在采摘过程中，果农的劳动强度和难度较大，劳动效率低，因而造成棕榈果采摘劳动力供应严重不足，成为制约棕榈油产业发展的重要因素。
研发一台自动化的采果机是势在必行的，由于采果机涉及高空作业，进行高空作业时，需要将机械臂伸展出足够的长度以确保采果作业安全有效的完成。
发明内容
本发明针对上述问题提出了一种用于自动采果机的机械臂，具有多段可调式伸缩功能，同时还具有旋转功能，用于实现采果操作平台的升降与旋转。同时，还提供了一种自动采果机，用于采摘5米甚至更高距离的棕榈树上的棕榈果，为采果人员提供采果机操作空间和采果平台，实现采果、收集果实和卸果的自动化，使采果快速高效的进行，确保采果作业安全有效的完成。
具体的技术方案如下：
一种用于自动采果机的机械臂，其特征为，包括底座、第一支撑座、第一伸缩臂、第二伸缩臂、第三伸缩臂、托臂、第一油缸、第二油缸、第三油缸、第二支撑柱和回转支承装置，所述第一支撑座由两块第一支撑板相对组成，第一支撑板包括上支撑板和下支撑板，第一伸缩臂一端可旋转的固定在两个上支撑板之间，另一端设有第一转接块，第二伸缩臂可旋转的固定在第一转接块上，第一油缸一端可旋转的固定在两个下支撑板之间，另一端可旋转的固定在第一伸缩臂下方，第二油缸一端可旋转的固定在第一伸缩臂上方，另一端可旋转的固定在第二伸缩臂上方；所述第二伸缩臂上设有调节腔，第三油缸固定在调节腔内，第三伸缩臂插入式的设置在调节腔内，与第三油缸固定连接，所述臂托一端固定在第三伸缩臂上，另一端可移动的包覆在第二伸缩臂外部；
所述第一支撑座固定在底座上，所述第二支撑柱可转动的固定在第三伸缩臂的伸缩端上，第二支撑柱底部与固定在第三伸缩臂上的第四油缸相连接，所述回转支承装置固 定在第二支撑柱上。
进一步地，所述回转支承装置包括回转支撑柱、第五油缸和转接盘，回转支撑柱垂直的固定在第二支撑柱一侧，回转支撑柱上设有第一转轴，转接盘底部可旋转的固定在第二支撑柱上，转接盘顶部固定在转接板上，转接板外周设有第二转轴，所述第五油缸一端通过第一卡环可转动的设置在第一转轴上，另一端通过第二卡环可转动的设置在第二转轴上，通过第五油缸的伸缩控制转接盘旋转。
进一步地，包括底座、所述机械臂、行进操作工作台、行进控制箱、采果操作工作台、采果控制箱、落果箱、卸果机构、行进机构、支撑机构和转运小车；所述机械臂通过回转机构固定在底座上，行进操作工作台固定在机械臂的第二伸缩臂上，所述采果操作工作台固定在机械臂的回转支承装置上；行进控制箱通过支架固定在底座上，位于行进操作工作台一侧，采果控制箱固定在采果操作工作台上；所述落果箱固定在采果操作工作台底部，卸果机构固定在底座上、位于落果箱下方，所述支撑机构的数量为4个，两两相对的分别固定在底座的两个侧边上，行进机构固定在底座下方，所述转运小车挂接在底座上，所述行进控制箱用于控制行进机构和支撑机构；所述采果控制箱用于控制机械臂、落果箱和卸果机构。
进一步地，所述行进操作工作台包括顶部开口的第一框体和顶部开口的第二框体，第一框体与第二框体相互连通，所述第一框体的侧壁上设置可开闭的门，所述第二框体的侧壁内侧设有可收纳的座椅。
进一步地，所述行进操作工作台的第一框体底板上还设有连接机构，连接机构包括第一连接杆和连接板，第一连接杆固定在第一框体的两个侧板之间，连接板底部通过转轴可转动的固定在第一框体的两个侧板之间，连接板位于第一连接杆上方，连接板顶部相对的设有两个第一卡接杆，所述第一框体的侧壁上设有第一卡接腔，所述第一卡接杆能够卡入第一卡接腔中，并通过第一卡接机构加以固定，所述连接板底部设有搭接条。
进一步地，所述第一卡接腔的截面为半圆形结构，第一卡接腔上方设有第一调节腔，第一调节腔内设有一圈第一限位板，所述第一卡接机构包括第二卡接杆、拨杆、第二限位板和第一弹簧第二卡接杆贯穿第一调节腔与第一卡接腔，第二限位板固定在第二卡接杆外部，位于第一限位板上方，第一弹簧固定在第一限位板与第二限位板之间，拨杆一端固定在第二卡接杆上，另一端穿过第一调节腔，与第一调节腔壁上的第二导槽相契合，所述第一卡接杆的截面形状为半圆形结构，所述第二卡接杆底部设有一个截面为三角形结构的卡接凸块。
进一步地，采果操作工作台的底部通过转接板固定在转接盘上，所述采果操作工作台包括采果底板、第一纵向固定板、第二纵向固定板、第三纵向固定板、第四纵向固定板，所述第一纵向固定板、第二纵向固定板、第三纵向固定板竖直的固定在采果底板边缘，第二纵向固定板的数量为两个，两个第二纵向固定板分别相对设置，第一纵向固定板和第三纵向固定板分别相对的设置在第二纵向固定板两侧，所述第四纵向固定板的数量为三个，相互垂直的固定在第一纵向固定板外壁上，第四纵向固定板与第一纵向固定板围绕形成落果通道，采果控制箱固定在第一纵向固定板内壁上，所述第三纵向固定板上设有门板，门板一侧与第三转轴固定连接，另一侧通过插销加以固定，所述第一纵向固定板的高度大于第四纵向固定板的高度，第四纵向固定板的高度大于第二纵向固定板的高度，第二纵向固定板的高度等于第三纵向固定板，所述采果底板上设有搭接板，搭接板位于第三纵向固定板下方，行进操作工作台的连接板上的搭接条能够与搭接板相契合。
进一步地，所述落果箱包括上箱体、下箱体和第三调节机构，上箱体包括一块第一侧板和三块第二侧板，第一侧板和第二侧板相互垂直的焊接成长方体结构，第一侧板与其相对设置的第二侧板作为两个调节壁，另外两个相对设置的第二侧板作为两个固定壁；
下箱体包括两块第三侧板，两块通过第四转轴可旋转的固定在两个固定壁底部的固定块上，所述第三侧板底部设有截面为直角三角形结构的限位凸块，所述第三侧板内壁设有一层缓冲垫；
所述第三调节机构包括第六油缸、第一推板和第二推板，第六油缸通过固定片固定在第一侧板上，第一推板水平设置，第一推板的中心处与第六油缸的推杆固定连接，第二推板的数量有两个，两个第二推板一端可旋转的固定在第一推板上，另一端可旋转的固定在第三侧板上；
位于作为调节壁的第二侧板一侧的两块第三侧板上设有两个第三调节杆，两个第三调节杆一端分别可旋转固定在两块第三侧板侧壁上，另一端可旋转的连接在一起；所述落果箱固定在转接板底部，位于落果通道下方。
进一步地，所述卸果机构包括上基座、下基座、承载箱和提升机构，所述提升机构包括两个第一调节机构、两个第二调节机构、第七油缸和第五转轴，第一调节机构包括两个第一调节杆和两个第一联动杆，两个第一调节杆相对设置，两个第一联动杆固定在两个第一调节杆之间，位于第一调节杆的两端，第二调节杆组包括两个第二调节杆和两个第二联动杆，两个第二调节杆相对设置，两个第二联动杆固定在两个第二调节杆之间， 位于第二调节杆的两端，两个第一调节机构相对设置，第二调节机构设置在第一调节机构的两个第一调节杆之间，并通过第五转轴加以连接形成交叉式结构，两个第一调节机构之间固定一个第一调节板，第一调节板位于第五转轴下方，第一调节板上通过两个第一轴套固定一个第六转轴，第六转轴上设有两个定位卡块，两个定位卡块分别位于两个第一轴套的内侧，定位卡块与第一轴套之间形成油缸固定位，两个第二调节机构的两个第二联动杆分别可转动的固定在上基座和下基座上，第一调节机构的两个第一联动杆分别可转动的固定在第一滑块上，同一个第一调节机构两端的第一滑块分别滑动式的固定在上基座和下基座的第一滑槽内，所述第七油缸87的数量为两个，第七油缸上设有第三卡环，第七油缸的推杆上设有第四卡环，第三卡环可转动的固定在下基座上，第四卡环可转动的固定在第六转轴的油缸固定位上；
所述承载箱的固定端底部设有两个第一支撑块，第一支撑块位于承载箱的固定端，上基座顶部设有两个第二支撑块2和两个第三支撑块，承载箱的固定端通过第一支撑块可旋转的固定在上基座的第二支撑块上，承载箱的举升端能够接触式的放置在第三支撑块上，所述上基座上固定第八油缸，第八油缸的推杆与承载箱的举升端相连接。
进一步地，所述承载箱为顶部开口的长方体结构箱体，承载箱的固定端侧板顶部通过第七转轴可转动的固定在承载箱上，承载箱上设有限位杆，限位杆呈L形结构，限位杆的支承端可旋转的固定在承载箱底部，限位杆的可调端上设有拉绳，拉绳绕过固定在上基座上的滑轮固定在承载箱底部，限位杆的支承端与上基座之间设有第二弹簧；当承载箱处于水平状态时，第二弹簧处于拉伸状态，限位杆的可调端处于垂直状态，起到阻挡固定端侧板打开的作用；当承载箱的举升端在第八油缸的推动下抬升，限位杆的可调端在拉绳的作用下向下旋转，固定端侧板在重量作用下打开。
进一步地，所述行进机构上还设置有铲泥机构，所述铲泥机构包括第四调节杆、第二连接杆、第十油缸和铲泥板，第四调节杆的数量为两个，两个第四调节杆一端分别可旋转的固定在支撑底座的底部，另一端通过第二连接杆相连接，第十油缸一端固定在支撑底座上，另一端可旋转的固定在第二连接杆上，铲泥板固定在第二连接杆上，铲泥板上、下两端向外翻折形成辅助铲泥板。
进一步地，所述行进机构为履带式行走机构或轮式行走机构。
进一步地，所述机械臂上设有扶梯。本发明的有益效果为：
本发明所述的机械臂用于采果机，采果机处于初始状态时，第三伸缩臂收缩的位于第二伸缩臂内，第二伸缩臂和第一伸缩臂相互叠合的位于第一支撑座上，当需要进行采 果操作时，第一油缸控制第一伸缩臂抬升，第二油缸控制第二伸缩臂抬升，第三油缸控制第三伸缩臂伸出，从而控制伸缩臂的伸展长度，第四油缸控制第二支撑柱转动，使回转支承装置始终处于水平状态，第五油缸控制转接盘转动，从而控制固定在转接盘上的采果操作机构进行转动，完成采果操作；本发明具有多段可调式伸缩功能，能够用于采摘5米甚至更高距离的棕榈树上的棕榈果，确保采果作业安全有效的完成。
本发明所述的采果机处于初始状态时，操作者通过扶梯进入行进操作工作台内，通过行进控制箱控制行进机构运作从而使采果机移动至所需位置，再控制4个支撑机构将采果机支撑抬离地面以起到固定作用，当需要进行采果操作时，操作人员进入采果操作工作台，通过采果控制箱控制机械臂，通过旋转和伸展的系列动作使采果操作工作台位于果树下方，使用锯子割下棕榈果，棕榈果落入落果箱中，控制落果箱打开，棕榈果进入卸果机构中，每当采摘5-10个棕榈果后，控制卸果机构抬起，将棕榈果转运至转运小车中，完成采果操作；
本发明便于使用者加以采果操作，安全性能好，稳定性好，操作方便，大幅节约了成本。
附图说明
图1为本发明所述采果机初始状态的结构图。
图2为本发明所述采果机工作状态结构图。
图3为本发明所述机械臂初始状态结构图。
图4为本发明所述机械臂伸展状态结构图。
图5为本发明所述机械臂的回转支承装置结构图。
图6为本发明所述机械臂的转接盘结构图。
图7本发明所述机械臂的第五油缸俯视图
图8为本发明所述行进操作工作台结构图。
图9为本发明所述行进操作工作台俯视图。
图10为本发明所述行进操作工作台左视图。
图11为本发明所述行进操作工作台A-A方向剖视图。
图12为本发明所述行进操作工作台B向剖视图。
图13为本发明所述水平固定板和坐垫连接侧视图。
图14为本发明所述行进操作工作台C部放大图。
图15为本发明所述采果操作工作台结构图。
图16为本发明所述采果操作工作台俯视图。
图17为本发明所述采果操作工作台右视图。
图18为本发明所述落果箱结构图。
图19为本发明所述落果箱右视图。
图20为本发明所述落果箱左视图。
图21为本发明所述卸果机构起始状态结构图。
图22为本发明所述卸果机构提升状态结构图。
图23为本发明所述卸果机构提升机构侧视图。
图24为本发明所述卸果机构D部放大图。
图25为本发明所述卸果机构承载箱侧视图。
图26为本发明所述支撑机构结构图。
图27为本发明所述支撑机构的基座固定板结构图。
图28为本发明所述铲泥机构放大图。
图中：
1-底座，2-机械臂，3-行进操作工作台，4-行进控制箱，5-采果操作工作台，6-采果控制箱，7-落果箱，8-卸果机构，9-行进机构，10-支撑机构，11-铲泥机构，12-转运小车，13-回转机构，14-支架，16-覆带底盘，17-柴油机，22-第一支撑座，23-第一伸缩臂，24-第二伸缩臂，25-第三伸缩臂，26-托臂，27-第一油缸，28-第二油缸，29-第三油缸，210-第二支撑柱，211-回转支承装置，212-第一支撑板，213-上支撑板，214-下支撑板，215-第一转接块，217-第四油缸，218-回转支撑柱，219-第五油缸，220-转接盘，221-第一转轴，222-转接板，223-第二转轴，224-第一卡环，225-第二卡环，31-第一框体，32-第二框体，33-水平固定板，34-坐垫，35-第三限位板，36-第一框体侧板，37-第一框体底板，38-移动拉门，39-固定凸块，310-卡接板，311-连接机构，312-第一连接杆，313-连接板，314-第一卡接杆，315-第一卡接腔，316-第一卡接机构，317-第一调节腔，318-第一限位板，319-第二卡接杆，320-拨杆，321-第二限位板，322-第一弹簧，323-卡接凸块，324-搭接条，43-第一固定基座，44-支撑杆，45-第九油缸，46-承压板，47-基座固定板，48-第一固定孔，49-第二固定孔，410-第八转轴，411-第九转轴，412-承压板体，413-连接板体，414-第十转轴，415-保护板，416-缓冲垫板，419-第二固定基座，420-第三固定孔，51-采果底板，52-第一纵向固定板，53-第二纵向固定板，54-第三纵向固定板，55-第四纵向固定板，57-落果通道，58-门板，59-第三转轴，510-插销，511-搭接板，62-第四调节 杆，63-第二连接杆，64-第十油缸，65-铲泥板，66-辅助铲泥板，71-上箱体，72-下箱体，73-第三调节机构，74-第一侧板，75-第二侧板，710-调节壁，711-固定壁，712-第三侧板，716-第四转轴，717-固定块，718-限位凸块，719-第六油缸，720-第一推板，721-第二推板，723-第三调节杆，81-上基座，82-下基座，83-承载箱，84-提升机构，85-第一调节机构，86-第二调节机构，87-第七油缸，88-第五转轴，89-第一调节杆，810-第一联动杆，811-第二调节杆，812-第二联动杆，813-第一调节板，814-第一轴套，815-第六转轴，816-定位卡块816，817-第一滑块，818-第一滑槽，821-第一支撑块，822-第二支撑块，823-第三支撑块，824-第八油缸，825-承载箱的固定端，826-承载箱的举升端，827-承载箱的固定端侧板，828-第七转轴，829-限位杆，830-拉绳，831-滑轮，832-第二弹簧。
具体实施方式
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。
如图1、图2所示本发明所述的自动采果机，包括底座1、机械臂2、行进操作工作台3、行进控制箱4、采果操作工作台5、采果控制箱6、落果箱7、卸果机构8、行进机构9、支撑机构10、铲泥机构11和转运小车12；所述机械臂2通过回转机构13固定在底座1上，行进操作工作台3和采果操作工作台5均固定在机械臂2上，行进控制箱4通过支架14固定在底座1上，位于行进操作工作台3一侧，采果控制箱6固定在采果操作工作台5上，所述落果箱7固定在采果操作工作台5底部，卸果机构8固定在底座1上，位于落果箱7下方，所述支撑机构10的数量为4个，两两相对的分别固定在底座1的两个侧边上，行进机构9和铲泥机构11均固定在底座1下方，所述转运小车12挂接在底座1上；行进控制箱4用于控制行进机构9和支撑机构10，所述采果控制箱6用于控制机械臂2、落果箱7和卸果机构8；所述行进机构9包括2个覆带底盘16和柴油机17，柴油机17控制覆带底盘16运动。
所述机械臂2包括第一支撑座22、第一伸缩臂23、第二伸缩臂24、第三伸缩臂25、托臂26、第一油缸27、第二油缸28、第三油缸29、第二支撑柱210和回转支承装置211，所述第一支撑座22由两块第一支撑板212相对组成，第一支撑板212包括上支撑板213和下支撑板214，第一伸缩臂23一端可旋转的固定在两个上支撑板213之间，另一端设有第一转接块215，第二伸缩臂24可旋转的固定在第一转接块215上，第一油缸27一端可旋转的固定在两个下支撑板214之间，另一端可旋转的固定在第一伸缩臂23下方，第二油缸28一端可旋转的固定在第一伸缩臂23上方，另一端可旋转的固定在第二伸缩 臂24上方；所述第二伸缩臂24上设有调节腔，第三油缸29固定在调节腔内，第三伸缩臂25插入式的设置在调节腔内，与第三油缸29固定连接，所述臂托一端固定在第三伸缩臂25上，另一端可移动的包覆在第二伸缩臂24外部；
所述第一支撑座22通过回转机构13可转动的固定在底座1上，第一支撑座22上设有扶梯10，所述第二支撑柱210可转动的固定在第三伸缩臂25的伸缩端上，第二支撑柱210底部与固定在第三伸缩臂25上的第四油缸217相连接，所述回转支承装置211固定在第二支撑柱210上。
所述回转支承装置211包括回转支撑柱218、第五油缸219和转接盘220，回转支撑柱218垂直的固定在第二支撑柱210一侧，回转支撑柱218上设有第一转轴221，转接盘220底部可旋转的固定在第二支撑柱210上，转接盘220顶部固定在转接板222上，转接板222外周设有第二转轴223，第五油缸219一端通过第一卡环224可转动的设置在第一转轴221上，另一端通过第二卡环225可转动的设置在第二转轴223上，通过第五油缸219的伸缩控制转接盘220旋转。
所述行进操作工作台3固定在第二伸缩臂24上，行进操作工作台3包括顶部开口的第一框体31和顶部开口的第二框体32，第一框体31与第二框体32相互连通，第二框体32侧板上设有水平固定板33，水平固定板33上可转动的设有坐垫34，坐垫34上设有第三限位板35，所述第一框体31包括两个第一框体侧板36和第一框体底板37，第一框体侧板36垂直的固定在第一框体底板37上，并且与第二框体32上的第二框体侧板相连接，第一框体侧板36上设有开口槽，开口槽内设有移动拉门38，移动拉门38滑动式的固定在第一框体侧板36上，移动拉门38顶部设有固定凸块39，与移动拉门38相接触的第二框体侧板顶部通过活页连接设有卡接板310，固定凸块39与卡接板310上的卡接口相契合，将移动拉门38加以固定。
所述第一框体31底板上还设有连接机构311，连接机构311包括第一连接杆312和连接板313，第一连接杆312固定在两个第一框体侧板36之间，连接板313底部通过转轴可转动的固定在两个第一框体侧板36之间，连接板313位于第一连接杆312上方，连接板313顶部相对的设有两个第一卡接杆314，第一卡接杆314卡入式的设置在第一卡接腔315中，并通过第一卡接机构316加以固定，所述第一卡接腔315的截面为半圆形结构，第一卡接腔315上方设有第一调节腔317，第一调节腔317内设有一圈第一限位板318，所述第一卡接机构316包括第二卡接杆319、拨杆320、第二限位板321和第一弹簧322，第二卡接杆319贯穿第一调节腔317与第一卡接腔315，第二限位板321固定 在第二卡接杆319外部，位于第一限位板318上方，第一弹簧322固定在第一限位板318与第二限位板321之间，拨杆320一端固定在第二卡接杆319上，另一端穿过第一调节腔317，与第一调节腔317壁上的第二导槽相契合，所述第一卡接杆314的截面形状为半圆形结构，所述第二卡接杆319底部设有一个截面为三角形结构的卡接凸块323，所述连接板313底部设有搭接条324。
所述采果操作工作台5底部设有转接板222，转接板222固定在转接盘220上，采果操作工作台5包括采果底板51、第一纵向固定板52、第二纵向固定板53、第三纵向固定板54、第四纵向固定板55，所述第一纵向固定板52、第二纵向固定板53、第三纵向固定板54竖直的固定在采果底板51边缘，第二纵向固定板53的数量为两个，两个第二纵向固定板53分别相对设置，第一纵向固定板52和第三纵向固定板54分别相对的设置在第二纵向固定板53两侧，所述第四纵向固定板55的数量为三个，相互垂直的固定在第一纵向固定板52外壁上，第四纵向固定板55与第一纵向固定板52围绕形成落果通道57，采果控制箱6固定在第一纵向固定板52内壁上，所述第三纵向固定板54上设有门板58，门板58一侧与第三转轴59固定连接，另一侧通过插销510加以固定，所述第一纵向固定板52的高度大于第四纵向固定板55的高度，第四纵向固定板55的高度大于第二纵向固定板53的高度，第二纵向固定板53的高度等于第三纵向固定板54，所述采果底板51上设有搭接板511，搭接板511位于第三纵向固定板54下方，行进操作工作台3的连接板313上的搭接条324与搭接板511相契合。
所述落果箱7包括上箱体71、下箱体72和第三调节机构73，上箱体71包括一块第一侧板74和三块第二侧板75，第一侧板74和第二侧板75相互垂直的焊接成长方体结构，第一侧板74与其相对设置的第二侧板75作为两个调节壁710，另外两个相对设置的第二侧板75作为两个固定壁711；
下箱体72包括两块第三侧板712，两块通过第四转轴716可旋转的固定在两个固定壁711底部的固定块717上，所述第三侧板712底部设有截面为直角三角形结构的限位凸块718，所述第三侧板712内壁设有一层缓冲垫；
所述第三调节机构73包括第六油缸719、第一推板720和第二推板721，第六油缸719通过固定片固定在第一侧板74上，第一推板720水平设置，第一推板720的中心处与第六油缸719的推杆固定连接，第二推板721的数量有两个，两个第二推板721一端可旋转的固定在第一推板720上，另一端可旋转的固定在第三侧板712上；
位于作为调节壁710的第二侧板75一侧的两块第三侧板712上设有两个第三调节杆 723723，两个第三调节杆723一端分别可旋转固定在两块第三侧板712侧壁上，另一端可旋转的连接在一起；所述落果箱7固定在转接板222底部，位于落果通道57下方。
所述卸果机构8包括上基座81、下基82、承载箱83和提升机构84，所述提升机构84包括两个第一调节机构85、两个第二调节机构86、第七油缸87和第五转轴88，第一调节机构85包括两个第一调节杆89和两个第一联动杆810，两个第一调节杆89相对设置，两个第一联动杆810固定在两个第一调节杆89之间，位于第一调节杆89的两端，第二调节杆811组包括两个第二调节杆811和两个第二联动杆812，两个第二调节杆811相对设置，两个第二联动杆812固定在两个第二调节杆811之间，位于第二调节杆811的两端，两个第一调节机构85相对设置，第二调节机构86设置在第一调节机构85的两个第一调节杆89之间，并通过第五转轴88加以连接形成交叉式结构，两个第一调节机构85之间固定一个第一调节板813，第一调节板813位于第五转轴88下方，第一调节板813上通过两个第一轴套814固定一个第六转815，第六转轴815上设有两个定位卡816，两个定位卡块816分别位于两个第一轴套814的内侧，定位卡块816与第一轴套814之间形成油缸固定位，两个第二调节机构86的两个第二联动杆812分别可转动的固定在上基座81和下基座82上，第一调节机构85的两个第一联动杆810分别可转动的固定在第一滑块817上，同一个第一调节机构85两端的第一滑块817分别滑动式的固定在上基座81和下基座82的第一滑槽818内，所述第七油缸87的数量为两个，第七油缸87上设有第三卡环，第七油缸87的推杆上设有第四卡环，第三卡环可转动的固定在下基座82上，第四卡环可转动的固定在第六转轴815的油缸固定位上；
所述承载箱83底部设有两个第一支撑块821，第一支撑块821位于承载箱83的固定端825，上基座81顶部设有两个第二支撑块822和两个第三支撑块823，承载箱83一侧通过第一支撑块821可旋转的固定在上基座81的第二支撑块822上，承载箱83另一侧接触式的放置在第三支撑块823上，所述上基座81上固定第八油缸824，第八油缸824的推杆与承载箱83的举升端826相连接。
所述承载箱83为顶部开口的长方体结构箱体，承载箱83的固定端侧板827顶部通过第七转轴828可转动的固定在承载箱83上，承载箱83上设有限位杆829，限位杆829成L形结构，限位杆829的支承端可旋转的固定在承载箱83底部，限位杆829的可调端上设有拉绳830，拉绳830绕过固定在上基座81上的滑轮831固定在承载箱83底部，限位杆829的支承端与上基座81之间设有第二弹簧832；当承载箱83处于水平状态时，第二弹簧832处于拉伸状态，限位杆829的可调端处于垂直状态，起到阻挡固定端侧板 827打开的作用；当承载箱83的举升端826在第八油缸824的推动下抬升，限位杆829的可调端在拉绳830的作用下向下旋转，固定端侧板827在重量作用下打开。
所述支撑机构10包括第一固定基座43、支撑杆44、第九油缸45和承压板46，所述第一固定基座43固定在支撑底板上，支撑杆44一端固定在第一固定基座43上，另一端与承压板46相连接，所述第九油缸45一端固定在第一固定基座43上，另一端固定在支撑杆44上，所述第九油缸45位于支撑杆44上方。
所述第一固定基座43由两块基座固定板47相对设置构成，所述基座固定板47为直角梯形结构，所述基座固定板47上设有第一固定孔48和第二固定孔49，第一固定孔48位于第二固定孔49的斜下方，第一固定孔48的圆心与第二固定孔49的圆心之间的连线与水平方向的夹角a为56°，第一固定孔48与第二固定孔49圆心之间的竖直距离为h1；所述支撑杆44通过第八转轴410可转动的固定在第一固定孔48上，所述第九油缸45通过第九转轴411可转动的固定在第二固定孔49上。
所述承压板46包括承压板46体412和连接板体413，连接板体413垂直的固定在承压板46体上，连接板体413通过第十转轴414可转动的固定在支撑杆44上，承压板46体的两个侧边向上翻折形成保护板415，所述承压板46体下方设有缓冲垫板416；所述支撑杆44上设有第二固定基座419，第二固定基座419上设有第三固定孔420，第三固定孔420的圆心到支撑杆44顶部之间的距离为h2，h2＝h1，第九油缸45的推杆可转动的固定在第二固定基座419上。
所述铲泥机构11包括第四调节杆62、第二连接杆63、第十油缸64和铲泥板65，第四调节杆62的数量为两个，两个第四调节杆62一端分别可旋转的固定在支撑底座1的底部，另一端通过第二连接杆63相连接，第十油缸64一端固定在支撑底座1上，另一端可旋转的固定在第二连接杆63上，铲泥板65固定在第二连接杆63上，铲泥板65上、下两端向外翻折形成辅助铲泥板66。
本发明处于初始状态时，操作者通过扶梯进入行进操作工作台3内，通过行进控制箱4控制行进机构9运作从而使采果机移动至所需位置，再控制4个支撑机构10将采果机支撑抬离地面以起到固定作用，当需要进行采果操作时，操作人员进入采果操作工作台5，通过采果控制箱6控制机械臂2，通过旋转和伸展的系列动作使采果操作工作台5位于果树下方，使用锯子割下棕榈果，棕榈果落入落果箱7中，控制落果箱7打开，棕榈果进入卸果机构8中，每当采摘5-10个棕榈果后，控制卸果机构8抬起，将棕榈果转运至转运小车12中，完成采果操作；
本发明便于使用者加以采果操作，安全性能好，稳定性好，操作方便，大幅节约了成本。
本发明的具体操作如下：
(1)机械臂2：采果机处于初始状态时，第三伸缩臂25收缩的位于第二伸缩臂24内，第二伸缩臂24和第一伸缩臂23相互叠合的位于第一支撑座22上，当需要进行采果操作时，第一油缸27控制第一伸缩臂23抬升，第二油缸28控制第二伸缩臂24抬升，第三油缸29控制第三伸缩臂25伸出，从而控制伸缩臂的伸展长度，第四油缸217控制第二支撑柱210转动，使回转支承装置211始终处于水平状态，第五油缸219控制转接盘220转动，从而控制固定在转接盘220上的采果操作机构进行转动，完成采果操作；机械臂2具有多端可调式伸缩功能，能够用于采摘5米甚至更高距离的棕榈树上的棕榈果，确保采果作业安全有效的完成。
(2)行进操作工作台3：操作人员打开移动拉门38进入第一框体31后关闭移动拉门38，需要进行行进操作时，进入第二框体，向下搬动坐垫34，通过第三限位板35加以固定，即可坐下进行操作，如果需要进行采果操作，只需要向上拉动拨杆320，使第一卡接机构316打开，再将转动连接板，使连接板上的搭接条324固定在相邻的采果操作工作台5的搭接板511上，即可转移至采果操作工作台5中，操作方便，便于操作人员进行采果机的行进系列动作的操作，安全性能好，稳定性好。
(3)采果操作工作台5：操作人员打开门板58进入工作台中，通过插销510锁紧门板58，操作人员在工作台上对棕榈果进行切割，棕榈果自落果通道57落入下方的落果箱7中，本发明便于使用者站立加以采果操作，安全性能好，稳定性好。
(4)落果箱7：处于起始状态时，油缸处于收缩状态，两个第三侧板712相互收拢，当棕榈果调入落果箱7中后，油缸启动，推杆向下运动，从而带动第一推板720向下运动，第二推板721随之转动，从而使两个第三侧板712相对打开，棕榈果自落果箱7中离开，进入转运车中；结构简单，自动化操作，操作方便，经济实用，提高了效率，调节杆起到了辅助调节的作用，能够有效防止棕榈果提前掉落。
(5)卸果机构8：处于起始状态时，第一调节机构85与第二调节机构86水平的设置在下基座82内，上基座81搭接在下基座82上，采果操作时，第一油缸27启动，推动第一调节机构85沿着滑槽运动，使第一调节机构85与第二调节机构86交叉提升，使承载箱83随着上基座81向上提升，再启动第二油缸28，使承载箱83的举升端826抬升，承载箱83的固定端侧板827打开，自落果箱7进入承载箱83的棕榈果滑落进行下 一步转运，操作方便，经济实用，提高了工作效率，节约了成本。
(6)支撑机构10：采果机处于行进状态时，支撑机构10垂直的设置在支撑底板上，当需要进行采果操作时，油缸的推杆向外延伸，直至承压板46落在地面上，此时油缸停止运作，油缸继续推动，即可将自动采果机抬升至离开地面，便于操作人员进行采果机的行进系列动作的操作，安全性能好，稳定性好；承压板46的结构设置，保证了设备在运行过程中不会对其他人员造成伤害，缓冲垫板416的厚度可以根据场地的实际情况进行增减，以此对抬升高度进行微调，对各种采摘场地的适应性强。
(7)行进装置：可根据实际需求选择履带式的结构或车轮式结构，因地制宜，实用性强。
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。

Claims (13)

  1. 一种用于自动采果机的机械臂(2)，其特征为，包括底座(1)、第一支撑座(22)、第一伸缩臂(23)、第二伸缩臂(24)、第三伸缩臂(25)、托臂(6)、第一油缸(27)、第二油缸(28)、第三油缸(29)、第二支撑柱(210)和回转支承装置(211)，所述第一支撑座(22)由两块第一支撑板(212)相对组成，第一支撑板(212)包括上支撑板(213)和下支撑板(214)，第一伸缩臂(23)一端可旋转的固定在两个上支撑板(213)之间，另一端设有第一转接块(215)，第二伸缩臂(24)可旋转的固定在第一转接块(215)上，第一油缸(27)一端可旋转的固定在两个下支撑板(214)之间，另一端可旋转的固定在第一伸缩臂(23)下方，第二油缸(28)一端可旋转的固定在第一伸缩臂(23)上方，另一端可旋转的固定在第二伸缩臂(24)上方；所述第二伸缩臂(24)上设有调节腔，第三油缸(29)固定在调节腔内，第三伸缩臂(25)插入式的设置在调节腔内，与第三油缸(29)固定连接，所述臂托一端固定在第三伸缩臂(25)上，另一端可移动的包覆在第二伸缩臂(24)外部；
    所述第一支撑座(22)固定在底座(1)上，所述第二支撑柱(210)可转动的固定在第三伸缩臂(25)的伸缩端上，第二支撑柱(210)底部与固定在第三伸缩臂(25)上的第四油缸(217)相连接，所述回转支承装置(211)固定在第二支撑柱(210)上。
  2. 如权利要求1所述的一种用于自动采果机的机械臂(2)，其特征为，所述回转支承装置(211)包括回转支撑柱(218)、第五油缸(219)和转接盘(220)，回转支撑柱(218)固定在第二支撑柱(210)一侧，回转支撑柱(218)上设有第一转轴(221)，转接盘(220)底部可旋转的固定在第二支撑柱(210)上，转接盘(220)顶部固定在转接板(222)上，转接板(222)外周设有第二转轴(223)，所述第五油缸(219)一端通过第一卡环(224)可转动的设置在第一转轴(221)上，另一端通过第二卡环(225)可转动的设置在第二转轴(223)上，通过第五油缸(219)的伸缩控制转接盘(220)旋转。
  3. 一种包括权利要求1所述机械臂的自动采果机，其特征为，包括底座(1)、所述机械臂(2)、行进操作工作台(3)、行进控制箱(4)、采果操作工作台(5)、采果控制箱(6)、落果箱(7)、卸果机构(8)、行进机构(9)、支撑机构(10)和转运小车(12)；所述机械臂(2)通过回转机构(13)固定在底座(1)上，行进操作工作台(3)固定在机械臂(2)的第二伸缩臂(24)上，所述采果操作工作台(5)固定在机械臂(2)的回转支承装置(211)上；行进控制箱(4)通过支架(14)固定在底座(1)上，位于行进操作工作台(3)一侧，采果控制箱(6)固定在采果操作工作台(5)上；所述落果箱 (7)固定在采果操作工作台(5)底部，卸果机构(8)固定在底座(1)上、位于落果箱(7)下方，所述支撑机构(10)的数量为4个，两两相对的分别固定在底座(1)的两个侧边上，行进机构(9)固定在底座(1)下方，所述转运小车(12)挂接在底座(1)上，所述行进控制箱(4)用于控制行进机构(9)和支撑机构(10)；所述采果控制箱(6)用于控制机械臂(2)、落果箱(7)和卸果机构(8)。
  4. 如权利要求3所述的自动采果机，其特征为，所述行进操作工作台(3)包括顶部开口的第一框体(31)和顶部开口的第二框体(32)，第一框体(31)与第二框体(32)相互连通，所述第一框体(31)的侧壁上设置可开闭的门，所述第二框体(32)的侧壁内侧设有可收纳的座椅。
  5. 如权利要求4所述的于自动采果机，其特征为，所述行进操作工作台的第一框体(31)底板上还设有连接机构(311)，连接机构(311)包括第一连接杆(312)和连接板(313)，第一连接杆(312)固定在第一框体(31)的两个侧板之间，连接板(313)底部通过转轴可转动的固定在第一框体(31)的两个侧板之间，连接板(313)位于第一连接杆(312)上方，连接板(313)顶部相对的设有两个第一卡接杆(314)，所述第一框体(31)的侧壁上设有第一卡接腔(315)，所述第一卡接杆(314)能够卡入第一卡接腔(315)中，并通过第一卡接机构(316)加以固定，所述连接板(313)底部设有搭接条(324)。
  6. 如权利要求5所述的于自动采果机，其特征为，所述第一卡接腔(315)的截面为半圆形结构，第一卡接腔(315)上方设有第一调节腔(317)，第一调节腔(317)内设有一圈第一限位板(318)，所述第一卡接机构(316)包括第二卡接杆(319)、拨杆(320)、第二限位板(321)和第一弹簧(322)，第二卡接杆(319)贯穿第一调节腔(317)与第一卡接腔(315)，第二限位板(321)固定在第二卡接杆(319)外部，位于第一限位板(318)上方，第一弹簧(322)固定在第一限位板(318)与第二限位板(321)之间，拨杆(320)一端固定在第二卡接杆(319)上，另一端穿过第一调节腔(317)，与第一调节腔(317)壁上的第二导槽相契合，所述第一卡接杆(314)的截面形状为半圆形结构，所述第二卡接杆(319)底部设有一个截面为三角形结构的卡接凸块(323)。
  7. 如权利要求6所述的于自动采果机，其特征为，采果操作工作台(5)的底部通过转接条板(15)固定在转接板(222)上，所述采果操作工作台(5)包括采果底板(51)、第一纵向固定板(52)、第二纵向固定板(53)、第三纵向固定板(54)、第四纵向固定板(55)，所述第一纵向固定板(52)、第二纵向固定板(53)、第三纵向固定板 (54)竖直的固定在采果底板(51)边缘，第二纵向固定板(53)的数量为两个，两个第二纵向固定板(53)分别相对设置，第一纵向固定板(52)和第三纵向固定板(54)分别相对的设置在第二纵向固定板(53)两侧，所述第四纵向固定板(55)的数量为三个，相互垂直的固定在第一纵向固定板(52)外壁上，第四纵向固定板(55)与第一纵向固定板(52)围绕形成落果通道(57)，采果控制箱(6)固定在第一纵向固定板(52)内壁上，所述第三纵向固定板(54)上设有门板(58)，门板(58)一侧与第三转轴(59)固定连接，另一侧通过插销(510)加以固定，所述第一纵向固定板(52)的高度大于第四纵向固定板(55)的高度，第四纵向固定板(55)的高度大于第二纵向固定板(53)的高度，第二纵向固定板(53)的高度等于第三纵向固定板(54)，所述采果底板(51)上设有搭接板(511)，搭接板(511)位于第三纵向固定板(54)下方，行进操作工作台(3)的连接板(313)上的搭接条(324)能够与搭接板(511)相契合。
  8. [根据细则26改正20.04.2017]
    如权利要求3所述的于自动采果机，其特征为，所述落果箱(7)包括上箱体(71)、下箱体(72)和第三调节机构(73)，上箱体(71)包括一块第一侧板(74)和三块第二侧板(75)，第一侧板(74)和第二侧板(75)相互垂直的焊接成长方体结构，第一侧板(74)与其相对设置的第二侧板(75)作为两个调节壁(710)，另外两个相对设置的第二侧板(75)作为两个固定壁(711)；
    下箱体(72)包括两块第三侧板(712)，两块通过第四转轴(716)可旋转的固定在两个固定壁(711)底部的固定块(717)上，所述第三侧板(712)底部设有截面为直角三角形结构的限位凸块(718)，所述第三侧板(712)内壁设有一层缓冲垫；
    所述第三调节机构(73)包括第六油缸(719)、第一推板(720)和第二推板(721)，第六油缸(719)通过固定片固定在第一侧板(74)上，第一推板(720)水平设置，第一推板(720)的中心处与第六油缸(719)的推杆固定连接，第二推板(721)的数量有两个，两个第二推板(721)一端可旋转的固定在第一推板(720)上，另一端可旋转的固定在第三侧板(712)上；
    位于作为调节壁(710)的第二侧板(75)一侧的两块第三侧板(712)上设有两个第三调节杆(723)，两个第三调节杆(723)一端分别可旋转固定在两块第三侧板(712)侧壁上，另一端可旋转的连接在一起；所述落果箱(7)固定在转接板(15)底部，位于落果通道(57)下方。
  9. [根据细则26改正20.04.2017]
    如权利要求3所述的于自动采果机，其特征为，所述卸果机构(8)包括上基座(81)、下基座(82)、承载箱(83)和提升机构(84)，所述提升机构(84)包括两个第一调节机构(85)、两个第二调节机构(86)、第七油缸(87)和第五转轴(88)，第一调节机构(85)包括两个第一调节杆(89)和两个第一联动杆(810)，两个第一调节杆(89)相对设置，两个第一联动杆(810)固定在两个第一调节杆(89)之间，位于第一调节杆(89)的两端，第二调节杆(811)组包括两个第二调节杆(811)和两个第二联动杆(812)，两个第二调节杆(811)相对设置，两个第二联动杆(812)固定在两个第二调节杆(811)之间，位于第二调节杆(811)的两端，两个第一调节机构(85)相对设置，第二调节机构(86)设置在第一调节机构(85)的两个第一调节杆(89)之间，并通过第五转轴(88)加以连接形成交叉式结构，两个第一调节机构(85)之间固定一个第一调节板(813)，第一调节板(813)位于第五转轴(88)下方，第一调节板(813)上通过两个第一轴套(814)固定一个第六转轴(815)，第六转轴(815)上设有两个定位卡块(816)，两个定位卡块(816)分别位于两个第一轴套(814)的内侧，定位卡块(816)与第一轴套(814)之间形成油缸固定位，两个第二调节机构(86)的两个第二联动杆(812)分别可转动的固定在上基座(81)和下基座(82)上，第一调节机构(85)的两个第一联动杆(810)分别可转动的固定在第一滑块(817)上，同一个第一调节机构(85)两端的第一滑块(817)分别滑动式的固定在上基座(81)和下基座(82)的第一滑槽(818)内，所述第七油缸(87)的数量为两个，第七油缸(87)上设有第三卡环，第七油缸(87)的推杆上设有第四卡环，第三卡环可转动的固定在下基座(82)上，第四卡环可转动的固定在第六转轴(815)的油缸固定位上；
    所述承载箱(83)的固定端(825)底部设有两个第一支撑块(821)，第一支撑块(821)位于承载箱(83)的固定端(825)，上基座(81)顶部设有两个第二支撑块(822)和两个第三支撑块(823)，承载箱(83)的固定端(825)通过第一支撑块(821)可旋转的固定在上基座(81)的第二支撑块(822)上，承载箱(83)的举升端(826)能够接触式的放置在第三支撑块(823)上，所述上基座(81)上固定第八油缸(824)，第八油缸(824)的推杆与承载箱(83)的举升端(826)相连接。
  10. [根据细则26改正20.04.2017]　
    如权利要求3所述的于自动采果机，其特征为，所述承载箱(83)为顶部开口的长方体结构箱体，承载箱(83)的固定端侧板(827)顶部通过第七转轴(828)可转动的固定在承载箱(83)上，承载箱(83)上设有限位杆(829)，限位杆(829)呈L形结构，限位杆(829)的支承端可旋转的固定在承载箱(83)底部，限位杆(829)的可调端上设有拉绳(830)，拉绳(830)绕过固定在上基座(81)上的滑轮(831)固定在承载箱(83)底部，限位杆(829)的支承端与上基座(81)之间设有第二弹簧(832)；当承载箱(83)处于水平状态时，第二弹簧(832)处于拉伸状态，限位杆(829)的可调端处于垂直状态，起到阻挡固定端侧板(827)打开的作用；当承载箱(83)的举升端(826)在第八油缸(824)的推动下抬升，限位杆(829)的可调端在拉绳(830)的作用下向下旋转，固定端侧板(827)在重量作用下打开。
  11. [根据细则26改正20.04.2017]
    如权利要求3所述的自动采果机，其特征为，所述行进机构(9)上还设置有铲泥机构(11)，
    所述铲泥机构(11)包括第四调节杆(62)、第二连接杆(63)、第十油缸(64)和铲泥板(65)，第四调节杆(62)的数量为两个，两个第四调节杆(62)一端分别可旋转的固定在支撑底座1的底部，另一端通过第二连接杆(63)相连接，第十油缸(64)一端固定在支撑底座1上，另一端可旋转的固定在第二连接杆(63)上，铲泥板(65)固定在第二连接杆(63)上，铲泥板(65)上、下两端向外翻折形成辅助铲泥板(66)。
  12. [根据细则26改正20.04.2017]　
    如权利要求3所述的自动采果机，其特征为，所述行进机构(9)为履带式行走机构或轮式行走机构。
  13. [根据细则26改正20.04.2017]　
    如权利要求1所述的自动采果机，其特征为，所述机械臂(2)上设有扶梯。
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CN114128493A (zh) * 2021-11-09 2022-03-04 山西农业大学 一种可自适应不同高度的番茄采摘机器人
CN113979389A (zh) * 2021-11-15 2022-01-28 万全重工（常州）机械有限公司 一种双边升降机的采摘果用双头输送机构
CN114475739A (zh) * 2022-01-17 2022-05-13 淮北矿业股份有限公司 一种具有清扫和转运功能的机械运输装置
CN114475739B (zh) * 2022-01-17 2024-04-09 淮北矿业股份有限公司 一种具有清扫和转运功能的机械运输装置
WO2024040841A1 (zh) * 2022-08-22 2024-02-29 华南农业大学 串果果枝分离装置及集成串果果枝分离装置的水果采摘平台

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