CN107509463A - A kind of lichee picking mechanical arm - Google Patents
A kind of lichee picking mechanical arm Download PDFInfo
- Publication number
- CN107509463A CN107509463A CN201710876180.3A CN201710876180A CN107509463A CN 107509463 A CN107509463 A CN 107509463A CN 201710876180 A CN201710876180 A CN 201710876180A CN 107509463 A CN107509463 A CN 107509463A
- Authority
- CN
- China
- Prior art keywords
- scissors
- swing arm
- bar
- hinged
- combed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 13
- 241001629511 Litchi Species 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 235000013399 edible fruits Nutrition 0.000 description 16
- 238000003306 harvesting Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001520 comb Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- A01D46/24—Devices for picking apples or like fruit
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of lichee picking mechanical arm, wherein, the rotating device up and down that is provided with including support, in bracket end, the translation stage being provided with upper and lower rotating device, the comb being provided with translation stage, the fixed seat extended downwardly is provided with the surface of translation stage, and the scissors apparatus to move up and down is provided with fixed seat.Upper and lower rotating device is included in the rotating disk that bracket end is provided with, the swing arm being provided with rotating disk, the first motor that driving swing arm moves up and down is provided with rotating disk, and the support bar of support swing arm and cooperation swing arm motion is provided between swing arm and support.Translation stage is fixed in swing arm.The present invention has automation and intelligent functions, easy to operate, efficiency high, more preferable protection litchi and the effect for being easy to popularization.
Description
Technical field
The present invention relates to a kind of lichee picking mechanical arm.
Background technology
Lichee is a kind of characteristic fruit of south China, is grown on high about 10 meters of tree.At present, the harvesting of lichee is main
It is that the amount of labour is big based on manually plucking, the trend that especially peasant's number is constantly reduced now and aging continues to increase
Under, harvesting cost is as one of major cost of lichee planting household.Now, comparing lichee seed harvester has averruncator, fruit picking
Ladder, the design of fruit picking folder are excessively simple, the time and effort consuming in the application of reality, can not be effectively reduced harvesting labour.And
And picking mechanical arm design is excessively complicated, operation inconvenience, and cost is higher.
The content of the invention
In view of the above problems, it is an object of the invention to provide one kind automation and intelligent functions, easy to operate, efficiency
High, more preferable protection litchi and the lichee picking mechanical arm for the effect for being easy to popularization.
To achieve the above object, a kind of lichee picking mechanical arm provided by the invention, including support, set in bracket end
Some up and down rotating device, be provided with upper and lower rotating device translation stage, be provided with translation stage comb, in translation stage
Surface is provided with the fixed seat extended downwardly, and the scissors apparatus to move up and down is provided with fixed seat.Upper and lower rotating device bag
Include the rotating disk being provided with bracket end, the swing arm being provided with rotating disk, be provided with rotating disk that driving swing arm moves up and down the
One motor, and be provided with support swing arm between swing arm and support and coordinate the support bar of swing arm motion.Translation stage is fixed on swing arm
On.The lichee picking mechanical arm is made up of the end being connected on a 5 degree-of-freedom manipulators actuator.
Scissors apparatus be included in fixed seat provided with vertical guide rail bar, in guide rail bar be provided with slide against guide rail bar up and down
On sliding block, in fixed seat be provided with motor-driven sheave, on sheave be provided with one end traction slide block movement traction
Bar, the connecting rod provided with related motion, the gearing folding scissors mechanism being respectively equipped with connecting rod two end on draw bar, and rolled over interlocking
The folded fixation clamp mechanism cut device and be provided with the branch that is fixedly clamped.
In some embodiments, interlock folding scissors mechanisms be included in the first be hinged intersected blocks that interlinking lever end is provided with,
The second be hinged intersected blocks being respectively equipped with the first be hinged intersected blocks both ends, and it is respectively equipped with the second be hinged intersected blocks the
One combed scissors and the second combed scissors.
In some embodiments, the restricted second be hinged intersected blocks are set to drive the second combed to cut on the second combed scissors
The limited block of knife range of movement.
In some embodiments, fixed clamp mechanism includes the locating piece of the first combed scissors of connection, set on locating piece
Some positioning combs, on positioning comb be provided with can left and right translation movable comb folder, movable comb folder on be provided with push away movable comb folder movement
Assister bar, and be connected on assister bar provided with one end with assister bar, the other end is connected to the transmission in the first be hinged intersected blocks
Bar.
In some embodiments, fixed seat is L-shaped fixed block.
The beneficial effects of the invention are as follows with automation and intelligent functions, easy to operate, efficiency high, lichee is more preferably protected
Set and be easy to the effect of popularization.It is specific as follows：Because the scissors apparatus on translation stage can be grabbed by upper and lower rotating device camber line
Litchi is taken, the branch comb with lichee is opened using comb, translated downwards by the sliding block in guide rail bar afterwards, first is be hinged
Intersected blocks and the second be hinged intersected blocks are pushed under the band of connecting rod；Meanwhile the transmission being connected with the first be hinged intersected blocks
Bar, drive assister bar driving movable comb folder to coordinate with positioning comb, fix to clamp the branch of lichee to be cut；In this way, the first combed scissors
With the second combed scissors on the premise of cutting and hindering branch, easily, lichee is cut exactly.Efficiency high, easy to operate is realized, and
The effect of more preferable protection litchi.In addition, the also mitigation harvesting labor intensity of scissors apparatus, reduction lichee production cost, raising
Picking efficiency, it is easy to popularize.Again due to during lichee is plucked, fruit band the preceding paragraph fruit branch, being not easy fruit of damaging, being advantageous to
Fresh preservation；And can be than more fully plucking to the lichee of string-like.Therefore, lichee is controlled to pluck by PC programming system
Manipulator completes the picking process to lichee, has automation and intelligent functions, easy to operate, efficiency high, more preferable protection
Litchi and the effect for being easy to popularization.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation at another visual angle of the present invention；
Fig. 3 is the structural representation that the present invention interlocks folding scissors mechanism；
Fig. 4 is the structural representation of guide rail bar of the present invention and sliding block.
Embodiment
Invention is described in further detail below in conjunction with the accompanying drawings.
As Figure 1-4, a kind of lichee picking mechanical arm, including support 01, the upper backspin that is provided with the end of support 01
Rotary device 02, the translation stage 03 being provided with upper and lower rotating device 02, the comb 04 being provided with translation stage 03, in translation stage 03
Surface be provided with the fixed seat 05 that extends downwardly, and the scissors apparatus 06 to move up and down is provided with fixed seat 05.Upper backspin
Rotary device 02 is included in the rotating disk 21 that the end of support 01 is provided with, the swing arm 22 being provided with rotating disk 21, is provided with rotating disk 21
The first motor 23 for driving swing arm 22 to move up and down, and support swing arm 22 and cooperation swing arm are provided between swing arm 22 and support 01
The support bar 24 of 22 motions.Translation stage 03 is fixed in swing arm 22.
Scissors apparatus 06 is included in fixed seat 05 and is provided with vertical guide rail bar 61, is provided with guide rail bar 61 and slides up and down
In the sliding block 62 in guide rail bar 61, in fixed seat 05 be provided with motor-driven sheave 63, one end is provided with sheave 63
Draw bar 64 that traction sliding block 62 moves, on draw bar 64 connecting rod 65 provided with related motion, set respectively at the both ends of connecting rod 65
Some gearing folding scissors mechanisms 66, and the fixation clamp mechanism 67 provided with the branch that is fixedly clamped on folding scissors device is interlocked.Interlock
Folding scissors mechanism 66 is included in the first be hinged intersected blocks 661 that the end of connecting rod 65 is provided with, at the first be hinged both ends of intersected blocks 661
On the second be hinged intersected blocks 662 for being respectively equipped with, and be respectively equipped with the first combed scissors 663 in the second be hinged intersected blocks 662
With the second combed scissors 664.The restricted second be hinged intersected blocks 662 are set to drive the second combed to cut on second combed scissors 664
The limited block 665 of the range of movement of knife 664.Fixed clamp mechanism 67 includes the locating piece 671 of the first combed scissors 663 of connection, fixed
Position block 671 be provided with positioning comb 672, on positioning comb 672 be provided with can left and right translation movable comb folder 673, movable comb press from both sides
673 are provided with the assister bar 674 for pushing away the movement of movable comb folder 673, and are connected on assister bar 674 provided with one end with assister bar 674,
The other end is connected to the drive link 675 in the first be hinged intersected blocks 661.Fixed seat 05 is L-shaped fixed block.
Using when, the scissors apparatus 06 on translation stage 03 can pass through the upper and lower camber line of rotating device 02 and capture litchi, profit
The branch comb with lichee is opened with comb 04, is translated positioning comb 672 downwards, pushed away by the sliding block 62 in guide rail bar 61 afterwards
Movable comb, which presss from both sides the 673, first combed scissors 663 and the second combed scissors 664, to be released forward, wherein positioning comb 672 and pushes away movable comb
Folder 673 clamps fruit branch, and the first combed scissors 663 and the second combed scissors 664 cut fruit branch.Mechanical arm rotary oscillation one afterwards
Determine angle, put the fruit for cutting, clamping fruit branch into specified location or contain the fruit case of fruit.In this way, the preceding comb due to manipulator
Son has certain distance with scissors mouth, and the litchi fruits of harvesting, so as to be not easy to damage to fruit, can be advantageous to fruit with the preceding paragraph fruit branch
It is real fresh-keeping；Simultaneously can be than more fully plucking to the lichee of string-like.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, various modifications and improvements can be made, these belong to the protection domain of invention.
Claims (5)
- A kind of 1. lichee picking mechanical arm, it is characterised in that the rotating device up and down that is provided with including support, in bracket end, The translation stage that is provided with upper and lower rotating device, the comb being provided with translation stage, it is provided with the surface of translation stage to downward The fixed seat stretched, and the scissors apparatus to move up and down is provided with fixed seat；Described rotating device up and down is included in the rotating disk that bracket end is provided with, the swing arm being provided with rotating disk, on rotating disk The first motor to be moved up and down provided with driving swing arm, and provided with support swing arm and coordinate swing arm motion between swing arm and support Support bar；Described translation stage is fixed in swing arm；Described scissors apparatus be included in fixed seat provided with vertical guide rail bar, in guide rail bar be provided with slide against guide rail up and down Sliding block on bar, it is provided with motor-driven sheave in fixed seat, leading for one end traction slide block movement is provided with sheave Draw bar, the connecting rod provided with related motion, the gearing folding scissors mechanism being respectively equipped with connecting rod two end on draw bar, and interlocking Folding scissors device is provided with the fixation clamp mechanism for the branch that is fixedly clamped.
- A kind of 2. lichee picking mechanical arm according to claim 1, it is characterised in that described gearing folding scissors mechanism bag The the second be hinged friendship for include the be hinged intersected blocks of first be provided with interlinking lever end, being respectively equipped with the first be hinged intersected blocks both ends Block is pitched, and the first combed scissors and the second combed scissors are respectively equipped with the second be hinged intersected blocks.
- 3. a kind of lichee picking mechanical arm according to claim 2, it is characterised in that set on the second described combed scissors It is equipped with the limited block that the be hinged intersected blocks of limitation second drive the second combed scissor motion scope.
- A kind of 4. lichee picking mechanical arm according to Claims 2 or 3, it is characterised in that described fixation clamp mechanism bag Include connection the first combed scissors locating piece, be provided with locating piece positioning comb, on positioning comb be provided with can left and right translation Movable comb folder, the assister bar for pushing away movable comb folder movement is provided with movable comb folder, and one end and assister bar are provided with assister bar Connection, the other end are connected to the drive link in the first be hinged intersected blocks.
- 5. a kind of lichee picking mechanical arm according to claim 1, it is characterised in that described fixed seat is fixed for L-shaped Block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710876180.3A CN107509463A (en) | 2017-09-25 | 2017-09-25 | A kind of lichee picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710876180.3A CN107509463A (en) | 2017-09-25 | 2017-09-25 | A kind of lichee picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107509463A true CN107509463A (en) | 2017-12-26 |
Family
ID=60726328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710876180.3A Pending CN107509463A (en) | 2017-09-25 | 2017-09-25 | A kind of lichee picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107509463A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108243722A (en) * | 2018-03-07 | 2018-07-06 | 梁宇轩 | A kind of wheeled picking cutter and the fruit picker equipped with the cutter |
| CN108848895A (en) * | 2018-04-27 | 2018-11-23 | 广东工业大学 | A kind of rotation is selective to prune formula jujube class fruit acquisition device off |
| CN109566097A (en) * | 2019-01-10 | 2019-04-05 | 武汉职业技术学院 | A kind of lichee picking machine |
| CN109757212A (en) * | 2019-03-23 | 2019-05-17 | 蚌埠学院 | Efficient fruit picker |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3700970A1 (en) * | 1987-01-15 | 1988-07-28 | Joachim Hartmann | Device for gathering fruit from trees |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN207185244U (en) * | 2017-09-25 | 2018-04-06 | 黄健明 | A kind of lichee picking mechanical arm |
-
2017
- 2017-09-25 CN CN201710876180.3A patent/CN107509463A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3700970A1 (en) * | 1987-01-15 | 1988-07-28 | Joachim Hartmann | Device for gathering fruit from trees |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN207185244U (en) * | 2017-09-25 | 2018-04-06 | 黄健明 | A kind of lichee picking mechanical arm |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108243722A (en) * | 2018-03-07 | 2018-07-06 | 梁宇轩 | A kind of wheeled picking cutter and the fruit picker equipped with the cutter |
| CN108243722B (en) * | 2018-03-07 | 2023-08-01 | 梁宇轩 | Wheeled picking tool and fruit picking device with same |
| CN108848895A (en) * | 2018-04-27 | 2018-11-23 | 广东工业大学 | A kind of rotation is selective to prune formula jujube class fruit acquisition device off |
| CN108848895B (en) * | 2018-04-27 | 2021-10-19 | 广东工业大学 | Formula red date class fruit collection system is dredged to rotatory selectivity |
| CN109566097A (en) * | 2019-01-10 | 2019-04-05 | 武汉职业技术学院 | A kind of lichee picking machine |
| CN109757212A (en) * | 2019-03-23 | 2019-05-17 | 蚌埠学院 | Efficient fruit picker |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171226 |
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| WD01 | Invention patent application deemed withdrawn after publication |