CN103363264B - Mounting method for camera of picking machine and telescoping mechanism of camera - Google Patents
Mounting method for camera of picking machine and telescoping mechanism of camera Download PDFInfo
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- CN103363264B CN103363264B CN201310292711.6A CN201310292711A CN103363264B CN 103363264 B CN103363264 B CN 103363264B CN 201310292711 A CN201310292711 A CN 201310292711A CN 103363264 B CN103363264 B CN 103363264B
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- pulley
- joint arm
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- wire rope
- frame beam
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Abstract
The invention discloses a mounting method for a camera of a picking machine and a telescoping mechanism of the camera. The camera is mounted on a telescoping mechanism which can be folded up, and the position of the camera can be changed through the folding and unfolding of the telescoping mechanism, so as to realize visual gathering of a stand object. The telescoping mechanism mainly comprises the following components, namely a transmitting device, a machine rack, an electromotor, a machine rack cross beam, a section arm I, a section arm II and telescoping and guiding devices arranged on the two sides of the telescoping mechanism, and the telescoping and guiding devices, through the rotation of the electromotor, drive the length of the steel wire to change and realize space position change of the telescoping mechanism of the camera accordingly; the mechanism provided by the invention is convenient to operate, high in environmental adaptability, facilitates timely adjusting of systematic deviation between the mechanism and a camera connected there with, and is simple in structure, convenient to control and maintain, and high in practicability, and the replacement of the hydraulic oil tank with the pulley group greatly saves manufacturing cost. The mechanism can not only be applied to fruit picking machinery, but also be applied to small machinery utilizing telescoping mechanisms.
Description
Technical field
Extending means installed by the photographic camera that the present invention relates to a kind of picking machine, specifically belongs to forestry harvest machinery technical field.
Background technique
Abroad start from eighties of last century eighties to picking robot research, the vision technique of picking robot is the focus of research always.But most visual mechanisms is fixed on Picker arm or multiple vidicon camera is fixed in frame.The robot of the Miyazaki University of Japan uses two vidicon cameras, and its structure is very complicated, and volume, quality are very large, and the collecting effect of vidicon camera is bad.Domestic relatively late to harvesting machine research starting, the vision technique of picking robot is the emphasis of research always.The strawberry picking robot of China Agricultural University is that visual mechanisms is fixed in Picker arm, often needs displacement to put for vision, so, need manually to change, use inconvenience.Simultaneously, also some employs extending means auxiliary vision system both at home and abroad, but mainly power drives the flexible of extending means with single oil cylinder or Multi-cylinder, oil cylinder is used to do power source, add the quality of the structural complexity of extending means, user cost, mechanism, the maintenance cost of extending means is increased.
Find through retrieval, the patent No. is ZL2005200527815, name is called a kind of multi-section telescopic cantilever that the utility model patent of " multi-section telescopic cantilever " is announced, comprise more piece jib, it is characterized in that: the jib being positioned at rear-most end, its rear portion is equiped with by the power-actuated cable drum of clockwise and anticlockwise, described cable drum is wound with steel cable, and described more piece jib drives afterbody jib the stretching successively to the jib adjacent with a jib of rear-most end be positioned at foremost by described steel cable.Adopt the often joint jib of the jib structure of this kind of structure mutually nested, sheave block is arranged on each jib internal void, large to spatial requirement, is not suitable for small-sized shrinking structure.
Summary of the invention
The object of the invention is to propose a kind of photographic camera with wire rope being transmission of power medium realizes the visual mechanisms of picking machine for above-mentioned technical problem and extending means is installed, this photographic camera is arranged in relatively little space, space by extending means, can conveniently realize collecting the vision of tree body target.
The present invention solves the problems of the technologies described above adopted technological scheme: a kind of photographic camera installation method of picking machine, photographic camera being arranged on one can fold on the extending means packed up, stretching out or packing up the position folding mobile cameras by extending means, conveniently realizes collecting the vision of tree body target.
As a further improvement on the present invention, described extending means is 3 stops extending means, and wherein have two sections for active section arm, two sections of active section arms are connected with each other; Be arranged on again on frame beam.
As a further improvement on the present invention, described extending means is driven by motor, and frame is provided with drive motor, and drive motor drives active section arm to stretch by transmission device.
The extending means realizing the photographic camera installation method of the visual mechanisms of above-mentioned picking machine is: a kind of extending means of photographic camera of picking machine, comprises frame, motor, transmission device, rack-mounted frame beam; Be arranged on I joint arm of also energy relative movement on frame beam; Be arranged on II joint arm of also energy relative movement on I joint arm; Be separately positioned on the telescopic guide that described frame beam, I saves arm and II joint arm both sides; Described motor drives described I joint arm and II joint arm to do telescopic moving by described transmission device and telescopic guide, realizes the vision of photographic camera to tree body target and collects.
As a further improvement on the present invention, described frame beam both sides are provided with interior empty slideway, and described I joint arm both sides are fixedly connected with external pulley, and described external pulley matches with interior empty slideway, described frame beam and I joint arm are coupled together, and can relative movement.
As a further improvement on the present invention, described I joint arm is provided with interior empty slideway, and described II joint arm top is fixedly connected with built-in pulley, is enclosed within the interior empty slideway of described I joint arm, realizes the flexible connection of I joint arm and II joint arm in described built-in pulley.
As a further improvement on the present invention, described telescopic guide comprise be arranged on described frame beam, I joint arm and II joint arm side stretch out guiding device, be arranged on the withdrawal guiding device of described frame beam, I joint arm and II joint arm opposite side.
As a further improvement on the present invention, the described guiding device that stretches out comprises the rope-guiding wheel be arranged in frame, be arranged on the pulley one of described frame beam outer end, be arranged on the pulley two of described I joint arm outer end, be vertically fixed on the yoke plate one of described I joint arm outer end, be arranged on the pulley three of described yoke plate one upper end, be arranged on the fixing pin one of described yoke plate one lower end, be arranged on the pulley four of described II joint arm outer end and be wrapped in described rope-guiding wheel, pulley one, pulley two, wire rope is stretched out between pulley three and pulley four, described wire rope one end of stretching out is connected on described transmission device, the described the other end stretching out wire rope is fixed on described fixing pin one.
As a further improvement on the present invention, described withdrawal guiding device comprises the yoke plate two be vertically set in frame, described yoke plate two is provided with pulley five and fixing pin two, the described pulley six being arranged on described I joint arm outer end, be arranged on the pulley seven of described I joint arm outer end, be arranged on the pulley eight of described II joint arm outer end and be wrapped in described pulley five, pulley six, withdrawal wire rope between pulley seven and pulley eight, described withdrawal wire rope one end is connected on described transmission device, and the other end of described withdrawal wire rope is fixed on described fixing pin two.
As a further improvement on the present invention, described transmission device comprise be connected with motor stretch out roller, regain roller and twin-direction clutch; Describedly stretch out roller and stretch out wire rope and be connected, described withdrawal roller with regain wire rope and be connected.
The present invention provides whole power by motor, by the rotation of motor, thus drive the change of the length of wire rope to realize the spatial position change of photographic camera extending means, in telescopic process, between each parts, there is good harmony and rationality, fitting operation of the present invention is convenient, inter-agency coordination is good, and quality is light, and volume is little, easy to maintenance, adopt the change of wire rope length to realize flexible, the continuity of expanding-contracting action can be ensured, practical.The invention solves the deficiency that the structure of existing extending means, cost, quality etc. are existing.
Accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present invention;
Fig. 2 of the present inventionly stretches out view;
Fig. 3 is retracted state schematic diagram of the present invention;
Fig. 4 is backsight structural representation of the present invention;
Fig. 5 is plan structure schematic diagram of the present invention.
In figure: 1. frame, 2. rope-guiding wheel, 3. stretch out wire rope, 4. external pulley, 5. I joint arm, 6. frame beam, 7. pulley one, 8. II joint arm, 9. yoke plate one, 10. fixing pin one, the built-in pulley of 11. pulley three, 12., 13. pulleys two, wire rope regained by 14. pulleys four, 15., 16. pulley six, 17. pulleys five, 18. fixing pin two, 19. yoke plate two, 20. pulley eight, 21. pulleys seven, 22. motor, 23. twin-direction clutches, 24. stretch out roller, and 25. regain roller.
Embodiment
In order to be illustrated more clearly in the technological scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
As shown in drawings, the present invention relates to a kind of photographic camera installation method of picking machine, photographic camera being arranged on one can fold on the extending means packed up, stretching out or packing up the position folding mobile cameras by extending means, conveniently realizes collecting the vision of tree body target.
As a further improvement on the present invention, described extending means is 3 stops extending means, and wherein have two sections for active section arm, two sections of active section arms are connected with each other; Be arranged on again on frame beam.
As a further improvement on the present invention, described extending means is driven by motor, and frame is provided with drive motor, and drive motor drives active section arm to stretch by transmission device.
Realize a kind of extending means of photographic camera of picking machine, comprise frame 1, motor 22, transmission device, be arranged on the frame beam 6 in frame 1, frame beam 6 both sides are provided with interior empty slideway; Be arranged on I joint arm 5 of also energy relative movement on frame beam 6, I joint arm 5 both sides are fixedly connected with the external pulley 4 matched with interior empty slideway, frame beam 6 and I joint arm 5 are coupled together, I joint arm 5 is slided in empty slideway in frame beam 6 by external pulley 4, realizes the relative sliding between frame beam 6 and I joint arm 5; To be arranged on I joint arm 5 and II joint arm 8, I of relative movement to save arm 5 and be provided with interior empty slideway, II joint arm 8 top be fixedly connected with can in be enclosed within built-in pulley 12 on the interior empty slideway of I joint arm 5, realize the flexible connection of I joint arm 5 and II joint arm 8; Be separately positioned on the telescopic guide that frame beam 6, I saves arm 5 and II joint arm 8 both sides, telescopic guide comprise be arranged on that frame beam 6, I saves arm 5 and II joint arm 8 side stretch out guiding device, be arranged on the withdrawal guiding device that frame beam 6, I saves arm 5 and II joint arm 8 opposite side.
Stretch out guiding device for what realize extending means and stretch out ability, comprise the rope-guiding wheel 2 be arranged in frame 1, be arranged on the pulley 1 of frame beam 6 outer end, be arranged on the pulley 2 13 of I joint arm 5 outer end, be vertically fixed on the yoke plate 1 of described I joint arm 5 outer end, be arranged on the pulley 3 11 of described yoke plate 1 upper end, be arranged on the fixing pin 1 of yoke plate 1 lower end, be arranged on the pulley 4 14 of II joint arm 8 outer end and be wrapped in rope-guiding wheel 2, pulley 1, pulley 2 13, wire rope 3 is stretched out between pulley 3 11 and pulley 4 14, stretching out wire rope 3 one end is connected on transmission device, the other end stretching out wire rope 3 is fixed on fixing pin 1, stretch out the winding order of wire rope 3 as shown in Figure 1.
Regain guiding device for realizing the withdrawal ability of extending means, comprise the yoke plate 2 19 be vertically set in frame 1, yoke plate 2 19 is provided with pulley 5 17 and fixing pin 2 18, the mounting point of pulley 5 17 is a little more than I joint arm 5, be arranged on the pulley 6 16 of I joint arm 5 outer end, be arranged on the pulley 7 21 of I joint arm 5 outer end, be arranged on the pulley 8 20 of II joint arm 8 outer end and be wrapped in pulley 5 17, pulley 6 16, withdrawal wire rope 15 between pulley 7 21 and pulley 8 20, regaining wire rope 15 one end is connected on transmission device, the other end regaining wire rope 15 is fixed on fixing pin 2 18, regain the winding order of wire rope 15 as shown in Figure 3.
Motor 22 drives I joint arm 5 and II joint arm 8 to do telescopic moving by transmission device and telescopic guide, transmission device comprise be connected with motor 22 stretch out roller 24, regain roller 25 and twin-direction clutch 23; Stretch out roller 24 and stretch out wire rope 3 and be connected, regain roller 25 to be connected with withdrawal wire rope 15, by the rotation of motor 22 to stretch out wire rope 3 and to regain wire rope 15 for Power output and realize the motion of extending means, and then realize the vision of photographic camera to tree body target and collect.
When the present invention works, motor 22 pulls stretch out wire rope 3 by stretching out roller 24, I joint arm 5 and II joint arm 8 all stretch out, when the inner sleeve pulley on II joint arm 8 to slide in I joint arm 5 the most edge of empty slideway, pulley on pulley on II joint arm 8 and I joint arm 5 is apart from constant, and II joint arm 8 completes the process of stretching out, when the external pulley 4 of I joint arm 5 is in frame beam 6 during empty slideway least significant end, extending means reaches maximal tensility, completes the process of stretching out.
When motor 22 pulls withdrawal wire rope 15 by withdrawal roller 25, II saved the Distance Shortened between the pulley 8 20 of arm 8 external part and I joint arm 5 external part pulley 7 21 before this, II joint arm 8 is regained, after continuing tension withdrawal wire rope 15, I distance saved between the fixing pin 2 18 in arm 5 end and frame 1 shortens, make I joint arm 5 be recovered to frame beam 6 times, complete withdrawal process.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (7)
1. an extending means for the photographic camera of picking machine, comprises frame, motor, and transmission device is characterized in that: also comprise rack-mounted frame beam; Be arranged on I joint arm of also energy relative movement on frame beam; Be arranged on II joint arm of also energy relative movement on I joint arm; Be separately positioned on the telescopic guide that described frame beam, I saves arm and II joint arm both sides; Described motor drives described I joint arm and II joint arm to do telescopic moving by described transmission device and telescopic guide, realizes the vision of photographic camera to tree body target and collects.
2. the extending means of the photographic camera of a kind of picking machine as claimed in claim 1, it is characterized in that: described frame beam both sides are provided with interior empty slideway, described I joint arm both sides are fixedly connected with external pulley, described external pulley matches with interior empty slideway, described frame beam and I joint arm are coupled together, and can relative movement.
3. the extending means of the photographic camera of a kind of picking machine as claimed in claim 1, it is characterized in that: described I joint arm is provided with interior empty slideway, described II joint arm top is fixedly connected with built-in pulley, be enclosed within described built-in pulley on the interior empty slideway of described I joint arm, realize the flexible connection of I joint arm and II joint arm.
4. the extending means of the photographic camera of a kind of picking machine as claimed in claim 1, it is characterized in that: described telescopic guide comprise be arranged on described frame beam, I joint arm and II joint arm side stretch out guiding device, be arranged on the withdrawal guiding device of described frame beam, I joint arm and II joint arm opposite side.
5. the extending means of the photographic camera of a kind of picking machine as claimed in claim 4, it is characterized in that: described in stretch out guiding device and comprise the rope-guiding wheel be arranged in frame, be arranged on the pulley one of described frame beam outer end, be arranged on the pulley two of described I joint arm outer end, be vertically fixed on the yoke plate one of described I joint arm outer end, be arranged on the pulley three of described yoke plate one upper end, be arranged on the fixing pin one of described yoke plate one lower end, be arranged on the pulley four of described II joint arm the inner and be wrapped in described rope-guiding wheel, pulley one, pulley two, wire rope is stretched out between pulley three and pulley four, described wire rope one end of stretching out is connected on described transmission device, the described the other end stretching out wire rope is fixed on described fixing pin one.
6. the extending means of the photographic camera of a kind of picking machine as claimed in claim 4, it is characterized in that: described withdrawal guiding device comprises the yoke plate two be vertically set in frame, described yoke plate two is provided with pulley five and fixing pin two, the described pulley six being arranged on described I joint arm outer end, be arranged on the pulley seven of described I joint arm outer end, be arranged on the pulley eight of described II joint arm outer end and be wrapped in described pulley five, pulley six, withdrawal wire rope between pulley seven and pulley eight, described withdrawal wire rope one end is connected on described transmission device, the other end of described withdrawal wire rope is fixed on described fixing pin two.
7. the extending means of the photographic camera of a kind of picking machine as claimed in claim 1, is characterized in that: described transmission device comprise be connected with motor stretch out roller, regain roller and twin-direction clutch; Describedly stretch out roller and stretch out wire rope and be connected, described withdrawal roller with regain wire rope and be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310292711.6A CN103363264B (en) | 2013-07-12 | 2013-07-12 | Mounting method for camera of picking machine and telescoping mechanism of camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310292711.6A CN103363264B (en) | 2013-07-12 | 2013-07-12 | Mounting method for camera of picking machine and telescoping mechanism of camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103363264A CN103363264A (en) | 2013-10-23 |
| CN103363264B true CN103363264B (en) | 2015-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310292711.6A Expired - Fee Related CN103363264B (en) | 2013-07-12 | 2013-07-12 | Mounting method for camera of picking machine and telescoping mechanism of camera |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104390117B (en) * | 2014-11-18 | 2016-08-31 | 飞猫影视技术(北京)有限公司 | A kind of horizontal rail track up system and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4975016A (en) * | 1986-11-05 | 1990-12-04 | Etablissements Pellenc et Motte, Centre National Du Machinisme Agricole Du Genie Rural, des Eaux et des Forets (csm agrcr) | Automated machine for detection and grasping of objects |
| WO2006063314A2 (en) * | 2004-12-09 | 2006-06-15 | Harvey Koselka | Agricultural robot system and method |
| CN101430481A (en) * | 2007-11-09 | 2009-05-13 | 鸿富锦精密工业（深圳）有限公司 | Camera support |
-
2013
- 2013-07-12 CN CN201310292711.6A patent/CN103363264B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4975016A (en) * | 1986-11-05 | 1990-12-04 | Etablissements Pellenc et Motte, Centre National Du Machinisme Agricole Du Genie Rural, des Eaux et des Forets (csm agrcr) | Automated machine for detection and grasping of objects |
| WO2006063314A2 (en) * | 2004-12-09 | 2006-06-15 | Harvey Koselka | Agricultural robot system and method |
| CN101430481A (en) * | 2007-11-09 | 2009-05-13 | 鸿富锦精密工业（深圳）有限公司 | Camera support |
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| CN103363264A (en) | 2013-10-23 |
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Granted publication date: 20150415 Termination date: 20190712 |