CN102577747A - Overhead strawberry picking robot - Google Patents
Overhead strawberry picking robot Download PDFInfo
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- CN102577747A CN102577747A CN2012100376379A CN201210037637A CN102577747A CN 102577747 A CN102577747 A CN 102577747A CN 2012100376379 A CN2012100376379 A CN 2012100376379A CN 201210037637 A CN201210037637 A CN 201210037637A CN 102577747 A CN102577747 A CN 102577747A
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Abstract
The invention belongs to the field of agricultural machinery and relates to an overhead strawberry picking robot, which can realize automatic picking of overhead strawberries. The overhead strawberry picking robot comprises a strawberry picking robot accurate picking actuating mechanism (101), a storage basket (102), a long hole connecting rod (103), a screwed hole connecting rod (104), a chassis connecting rod (105) and a crawler-type chassis (106), wherein the storage basket (102) is fixedly connected with the strawberry picking robot accurate picking actuating mechanism (101); one end of the long hole connecting rod (103) is fixedly connected with the strawberry picking robot accurate picking actuating mechanism (101); the other end of the long hole connecting rod (103) is fixedly connected with the screwed hole connecting rod (104); the screwed hole connecting rod (104) is fixedly connected with the chassis connecting rod (105); and the chassis connecting rod (105) is fixedly connected with the crawler-type chassis (106) thereon.
Description
Technical field
The invention belongs to agricultural mechanical field, relate to a kind of overhead strawberry picking robot, it can realize the automatic harvesting of overhead strawberry.
Background technology
In recent years, China's cultivated strawberry area enlarges rapidly, North gets Heilungkiang, reaches Guangdong in the south, and from the east of Shandong, all there is plantation in the west to Xinjiang.Must in time pluck after the strawberry maturation, especially the full bearing period (about 30 days), strawberry day, ripe amount can reach 150～200kg667m
-2, 2 labours need the about 10hd of work
-1Could pluck.Complexity and labour intensity that strawberry is plucked work have become the key factor that the restriction strawberry cultivating already develops.Greenhouse strawberry high-level cultivating technology has overcome ridge planting or furrow are made traditional cultivations such as cultivation; When manual picking; The operation of need bending over or squat down on the ground; Under a stable condition, alleviated labour intensity, and the standardization and the automated job level that the cultivated strawberry utilization of space are provided, improve the growing environment of strawberry and improve cultivated strawberry.At present, people such as Kondo-N has also developed corresponding picking robot to the different cultivation modes (high-level cultivating pattern and traditional mode) of strawberry.The high-level cultivating pattern is owing to suitable robot manipulating task obtains increasing research and application.Yet mostly volume is bigger to be applicable to the robot of high-level cultivating pattern in the prior art, complex structure, and cost is higher, and operating difficulties, is inappropriate for agricultural mechanization and promotes.
Summary of the invention
To the problems referred to above, the invention provides a kind of overhead strawberry picking robot, it is simple in structure, flexible operation, adaptability is high, can realize the harvesting operation of the overhead strawberry of different size.
To achieve these goals, the invention provides following technical scheme:
A kind of overhead strawberry picking robot is characterized in that: said overhead strawberry picking robot comprises that the strawberry picking robot is precisely plucked executing agency 101, taken in basket 102, slotted hole connecting rod 103, screwed hole connecting rod 104, chassis connecting rod 105 and caterpillar chassis 106; Wherein, Taking in basket 102 precisely plucks executing agency 101 with the strawberry picking robot and is fixedly connected; Slotted hole connecting rod 103 1 ends are fixedly connected the strawberry picking robot and precisely pluck executing agency 101, other end fixed connection screwed hole connecting rod 104; The fixed connection chassis connecting rod 105 of screwed hole connecting rod 104, chassis connecting rod 105 is fixedly connected with caterpillar chassis 106 on it.
Said slotted hole connecting rod 103 has slotted hole 108; Have screwed hole 109 on the screwed hole connecting rod 104, slotted hole 108 and the screwed hole on the screwed hole connecting rod 104 109 that bolt 107 passes on the slotted hole connecting rod 103 are fixedly connected slotted hole connecting rod 103 and screwed hole connecting rod 104.
Said strawberry picking robot is precisely plucked the support connection device that executing agency 101 comprises hybrid coordinate formula telecontrol equipment, the gripper device that is connected with said hybrid coordinate formula telecontrol equipment and fixing said hybrid coordinate formula telecontrol equipment.
Said hybrid coordinate formula telecontrol equipment comprises horizontal movement unit, vertical motion unit, the unit that rotatablely moves, pitch regulation unit and depth moving cell, wherein:
Said horizontal movement unit comprises horizontal movement unit motor 1, horizontal movement unit guide rail-leading screw module 2, horizontal movement unit slide block 3 and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b; Wherein, Horizontal movement unit motor 1 is connected with an end of horizontal movement unit guide rail-leading screw module 2 through shaft joint; Horizontal movement unit slide block 3 is connected on horizontal movement unit guide rail-leading screw module 2 slidably, and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b are fixedly connected on the two ends of a side of horizontal movement unit guide rail-leading screw module 2;
Said vertical motion unit comprises vertical motion unit motor 5, vertical motion unit guide rail-leading screw module 6, vertical motion unit slide block 7 and vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b; Wherein, Vertical motion unit motor 5 is connected with an end of vertical motion unit guide rail-leading screw module 6 through shaft joint; Vertical motion unit slide block 7 is connected on vertical motion unit guide rail-leading screw module 6 slidably, and vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b are connected the two ends of a side of vertical motion unit guide rail-leading screw module 6;
The said unit that rotatablely moves comprises the unit motor 9 that rotatablely moves, framework flange 10; Wherein, The fuselage of unit motor 9 of rotatablely moving is fixedly connected with a side of framework flange 10, and the motor shaft of the unit motor 9 that rotatablely moves keeps coaxial with the circular hole of framework flange 10 opposite sides;
Said pitch regulation unit comprises that axle 11, one side that is in transmission connection has the pitching bracing frame 12 of long arc-shaped holes 15, fixing pin 13 and movable pin 14; Wherein, The bottom that fixing pin 13 passes pitching bracing frame 12 is fixedly connected be in transmission connection axle 11 and pitching bracing frame 12, and movable pin 14 connects be in transmission connection axle 11 and pitching bracing frame 12 through long arc-shaped holes 15;
Said depth moving cell comprises depth moving cell motor 16, depth moving cell guide rail-leading screw module 17, depth moving cell slide block 18 and depth moving cell sensor fixation plate 19; Wherein, Depth moving cell motor 16 is connected with depth moving cell guide rail-leading screw module 17; Depth moving cell slide block 18 is connected on depth moving cell guide rail-leading screw module 17 slidably, and a side of depth moving cell guide rail-leading screw module 17 is connected with depth moving cell sensor fixation plate 19;
Said horizontal movement unit slide block 3 is fixedly connected with vertical motion unit slide block 7; The unit that rotatablely moves is fixedly connected with the lower end of vertical motion unit guide rail-leading screw module 6 through the framework flange 10 on it; The circular hole that the axle 11 that is in transmission connection of pitch regulation unit passes on the framework flange 10 is connected with the motor shaft of the unit motor 9 that rotatablely moves; Depth moving cell slide block 18 is fixedly connected with the bottom of pitching bracing frame 12, but and the angle of inclination through the position indirect regulation depth moving cell of adjusting activity pin 14 in long arc-shaped holes 15.
Said gripper device comprises that parallel gas pawl 20, the first gas pawl slide block 21, the second gas pawl slide block 22, first machinery refer to that 23, second machinery refers to 24, blade 25, first refer between object inductive pick-up fixed block 26, second refer between object inductive pick-up fixed block 27, camera fixed block 28 and camera 29; Wherein, The first gas pawl slide block 21, the second gas pawl slide block 22 are connected respectively on the parallel gas pawl 20 slidably; First machinery refers to that 23, second machinery refers to that an end of 24 is fixedly connected with the first gas pawl slide block 21, the second gas pawl slide block 22 respectively; And first machinery refer to 23, second machinery refer to 24 the other end be fixedly connected respectively first refer between object inductive pick-up fixed block 26, second refer between object inductive pick-up fixed block 27; And first machinery refers to also be fixedly connected on 23 blade 25; Camera fixed block 28 is fixedly connected with the bottom of parallel gas pawl 20; Camera 29 is fixed on the camera fixed block 28, and said parallel gas pawl 20 is fixedly connected an end of depth moving cell guide rail-leading screw module 17.
Said support connection device comprises head rod 30a, the second connecting rod 30b, carriage 31, control cabinet 32; Wherein, The head rod 30a and the second connecting rod 30b are fixedly connected on carriage 31 bottoms; Control cabinet 32 is fixedly connected on carriage 31 tops, and the said horizontal movement unit guide rail-two ends of leading screw module 2 are fixedly connected with the head rod 30a of support connection device, the second connecting rod 30b.
Compared with prior art, beneficial effect of the present invention is:
1, overhead strawberry picking robot of the present invention is simple in structure, flexible operation, and adaptability is high, can realize the harvesting operation of the overhead strawberry of different size.
2, taking in basket and strawberry picking robot precisely plucks executing agency and is connected; Can follow the strawberry picking robot precisely plucks executing agency and carries out level and vertically be synchronized with the movement; When gripper was withdrawn and opened, strawberry fruit can drop in taking in basket automatically, takes in the efficient height.
3, the strawberry picking robot is precisely plucked executing agency and is connected with caterpillar chassis through slotted hole connecting rod, screwed hole connecting rod; Not only can be along with the chassis carry out on a large scale moving, scalable is plucked the strawberry harvest operation of height with the overhead production that adapts to differing heights simultaneously.
4, the strawberry picking robot is precisely plucked executing agency and can be realized rotating at any angle, thus the convenient harvesting of accomplishing strawberry.
Description of drawings
Fig. 1 is the whole structural scheme of mechanism of overhead strawberry picking robot;
Fig. 2 precisely plucks executing agency's sketch map for the strawberry picking robot;
Fig. 3 is for taking in the basket sketch map;
Fig. 4 is the slotted hole connecting rod;
Fig. 5 is the screwed hole connecting rod;
Fig. 6 is a caterpillar chassis;
Fig. 7 is a hybrid coordinate formula telecontrol equipment sketch map;
Fig. 8 is the horizontal movement cell schematics;
Fig. 9 is the vertical motion cell schematics;
Figure 10 is the cell schematics that rotatablely moves;
Figure 11 is the pitch regulation cell schematics;
Figure 12 is a depth moving cell sketch map;
Figure 13 is a gripper device sketch map one;
Figure 14 is a gripper device sketch map two;
Figure 15 is the support connection device sketch map.
Reference numeral
Embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is elaborated.
Shown in Fig. 1～6, a kind of overhead strawberry picking robot of the present invention comprises that the strawberry picking robot is precisely plucked executing agency 101, taken in basket 102, slotted hole connecting rod 103, screwed hole connecting rod 104, chassis connecting rod 105, caterpillar chassis 106, bolt 107.
Shown in Fig. 2 and Fig. 7-15, the strawberry picking robot is precisely plucked executing agency 101 and is comprised hybrid coordinate formula telecontrol equipment, gripper device and support connection device.
Wherein, shown in Fig. 7～12, hybrid coordinate formula telecontrol equipment comprises horizontal movement unit, vertical motion unit, the unit that rotatablely moves, pitch regulation unit and depth moving cell.
As shown in Figure 8, the horizontal movement unit comprises horizontal movement unit motor 1, horizontal movement unit guide rail-leading screw module 2, horizontal movement unit slide block 3 and horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b.Horizontal movement unit motor 1 is connected with an end of horizontal movement unit guide rail-leading screw module 2 through shaft joint; Horizontal movement unit slide block 3 is connected on horizontal movement unit guide rail-leading screw module 2 slidably; When horizontal movement unit motor 1 drove the lead screw shaft rotation of horizontal movement unit guide rail leading screw module 2, guide rail-leading screw module 2 slided horizontal movement unit slide block 3 along the horizontal movement unit.Horizontal movement unit first sensor fixed head 4a, the horizontal movement unit second sensor fixation plate 4b are fixedly connected on the two ends of a side of horizontal movement unit guide rail-leading screw module 2, are convenient to install the limit sensors of all size.
As shown in Figure 9, the vertical motion unit comprises vertical motion unit motor 5, vertical motion unit guide rail-leading screw module 6, vertical motion unit slide block 7 and vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b.Vertical motion unit motor 5 is connected with an end of vertical motion unit guide rail-leading screw module 6 through shaft joint; Vertical motion unit slide block 7 is connected on vertical motion unit guide rail-leading screw module 6 slidably; When vertical motion unit motor 5 drove the lead screw shaft rotation of vertical motion unit guide rail leading screw module 6, guide rail-leading screw module 6 slided vertical motion unit slide block 7 along the vertical motion unit.Vertical motion unit first sensor fixed head 8a, the vertical motion unit second sensor fixation plate 8b are connected the two ends of a side of vertical motion unit guide rail-leading screw module 6, are convenient to install the limit sensors of all size.
Shown in figure 10, the unit that rotatablely moves comprises the unit motor 9 that rotatablely moves, framework flange 10.The fuselage of unit motor 9 of rotatablely moving is fixedly connected with a side of framework flange 10, and the motor shaft of the unit motor 9 that rotatablely moves keeps coaxial with the circular hole of framework flange 10 opposite sides.
Shown in figure 11, the pitch regulation unit comprises that axle 11, one side that is in transmission connection has the pitching bracing frame 12 of long arc-shaped holes 15, fixing pin 13 and movable pin 14.The bottom that fixing pin 13 passes pitching bracing frame 12 is fixedly connected be in transmission connection axle 11 and pitching bracing frame 12, and movable pin 14 connects be in transmission connection axle 11 and pitching bracing frame 12 through long arc-shaped holes 15.
Shown in figure 12, the depth moving cell comprises depth moving cell motor 16, depth moving cell guide rail-leading screw module 17, depth moving cell slide block 18, depth moving cell sensor fixation plate 19.Depth moving cell motor 16 is connected with depth moving cell guide rail-leading screw module 17; Depth moving cell slide block 18 is connected on depth moving cell guide rail-leading screw module 17 slidably; When depth moving cell motor 16 drove the lead screw shaft rotation of depth moving cell guide rail-leading screw module 17, depth moving cell slide block 18 slided along depth moving cell guide rail-leading screw module 17.One side of depth moving cell guide rail-leading screw module 17 is connected with depth moving cell sensor fixation plate 19, and the limit sensors of all size can be installed in its two ends.
See also Fig. 7, wherein, horizontal movement unit slide block 3 is fixedly connected with vertical motion unit slide block 7.
Rotatablely move and be fixedly connected with the lower end of vertical motion unit guide rail-leading screw module 6 with the unit motor 9 parallel sides that rotatablely move on the framework flange 10 of unit.
The circular hole that the axle 11 that is in transmission connection of pitch regulation unit passes on the framework flange 10 is connected with the motor shaft of the unit motor 9 that rotatablely moves, and the axle 11 that is in transmission connection can be rotated motion around fixing pin 13 under the drive of the unit motor 9 that rotatablely moves.
Depth moving cell slide block 18 is fixedly connected with the bottom of pitching bracing frame 12, but and the angle of inclination through the position indirect regulation depth moving cell of adjusting activity pin 14 in long arc-shaped holes 15.
Shown in Figure 13-14; The gripper device comprises parallel gas pawl 20; The first gas pawl slide block 21, the second gas pawl slide block, 22, the first machineries refer to that 23, second machinery refers to 24, blade 25; Object inductive pick-up fixed block 27, camera fixed block 28 and camera 29 between object inductive pick-up fixed block 26, second refers between first finger.The first gas pawl slide block 21, the second gas pawl slide block 22 are connected respectively on the parallel gas pawl 20 slidably; First machinery refers to that 23, second machinery refers to that an end of 24 is fixedly connected with the first gas pawl slide block 21, the second gas pawl slide block 22 respectively; And first machinery refer to 23, second machinery refer to 24 the other end be fixedly connected respectively first refer between object inductive pick-up fixed block 26, second refer between object inductive pick-up fixed block 27; And first machinery refers to also be fixedly connected on 23 blade 25; Camera fixed block 28 is fixedly connected with the bottom of parallel gas pawl 20, and camera 29 is fixed on the camera fixed block 28.Under aerodynamic force, the first gas pawl slide block 21, the second gas pawl slide block 22 drive first machinery respectively and refer to that 23, second machinery refers to that 24 do translation in opposite directions.
Shown in figure 15, support connection device comprises head rod 30a, the second connecting rod 30b, carriage 31, control cabinet 32.Wherein, the head rod 30a and the second connecting rod 30b are fixedly connected on carriage 31 bottoms, and control cabinet 32 is fixedly connected on carriage 31 tops.The edge of carriage 31 can further process connecting hole, is convenient to install the expanded function device above that, maybe this device is installed on the dissimilar strawberry picking robots.
As shown in Figure 2; The two ends of the horizontal movement unit guide rail-leading screw module 2 of hybrid coordinate formula telecontrol equipment are fixedly connected with the head rod 30a of support connection device, the second connecting rod 30b; And the parallel gas pawl 20 of gripper device is fixedly connected on an end of the depth moving cell guide rail-leading screw module 17 of hybrid coordinate formula telecontrol equipment.
Like Fig. 1,2, shown in 3, take in basket 102 and be fixedly connected with the pitching bracing frame 12 that the strawberry picking robot is precisely plucked executing agency 101.
Like Fig. 4, shown in 5, the latter half of slotted hole connecting rod 103 has slotted hole 108, has two screwed holes 109 on the screwed hole connecting rod 104.Like Fig. 1,2,4, shown in 5; The upper end of four slotted hole connecting rods 103 is fixedly connected with four ends that the strawberry picking robot is precisely plucked the carriage 31 of executing agency 101, and slotted hole 108 and the screwed hole 109 on the screwed hole connecting rod 104 that bolt 107 passes respectively on the slotted hole connecting rod 103 are fixedly connected four slotted hole connecting rods 103 and screwed hole connecting rod 104 respectively.
Like Fig. 1,5, shown in 6, four screwed hole connecting rods 104 are fixedly connected with chassis connecting rod 105.
Like Fig. 1, shown in 6, two foundation brace rods 105 are fixedly connected with caterpillar chassis 106.
The course of work
(1) course of work of overhead strawberry picking robot
1. regulate the fixed position of bolt 107 in the slotted hole 108 of the slotted hole connecting rod 103 of correspondence in the corresponding screwed hole connecting rod 104; Realization strawberry picking robot is precisely plucked the integral elevating of executing agency 101, plucks operation with the overhead strawberry that adapts to different size.
2. taking in basket 102 can follow the strawberry picking robot and precisely pluck executing agency 101 and carry out level and the vertically motion of both direction; And along with gripper together rotates; And after gripper is successfully won a strawberry fruit; Only need in the withdrawal of depth direction and open gripper and just can fruit be put into and take in basket, take in the efficient height.
4. after the strawberry picking robot is precisely plucked executing agency 101 strawberry fruit in will be among a small circle and plucked, can move caterpillar chassis at any time, continuation is searched for and the strawberry of harvesting the next position in a big way.
(2) the strawberry picking robot is precisely plucked the work engineering of executing agency
1. under the drive of horizontal movement unit motor 1; Horizontal movement unit slide block 3 moves horizontally on horizontal movement unit guide rail-leading screw module 2; Move horizontally thereby drive vertical motion unit, the unit that rotatablely moves, pitch regulation unit, depth moving cell and gripper device, realize that gripper is searched in the horizontal direction and near the action of target strawberry.
2. under the drive of vertical motion unit motor 5; Vertical motion unit slide block 7 vertically moves on vertical motion unit guide rail-leading screw module 6; Thereby driven rotary moving cell, pitch regulation unit, depth moving cell and gripper device move at vertical direction, realize that gripper is in the vertical direction search and near the action of strawberry.
3. under the drive of the unit motor 9 that rotatablely moves, pitch regulation unit, depth moving cell and gripper device can realize that with the axle 11 that is in transmission connection be 360 ° rotation of axis, are convenient to win and place the strawberry fruit of different directions.
4. through the position of adjusting activity pin 14 in long arc-shaped holes 15, the angle of advancing of being convenient to regulate gripper is plucked with the strawberry that adapts to different cultivation modes.
5. under the drive of depth moving cell motor 16, depth moving cell slide block 18 depth direction on depth moving cell guide rail-leading screw module 17 moves, and together with together depth direction motion of gripper, realizes action approaching or that regain strawberry fruit.
When gripper when first machinery refers to that 23, second machinery refers under 24 open configurations near target strawberry carpopodium; First refer between object inductive pick-up fixed block 26, second refer between on the object inductive pick-up fixed block 27 fixed sensing can in time sense carpopodium and whether arrive first machinery and refer to that 23, second machinery refers between 24; And rapid closing machinery refers under aerodynamical driving; Realize the clamping of strawberry carpopodium, utilize then to be fixed on the cutting that first machinery refers to the scalpel 25 completion strawberry carpopodiums on 23.
Claims (6)
1. overhead strawberry picking robot is characterized in that: said overhead strawberry picking robot comprises that the strawberry picking robot is precisely plucked executing agency (101), taken in basket (102), slotted hole connecting rod (103), screwed hole connecting rod (104), chassis connecting rod (105) and caterpillar chassis (106); Wherein, Taking in basket (102) precisely plucks executing agency (101) with the strawberry picking robot and is fixedly connected; Slotted hole connecting rod (103) one ends are fixedly connected the strawberry picking robot and precisely pluck executing agency (101), other end fixed connection screwed hole connecting rod (104); The fixed connection chassis connecting rod (105) of screwed hole connecting rod (104), chassis connecting rod (105) is fixedly connected with caterpillar chassis (106) on it.
2. overhead strawberry picking robot as claimed in claim 1; It is characterized in that: said slotted hole connecting rod (103) has slotted hole (108); Have screwed hole (109) on the screwed hole connecting rod (104), slotted hole (108) and the screwed hole (109) on the screwed hole connecting rod (104) that bolt (107) passes on the slotted hole connecting rod (103) are fixedly connected slotted hole connecting rod (103) and screwed hole connecting rod (104).
3. overhead strawberry picking robot as claimed in claim 1 is characterized in that: said strawberry picking robot is precisely plucked the support connection device that executing agency (101) comprises hybrid coordinate formula telecontrol equipment, the gripper device that is connected with said hybrid coordinate formula telecontrol equipment and fixing said hybrid coordinate formula telecontrol equipment.
4. overhead strawberry picking robot according to claim 3 is characterized in that: said hybrid coordinate formula telecontrol equipment comprises horizontal movement unit, vertical motion unit, the unit that rotatablely moves, pitch regulation unit and depth moving cell, wherein:
Said horizontal movement unit comprises horizontal movement unit motor (1), horizontal movement unit guide rail-leading screw module (2), horizontal movement unit slide block (3) and horizontal movement unit first sensor fixed head (4a), horizontal movement unit second sensor fixation plate (4b); Wherein, Horizontal movement unit motor (1) is connected with an end of horizontal movement unit guide rail-leading screw module (2) through shaft joint; Horizontal movement unit slide block (3) is connected on horizontal movement unit guide rail-leading screw module (2) slidably, and horizontal movement unit first sensor fixed head (4a), horizontal movement unit second sensor fixation plate (4b) are fixedly connected on the two ends of a side of horizontal movement unit guide rail-leading screw module (2);
Said vertical motion unit comprises vertical motion unit motor (5), vertical motion unit guide rail-leading screw module (6), vertical motion unit slide block (7) and vertical motion unit first sensor fixed head (8a), vertical motion unit second sensor fixation plate (8b); Wherein, Vertical motion unit motor (5) is connected with an end of vertical motion unit guide rail-leading screw module (6) through shaft joint; Vertical motion unit slide block (7) is connected on vertical motion unit guide rail-leading screw module (6) slidably, and vertical motion unit first sensor fixed head (8a), vertical motion unit second sensor fixation plate (8b) are connected the two ends of a side of vertical motion unit guide rail-leading screw module (6);
The said unit that rotatablely moves comprises the unit motor (9) that rotatablely moves, framework flange (10); Wherein, The fuselage of unit motor (9) of rotatablely moving is fixedly connected with a side of framework flange (10), and the motor shaft of the unit motor (9) that rotatablely moves keeps coaxial with the circular hole of framework flange (10) opposite side;
Said pitch regulation unit comprises that the axle (11) that is in transmission connection, a side have the pitching bracing frame (12) of long arc-shaped holes (15), fixing pin (13) and movable pin (14); Wherein, The bottom that fixing pin (13) passes pitching bracing frame (12) is fixedly connected be in transmission connection axle (11) and pitching bracing frame (12), and movable pin (14) connects be in transmission connection axle (11) and pitching bracing frame (12) through long arc-shaped holes (15);
Said depth moving cell comprises depth moving cell motor (16), depth moving cell guide rail-leading screw module (17), depth moving cell slide block (18) and depth moving cell sensor fixation plate (19); Wherein, Depth moving cell motor (16) is connected with depth moving cell guide rail-leading screw module (17); Depth moving cell slide block (18) is connected on depth moving cell guide rail-leading screw module (17) slidably, and a side of depth moving cell guide rail-leading screw module (17) is connected with depth moving cell sensor fixation plate (19);
Said horizontal movement unit slide block (3) is fixedly connected with vertical motion unit slide block (7); The unit that rotatablely moves is fixedly connected with the lower end of vertical motion unit guide rail-leading screw module (6) through the framework flange (10) on it; The circular hole that the axle (11) that is in transmission connection of pitch regulation unit passes on the framework flange (10) is connected with the motor shaft of the unit motor (9) that rotatablely moves; Depth moving cell slide block (18) is fixedly connected with the bottom of pitching bracing frame (12), and through adjusting activity pin (14) in long arc-shaped holes (15) but in the angle of inclination of position indirect regulation depth moving cell.
5. overhead strawberry picking robot according to claim 4; It is characterized in that: said gripper device comprise parallel gas pawl (20), the first gas pawl slide block (21), the second gas pawl slide block (22), first machinery refer to (23), second machinery refer to (24), blade (25), first refer between object inductive pick-up fixed block (26), second refer between object inductive pick-up fixed block (27), camera fixed block (28) and camera (29); Wherein, The first gas pawl slide block (21), the second gas pawl slide block (22) are connected respectively on the parallel gas pawl (20) slidably; First machinery refers to that (23), second machinery refer to that an end of (24) is fixedly connected with the first gas pawl slide block (21), the second gas pawl slide block (22) respectively; And first machinery refers to that (23), second machinery refer to that the other end of (24) is fixedly connected object inductive pick-up fixed block (27) between object inductive pick-up fixed block (26) between first finger, second finger respectively; And first machinery refers to also be fixedly connected on (23) blade (25); Camera fixed block (28) is fixedly connected with the bottom of parallel gas pawl (20); Camera (29) is fixed on the camera fixed block (28), and said parallel gas pawl (20) is fixedly connected an end of depth moving cell guide rail-leading screw module (17).
6. overhead strawberry picking robot according to claim 4; It is characterized in that: said support connection device comprises head rod (30a), second connecting rod (30b), carriage (31), control cabinet (32); Wherein, Head rod (30a) and second connecting rod (30b) are fixedly connected on carriage (31) bottom; Control cabinet (32) is fixedly connected on carriage (31) top, and the two ends of said horizontal movement unit guide rail-leading screw module (2) are fixedly connected with the head rod (30a) of support connection device, second connecting rod (30b).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100376379A CN102577747A (en) | 2012-02-17 | 2012-02-17 | Overhead strawberry picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100376379A CN102577747A (en) | 2012-02-17 | 2012-02-17 | Overhead strawberry picking robot |
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| CN102577747A true CN102577747A (en) | 2012-07-18 |
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| CN2012100376379A Pending CN102577747A (en) | 2012-02-17 | 2012-02-17 | Overhead strawberry picking robot |
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Application publication date: 20120718 |