CN108496554A - A kind of suspension type fruits picking mechanical arm - Google Patents
A kind of suspension type fruits picking mechanical arm Download PDFInfo
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- CN108496554A CN108496554A CN201810407367.3A CN201810407367A CN108496554A CN 108496554 A CN108496554 A CN 108496554A CN 201810407367 A CN201810407367 A CN 201810407367A CN 108496554 A CN108496554 A CN 108496554A
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- motor
- pedestal
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 124
- 239000000725 suspension Substances 0.000 title claims abstract description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 80
- 239000012636 effector Substances 0.000 claims abstract description 45
- 230000008878 coupling Effects 0.000 claims abstract description 10
- 238000010168 coupling process Methods 0.000 claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 238000003860 storage Methods 0.000 claims description 15
- 230000005611 electricity Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims 1
- 210000000515 tooth Anatomy 0.000 description 22
- 210000000707 wrist Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 241000132456 Haplocarpha Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 238000010008 shearing Methods 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)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to a kind of suspension type fruits picking mechanical arms, belong to Agriculture pick robot technical field.The present invention includes pedestal, rotating base, motor I, the level-one arm of force, the two level arm of force, the three-level arm of force, end motor housing, end shaft coupling, end effector；For being fixed on external unmanned plane mobile platform, rotating base is connect base top with pedestal revolute, and chassis interior is fixed with motor I and drives rotating base rotation；The level-one arm of force is connect with rotating base revolute, and the two level arm of force is connect with level-one arm of force revolute；The three-level arm of force is connect with two level arm of force revolute；The three-level arm of force is fixedly connected with end motor housing；End effector, that is, fruit picking apparatus is connect with the motor output shaft in the motor housing of end by end shaft coupling, and the rotation of the motor in the motor housing of end makes end effector rotate to carry out fruit picking.The present invention can accurately, continuously win fruit, picking high-altitude fruit is with the obvious advantage.
Description
Technical field
The present invention relates to a kind of suspension type fruits picking mechanical arms, belong to Agriculture pick robot technical field.
Background technology
Fruit picking field is faced with always the problem of picking mechanicalization difficulty, just more tired to the picking of high-altitude fruit
It is difficult.It climbs tree by people or picks high-altitude fruit using ladder, both dangerous, efficiency is not again high.Operation is picked in Production of fruit
The labour of 33%-50% is occupied in the process, and fruit is seasonal strong, only manpower is relied on to pick, it is clear that the hair of entire industry
It is unfavorable to open up.
Fruit picking relies primarily on manpower picking and semi-automatic picking at present.Some existing semi-automatic picking mechanicals have half
Grabbing for self-action and grabs pull-type manipulator, but inefficiency at scissors mechanism hand, and inconvenient, and fruit spoilage is high.
Invention content
The technical problem to be solved by the present invention is to：The present invention provides a kind of suspension type fruits picking mechanical arm, for realizing
The mechanization of fruits picking mechanical improves the efficiency of fruit picking, picks quality, liberates manpower, improves high-altitude picking fruit
Convenience.
The technical scheme is that：A kind of suspension type fruits picking mechanical arm, including pedestal 1, rotating base 8, motor I 9,
The level-one arm of force 12, the two level arm of force 13, the three-level arm of force 14, end motor housing 15, end shaft coupling 16, end effector 17；
1 top of the pedestal is for being fixed on external unmanned plane mobile platform, and rotating base 8 is connect with 1 revolute of pedestal, bottom
Motor I 9 is fixed with inside seat 1 drives rotating base 8 to rotate；The level-one arm of force 12 is connect with 8 revolute of rotating base, the two level arm of force
13 connect with 12 revolute of the level-one arm of force；The three-level arm of force 14 is connect with 13 revolute of the two level arm of force；The three-level arm of force 14 and end electricity
Cabinet 15 is fixedly connected；End effector 17 is that fruit picking apparatus is joined with the motor output shaft in end motor housing 15 by end
Axis device 16 connects, and the rotation of the motor in end motor housing 15 makes end effector 17 rotate to carry out fruit picking.
Further include pedestal sleeve 2, motor plate 4, rotary internal gear 5, sliding tooth I 6, driving cog 7, motor I 9；
In the pedestal sleeve 2 buckle structure is formed along with pedestal 1；Motor plate 4 is screwed on 1 bottom of pedestal, motor I
9 are threadedly secured on motor plate 4, are located in the enclosure space that motor plate 4 is formed with pedestal 1, I 9 output shaft of motor is fixed with drive
Moving teeth I 6, rotary internal gear 5, rotating base 8 have with 2 matched threaded hole of pedestal sleeve, screw thread is arranged at 2 bottom of pedestal sleeve
Hole, rotary internal gear 5,8 bolt of rotating base are fixed on pedestal sleeve 2, rotary internal gear 5, rotating base 8, pedestal sleeve 2
It stacks, is threaded through in 5 precession pedestal sleeve 2 of rotary internal gear from rotating base 8 by bolt, wherein rotary internal gear
5 are clipped in rotary internal gear 5, among rotating base 8；It is hollow among rotary internal gear 5, driving cog 7 is in this space and sets
It sets for giving driving cog 7 one fixed points on motor plate 4, driving cog 7 is engaged with sliding tooth 6, rotary internal gear 5；
The motor I 9, motor plate 4, pedestal 1 are integrated, and pedestal sleeve 2, rotary internal gear 5, rotating base 8 are integrated, motor
I 9 rotations, and then rotating base 8 is pushed to be rotated relative to pedestal 1.
It further include thrust bearing 3；The pedestal 1 is in hat-shaped, has threaded hole at the top of cap, for being fixed on external nothing
On man-machine mobile platform, for the brim of a hat of bottom for placing thrust bearing 3, bottom inner ring edge distribution has threaded hole, for solid
Determine motor plate 4；The horizontal positioned the brim of a hat with pedestal 1 of thrust bearing 3,2 top of pedestal sleeve have matched interior with 1 the brim of a hat of pedestal
Edge, thrust bearing 3 between pedestal 1 and pedestal sleeve 2, for both make can Smooth Rotation, and bear from remaining machine
The pressure of tool arm weight.
The rotating base 8 and the level-one arm of force 12, the level-one arm of force 12 and the two level arm of force 13, the two level arm of force 13 and the three-level arm of force
It is connected by rotating device between 14, and the structure all same of rotating device, rotating device includes axle center 10, axle center gear
11, motor II 18, sliding tooth II 19；
There is rotating hole in the end for the upper level structure being connected with rotating device, has gear to install interface, axle center 10 above rotating hole
Across rotating hole, the both sides in axle center 10 have threaded hole, axis gear 11 to be fixed on axis by the threaded hole of 10 side of axle center
10 right side of the heart, motor II 18 are fixed in upper level structure, and output shaft is fixed with sliding tooth II 19, is nibbled with axle center gear 11
It closes；
Have on the next level structure being connected with rotating device and 10 matched threaded hole of axle center, the left side in axle center 10 and next stage
Left side threaded hole in structure is screwed, and the right threaded hole on next level structure is solid by axle center gear 11 and axle center 10
Fixed, the motor II 18 in upper level structure rotates, and then next level structure is pushed to be rotated around upper level structure.
The two level arm of force 13 is equipped with upward circular groove, and for receiving the fruit taken, circular open is arranged at circular groove bottom,
Opening connection fruit stores channel, and the fruit that circular groove receives slides into fruit storage channel through circular open and reaches fruit storage
Bag.
The end effector 17 puts fruits into the two level arm of force 13 for capturing fruit, and fruit slides into fruit in turn
Storage pocket；In the action that end effector 17 discharges water fruit, the level-one arm of force 12, the two level arm of force 13, the three-level arm of force 14 are adjusted to phase
Position, the two level arm of force 13 is answered to require level, the three-level arm of force 14 that will be rotated to two level with the end effector 17 of picking to fruit
The top of the arm of force 13, the level-one arm of force 12 allow end to execute for making 12 or less mechanism of the level-one arm of force far from unmanned aerial vehicle platform
Action of the rotation of device 17 to the top of the two level arm of force 13 has enough spaces, will not encounter unmanned plane.
The output shaft of motor in the end motor housing 15 can be connected by end shaft coupling 16 and end effector 17
It connects, so that end effector 17 is rotated around 15 center line of end motor housing, flexibility ratio when fruit, while energy are won for improving
End effector 17 is helped to twist off the fruit that branches and leaves are not cut completely by rotating.
The beneficial effects of the invention are as follows：
The present invention suspension type fruits picking mechanical arm can be used on fruit picking unmanned plane, can reduce picking labour at
This, instead of part labour, while in fruit tree top fruit, the high fruit of picking risk possesses that picking rate is fast, and risk is low,
Pick the advantages that quality is high；
The suspension type fruits picking mechanical arm of the present invention is a set of underslung mechanical arm, reduces structure complexity, is conducive to mitigate
Architecture quality, while enhancing structure stability are conducive to the lightweight mechanical arm of unmanned plane suspension；
It is stayed on the mechanical arm two level arm of force of the present invention there are one fruit leak, leak will be helpful to realize continuous picking, carry
In the case that lotus is enough, fruit storage bag can be hung, leak connects reservoir bag by net/cloth pipeline, then can not load storage
It can also use the fruit storage frame on net/cloth pipeline connection ground, picking mechanical arm that fruit is arrived in picking when depositing bag, then water
Flat-folded folded two, the three-level arm of force, fruit is caught above leak, release, fruit enters fruit storage bag across leak, it is not necessary to return
Ground discharges fruit, in the air i.e. releasably, it can be achieved that the continuous picking of fruit.
Description of the drawings
Fig. 1 is the overall construction drawing of the present invention；
Fig. 2 be the present invention pedestal and rotating base between rotating mechanism gear group picture；
Fig. 3 be the present invention pedestal and rotating base between rotating mechanism sectional arrangement drawing；
Fig. 4 is the arm of force rotation right view of the present invention；
Fig. 5 is the arm of force rotating part structural schematic diagram of the present invention；
Fig. 6 be the present invention Fig. 5 in B-B sectional view；
Fig. 7 be the present invention Fig. 5 in C-C sectional view；
Fig. 8 is end effector overall assembling figure of the present invention；
Fig. 9 is the installation diagram of hand tray plate before end effector removal of the present invention；
Figure 10 is that end effector electric rotating machine output shaft of the present invention passes through wrist motor housing sectional view；
Figure 11 is end effector of the present invention or so sleeve shear structure schematic diagram；
Figure 12 is end effector synchromesh gear of the present invention（23）With gear connecting rod（25）It is fixedly connected and pin hole used shows
It is intended to；
Structural schematic diagram when Figure 13 is end effector of the present invention or so sleeve, sleeve cover board separates.
Each label in Fig. 1-13：1- pedestals, 2- pedestal sleeves, 3- thrust bearings, 4- motor plates, 5- rotary internal gears, 6-
Sliding tooth I, 7- driving cogs, 8- rotating bases, 9- motors I, the axle center 10-, the axle center 11- gear, the 12- level-one arm of forces, 13- second order forces
Arm, the 14- three-level arm of forces, the ends 15- motor housing, the ends 16- shaft coupling, 17- end effectors, 18- motors II, 19- sliding tooths
II, 20- electric rotating machine, 21- palm pressing plates, 22- palm supporting plates, 23- synchromesh gears, 24- handgrip motors, 25- gear connecting rods,
26- bush connecting rods, 27- sleeves, 28- sleeve cover boards, the 29- sleeve arm of forces, 30- pin holes, 31- centre bores, the holes 32-.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, the invention will be further described.
Embodiment 1：As shown in figures 1-13, a kind of suspension type fruits picking mechanical arm, including pedestal 1, rotating base 8, electricity
Machine I 9, the level-one arm of force 12, the two level arm of force 13, the three-level arm of force 14, end motor housing 15, end shaft coupling 16, end effector 17；
1 top of the pedestal is for being fixed on external unmanned plane mobile platform, and rotating base 8 is connect with 1 revolute of pedestal, bottom
Motor I 9 is fixed with inside seat 1 drives rotating base 8 to rotate；The level-one arm of force 12 is connect with 8 revolute of rotating base, the two level arm of force
13 connect with 12 revolute of the level-one arm of force；The three-level arm of force 14 is connect with 13 revolute of the two level arm of force；The three-level arm of force 14 and end electricity
Cabinet 15 is fixedly connected；End effector 17 is that fruit picking apparatus is joined with the motor output shaft in end motor housing 15 by end
Axis device 16 connects, and the rotation of the motor in end motor housing 15 makes end effector 17 rotate to carry out fruit picking.
Further, further include pedestal sleeve 2, motor plate 4, rotary internal gear 5, sliding tooth I 6, driving cog 7, motor I 9；
In the pedestal sleeve 2 buckle structure is formed along with pedestal 1；Motor plate 4 is screwed on 1 bottom of pedestal, motor I
9 are threadedly secured on motor plate 4, are located in the enclosure space that motor plate 4 is formed with pedestal 1, I 9 output shaft of motor is fixed with drive
Moving teeth I 6, rotary internal gear 5, rotating base 8 have with 2 matched threaded hole of pedestal sleeve, screw thread is arranged at 2 bottom of pedestal sleeve
Hole, rotary internal gear 5,8 bolt of rotating base are fixed on pedestal sleeve 2, rotary internal gear 5, rotating base 8, pedestal sleeve 2
It stacks, is threaded through in 5 precession pedestal sleeve 2 of rotary internal gear from rotating base 8 by bolt, wherein rotary internal gear
5 are clipped in rotary internal gear 5, among rotating base 8；It is hollow among rotary internal gear 5, driving cog 7 is in this space and sets
It sets for giving driving cog 7 one fixed points on motor plate 4, driving cog 7 is engaged with sliding tooth 6, rotary internal gear 5；
The motor I 9, motor plate 4, pedestal 1 are integrated, and pedestal sleeve 2, rotary internal gear 5, rotating base 8 are integrated, motor
I 9 rotations, and then rotating base 8 is pushed to be rotated relative to pedestal 1.
Further, further include thrust bearing 3；The pedestal 1 is in hat-shaped, has threaded hole at the top of cap, for solid
It is scheduled on external unmanned plane mobile platform, for the brim of a hat of bottom for placing thrust bearing 3, bottom inner ring edge distribution has screw thread
Hole, for fixing motor plate 4；The horizontal positioned the brim of a hat with pedestal 1 of thrust bearing 3,2 top of pedestal sleeve have and 1 the brim of a hat of pedestal
Matched interior edge, thrust bearing 3 between pedestal 1 and pedestal sleeve 2, for both make can Smooth Rotation, and bear
Pressure from remaining mechanical arm weight.
Further, the rotating base 8 and the level-one arm of force 12, the level-one arm of force 12 and the two level arm of force 13, the two level arm of force 13
It is connected by rotating device between the three-level arm of force 14, and the structure all same of rotating device, rotating device includes axle center
10, axle center gear 11, motor II 18, sliding tooth II 19；
There is rotating hole in the end for the upper level structure being connected with rotating device, has gear to install interface, axle center 10 above rotating hole
Across rotating hole, the both sides in axle center 10 have threaded hole, axis gear 11 to be fixed on axis by the threaded hole of 10 side of axle center
10 right side of the heart, motor II 18 are fixed in upper level structure, and output shaft is fixed with sliding tooth II 19, is nibbled with axle center gear 11
It closes；
Have on the next level structure being connected with rotating device and 10 matched threaded hole of axle center, the left side in axle center 10 and next stage
Left side threaded hole in structure is screwed, and the right threaded hole on next level structure is solid by axle center gear 11 and axle center 10
Fixed, the motor II 18 in upper level structure rotates, and then next level structure is pushed to be rotated around upper level structure.
Further, the two level arm of force 13 is equipped with upward circular groove, and for receiving the fruit taken, circular groove bottom has
Circular open, opening connection fruit store channel, and the fruit that circular groove receives slides into fruit storage channel through circular open and reaches
Fruit storage pocket.
Further, the end effector 17 is for capturing fruit, and puts fruits into the two level arm of force 13, and fruit is in turn
Slide into fruit storage pocket；In the action that end effector 17 discharges water fruit, the level-one arm of force 12, the two level arm of force 13, the three-level arm of force 14
It is adjusted to corresponding position, the two level arm of force 13 requires level, the three-level arm of force 14 that will be revolved with the end effector 17 of picking to fruit
The top of the two level arm of force 13 is gone to, the level-one arm of force 12 is for making 12 or less mechanism of the level-one arm of force far from unmanned aerial vehicle platform, Jin Errang
Action of the rotation of end effector 17 to the top of the two level arm of force 13 has enough spaces, will not encounter unmanned plane.
Further, the output shaft of the motor in the end motor housing 15 can be held by end shaft coupling 16 with end
Row device 17 connects, and end effector 17 is enable to be rotated around 15 center line of end motor housing, flexible when winning fruit for improving
Degree, while end effector 17 can be helped to twist off the fruit that branches and leaves are not cut completely by rotating.
Further, such as Fig. 8-13, end effector 17 includes wrist and palm portion；Wrist includes end
Motor housing 15, electric rotating machine 20；Palm portion includes palm pressing plate 21, palm supporting plate 22, left and right gear linkage, handgrip electricity
Machine 24；
The electric rotating machine 20 is fixed in end motor housing 15, and 20 output shaft of electric rotating machine passes through end motor housing 15, palm
Part is fixed on 20 output shaft of electric rotating machine, is rotated with electric rotating machine 20 and is rotated relative to wrist for adjusting sleeve
Posture；The palm pressing plate 21 of the palm portion is fixed on 20 output shaft of electric rotating machine, and front and back two panels palm supporting plate 22 is fixed
Left and right gear linkage is equipped between 21 front and rear sides of palm pressing plate, two panels palm supporting plate 22；Left gear linkage, the right side
Gear connecting rod apparatus structure is identical, and the center line about the fruit picking handgrip is symmetrical；The left and right gear
Linkage is used to fruit and branches and leaves disconnection being collected simultaneously fruit, and handgrip motor 24 for left and right gear linkage for providing
Power.
Further, the right gear linkage includes synchromesh gear 23, gear connecting rod 25, bush connecting rod 26, sleeve
27, sleeve cover board 28；Synchromesh gear 23 on left gear linkage, right gear linkage is intermeshed, handgrip motor 24
It is fixed on the palm supporting plate 22 of side, the synchromesh gear 23 of side is matched between 24 output shaft of handgrip motor and two panels palm supporting plate 22
It closes, handgrip motor 24 drives the synchromesh gear 23 of left and right gear linkage wherein side to rotate；
For 25 upper end of two panels gear connecting rod respectively in the front and rear sides of synchromesh gear 23, synchromesh gear 23 respectively has one with gear connecting rod 25
A pin hole 30, the corresponding two panels gear connecting rod 25 of synchromesh gear 23 are fixed by bolt, the output shaft of handgrip motor 24
Both pass through the centre bore 31 of synchromesh gear 23, the hole 32 on 25 top of two panels gear connecting rod；25 lower end of gear connecting rod and the sleeve arm of force
29 top revolute connections；26 two sections of the bush connecting rod is all that revolute connects, and the rotary shaft of epimere is fixed on hand tray
On plate 22, the rotary shaft of lower end is fixed on 29 middle part of the sleeve arm of force；I.e. the sleeve arm of force 29 of sleeve 27 respectively with gear connecting rod 25,
26 revolute of bush connecting rod connects, degree of freedom 1, and track determines；Handgrip motor 24 exports the appearance of Effect of Rotation synchromesh gear 23
State, the posture of synchromesh gear 23 influence the posture of gear connecting rod 25, and the posture of gear connecting rod 25 influences the posture of sleeve 27, to
The output rotation of handgrip motor 24 determines the folding of left and right sides sleeve 27；The left and right sides sleeve 27 is rotated with sleeve cover board 28
Pair connection, revolute respectively in the surface of left and right sides sleeve 27, open by the outside that sleeve cover board 28 covers sleeve 27 completely
Mouthful.
Further, the handgrip motor 24 drives the synchromesh gear 23 in left and right gear linkage wherein left side to rotate,
The synchromesh gear 23 in left side pushes right side synchromesh gear 23 to rotate, and the synchromesh gear 23 of left and right sides pushes and the tooth that is respectively connected
Connecting rod 25 is taken turns to rotate around 23 axle center of synchromesh gear；Gear connecting rod 25 is pushed by gear connecting rod 25, bush connecting rod 26, sleeve 27, hand
The double leval jib crank and rocker mechanism that palmrest plate 22 forms is swung, and realizes the folding of left and right sides sleeve 27；Electric rotating machine 20 exports
Rotation drives the rotation of handgrip wrist, electric rotating machine 20 to be used to adjust handgrip wrist to the best angle of picking；Handgrip
Motor 24 exports rotation counterclockwise, and left and right sides sleeve 27 is closed, while the shear structure that left and right sides sleeve 27 forms is cut
Branches and leaves, if fruit branch leaf and fruit are without departing from the output rotation of electric rotating machine 20, left and right sides sleeve 27 rotates, using torque by branch
Leaf disconnects.
Further, the gear parameter of the synchromesh gear 23 in the left and right gear linkage is identical and engages, so
Angle equal direction is opposite when rotation.
Further, the sleeve 27 of the left and right gear linkage include left side sleeve, the right sleeve, left side sleeve,
The middle edge of the right sleeve is one group of blade being staggered, and after left side sleeve, the right sleeve close up, left and right sleeve edges are intersected,
For forming shearing force to the branches and leaves being clipped in the middle, fruit branches and leaves are cut, allow fruit to be detached from fruit tree, while sleeve is not opened
For playing the role of temporarily putting up stores of fruits.
Further, the left side sleeve, the right sleeve and 28 lower end of sleeve cover board are equipped with one group of automatically controlled Magnetic sucking switch.
Only being switched when the fruit in releasing sleeve can open, remaining time is all in closed state, and sleeve cover board 28 can't be certainly
Dynamic to open, the opening of sleeve cover board 28 will cleverly utilize power gravity；When discharging fruit, control sleeve makes it be non-standard state,
It opens automatically controlled Magnetic sucking switch fruit to tumble to one end, be pushed open sleeve cover board 28 using the gravity of fruit, fruit is fallen；The rotation
Rotating motor 20 can control palm portion relative to wrist rotate, adjust the posture of sleeve, when such as picking fruit and release fruit
When, while when fruit branches and leaves are not cut by sleeve 27 completely, 20 rotatable wrist of electric rotating machine makes fruit branches and leaves be twisted into two parts.
The present invention the course of work be：
External controller controls the motor I 9 in pedestal 1 and accurately rotates, the sliding tooth I 6 being fixed on I 9 output shaft of motor
Rotation, and then the driving cog 7 engaged with sliding tooth I 6 is driven to rotate, then the rotary internal gear 5 engaged with driving cog 7 is driven to revolve
Turn.Rotary internal gear 5 and rotating base 8 are all fixed on pedestal sleeve 2, and pedestal sleeve 2 is connect with 1 revolute of pedestal, so bottom
Motor I 9 in seat 1 rotates, and rotating base 8 is rotated horizontally around pedestal 1；Remaining mechanical arm is all fixed on rotating base 8, so
Motor I 9 in pedestal 1 rotates, and mechanical arm is rotated horizontally around pedestal 1.
The rotating base 8 and the level-one arm of force 12, the level-one arm of force 12 and the two level arm of force 13, the two level arm of force 13 and the three-level arm of force
It is connected by rotating device between 14, and the structure all same of rotating device, rotating device includes axle center 10, axle center gear
11, motor II 18, sliding tooth II 19；
Specifically, the course of work of the rotating device between the rotating base 8 and the level-one arm of force 12 is as follows：
External controller controls the motor II 18 in rotating base 8 and accurately rotates, and is fixed on II 18 output shaft of motor
Sliding tooth II 19 rotates, and then the axle center gear 11 engaged with sliding tooth II 19 is driven to rotate, axle center gear 11 and the level-one arm of force
12 are all fixed on axle center 10, and axle center gear 11 is rotated together with the level-one arm of force 12, axle center 10, so the electricity in rotating base 8
Machine II 18 rotates, the perpendicular angulation change of the level-one arm of force 12 and pedestal 1.
Specifically, the course of work of the rotating device between the level-one arm of force 12 and the two level arm of force 13 is as follows：
External controller controls the motor II 18 in the level-one arm of force 12 and accurately rotates, and is fixed on II 18 output shaft of motor
Sliding tooth II 19 rotates, and then the axle center gear 11 engaged with sliding tooth II 19 is driven to rotate, axle center gear 11 and the two level arm of force
13 are all fixed on axle center 10, and axle center gear 11 is rotated together with the two level arm of force 13, axle center 10, so the electricity in the level-one arm of force 12
Machine II 18 rotates, the perpendicular angulation change of the two level arm of force 13 and the level-one arm of force 12.
Specifically, the course of work of the rotating device between the two level arm of force 13 and the three-level arm of force 14 is as follows：
External controller controls the motor II 18 in the two level arm of force 13 and accurately rotates, and is fixed on II 18 output shaft of motor
Sliding tooth II 19 rotates, and then the axle center gear 11 engaged with sliding tooth II 19 is driven to rotate, axle center gear 11 and the three-level arm of force
14 are all fixed on axle center 10, and axle center gear 11 is rotated together with the three-level arm of force 14, axle center 10, so the electricity in the two level arm of force 13
Machine II 18 rotates, the perpendicular angulation change of the two level arm of force 13 and the three-level arm of force 14.
Fixation ends motor housing 15 on the three-level arm of force 14, the motor output shaft fixation ends actuator in end motor housing 15
17.External controller controls all motors, and finally, the motor 9 in pedestal 1 controls court in the horizontal plane of end effector 17
To rotating base 8, the level-one arm of force 12, the interior direction of motor 17 perpendicular of control end effector in the two level arm of force 13 and end
Hold 17 position of actuator.
The present invention 17 course of work of end effector be：The output rotation of handgrip motor 24 drives left side synchromesh gear 23 suitable
Hour hands rotate, and left side synchromesh gear 23 pushes right side synchromesh gear 23 to rotate counterclockwise, and left and right sides synchromesh gear 23 pushes
It is rotated around 23 axle center of synchromesh gear with the gear connecting rod 25 respectively coordinated；Gear connecting rod 25 is pushed to be connected by gear connecting rod 25, sleeve
The double leval jib crank and rocker mechanism that bar 26, sleeve 27, palm supporting plate 22 form is swung, and left and right sides sleeve 27 opens；Electric rotating
The output rotation of machine 20 drives the rotation of handgrip wrist, electric rotating machine 20 to adjust handgrip wrist to the best angle of picking；
Handgrip motor 24 exports rotation counterclockwise, and left and right sides sleeve is closed, while the shear structure that left and right sides sleeve 27 forms is cut
Disconnected branches and leaves, if fruit branch leaf and fruit are without departing from the output rotation of electric rotating machine 20, sleeve rotating is disconnected branches and leaves using torque.It adopts
After the completion of picking fruit, fruit is transported to by picking platform at fruit collection in sleeve, and the output of handgrip motor 24 rotates clockwise,
Sleeve opens, and fruit is released.
When left side sleeve, the right sleeve and 28 lower end of sleeve cover board are equipped with one group of automatically controlled Magnetic sucking switch, fruit-picking
After the completion, fruit is transported to fruit collecting box, the output rotation of electric rotating machine 20 in sleeve by picking platform, and sleeve rotating is sought
Dump angle, the automatically controlled Magnetic sucking switch power-off of sleeve cover board 28, sleeve cover board 28 is looked for open, fruit pushes set open under its own gravity
Cover plate 28 crashes into fruit collecting box.
Each motor rotation, adjustment end effector 17, to ideal pose, such as encounter fruit branch with respect to fruit when fruit-picking
Leaf is not cut completely, and by the motor in end motor housing 15, positive and reverse return transfers auxiliary cutting fruit branches and leaves repeatedly；Pick fruit
Afterwards, for the level-one arm of force 12 as possible close to vertically, the two level arm of force 13 requires relative level, the three-level arm of force 14 that will arrive fruit with picking
For the rotation of end effector 17 to the top of the two level arm of force 13, end effector 17 discharges fruit, and the circular groove on the two level arm of force 13 connects
It receives fruit and slides into fruit storage channel through circular open in circular groove and reach fruit storage pocket.
Specific embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned realities
Example is applied, it within the knowledge of a person skilled in the art, can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (7)
1. a kind of suspension type fruits picking mechanical arm, it is characterised in that：Including pedestal（1）, rotating base（8）, motor I（9）, one
The grade arm of force（12）, the two level arm of force（13）, the three-level arm of force（14）, end motor housing（15）, end shaft coupling（16）, end effector
（17）；
The pedestal（1）Top is for being fixed on external unmanned plane mobile platform, rotating base（8）With pedestal（1）Revolute
Connection, pedestal（1）Inside is fixed with motor I（9）Drive rotating base（8）Rotation；The level-one arm of force（12）With rotating base（8）Rotation
Turn secondary connection, the two level arm of force（13）With the level-one arm of force（12）Revolute connects；The three-level arm of force（14）With the two level arm of force（13）Rotation
Pair connection；The three-level arm of force（14）With end motor housing（15）It is fixedly connected；End effector（17）That is fruit picking apparatus and end
Motor housing（15）Interior motor output shaft passes through end shaft coupling（16）Connection, end motor housing（15）The rotation of interior motor makes
End effector（17）It rotates and carries out fruit picking.
2. suspension type fruits picking mechanical arm according to claim 1, it is characterised in that：It further include pedestal sleeve（2）, electricity
Machine plate（4）, rotary internal gear（5）, sliding tooth I（6）, driving cog（7）, motor I（9）；
The pedestal sleeve（2）Interior edge and pedestal（1）Form a buckle structure；Motor plate（4）It is screwed on pedestal（1）Bottom
Portion, motor I（9）It is threadedly secured in motor plate（4）On, it is located at motor plate（4）With pedestal（1）In the enclosure space of composition, motor I
（9）Output shaft is fixed with sliding tooth I（6）, rotary internal gear（5）, rotating base（8）Have and pedestal sleeve（2）Matched spiral shell
Pit, pedestal sleeve（2）Threaded hole, rotary internal gear are arranged at bottom（5）, rotating base（8）Bolt is fixed on pedestal sleeve（2）
On, rotary internal gear（5）, rotating base（8）, pedestal sleeve（2）It stacks, by bolt from rotating base（8）Screw-in is worn
Cross rotary internal gear（5）Precession pedestal sleeve（2）In, wherein rotary internal gear（5）It is clipped in rotary internal gear（5）, rotating base
（8）It is intermediate；Rotary internal gear（5）Centre is hollow, driving cog（7）It is in this space and is arranged in motor plate（4）On be used for
To driving cog（7）One fixed point, driving cog（7）With sliding tooth（6）, rotary internal gear（5）Engage；
The motor I（9）, motor plate（4）, pedestal（1）It is integrated, pedestal sleeve（2）, rotary internal gear（5）, rotating base
（8）It is integrated, motor I（9）Rotation, and then push rotating base（8）Opposite pedestal（1）Rotation.
3. suspension type fruits picking mechanical arm according to claim 1, it is characterised in that：It further include thrust bearing（3）；Institute
State pedestal（1）In hat-shaped, there is threaded hole at the top of cap, for being fixed on external unmanned plane mobile platform, bottom
The brim of a hat is for placing thrust bearing（3）, bottom inner ring edge distribution has threaded hole, for fixing motor plate（4）；Thrust bearing
（3）Horizontal positioned and pedestal（1）The brim of a hat, pedestal sleeve（2）Top has and pedestal（1）The matched interior edge of the brim of a hat, thrust axis
It holds（3）Positioned at pedestal（1）With pedestal sleeve（2）Between, for both make can Smooth Rotation, and bear from remaining mechanical arm
The pressure of weight.
4. suspension type fruits picking mechanical arm according to claim 1, it is characterised in that：
The rotating base（8）With the level-one arm of force（12）, the level-one arm of force（12）With the two level arm of force（13）, the two level arm of force（13）With three
The grade arm of force（14）Between be connected by rotating device, and the structure all same of rotating device, rotating device includes axle center
（10）, axle center gear（11）, motor II（18）, sliding tooth II（19）；
There is rotating hole in the end for the upper level structure being connected with rotating device, has gear to install interface, axle center above rotating hole
（10）Across rotating hole, axle center（10）Both sides have threaded hole, axis gear（11）Pass through axle center（10）The screw thread of side
Hole is fixed on axle center（10）Right side, motor II（18）It is fixed in upper level structure, output shaft is fixed with sliding tooth II（19）,
With axle center gear（11）Engagement；
Have on the next level structure being connected with rotating device and axle center（10）Matched threaded hole, axle center（10）The left side under
Left side threaded hole in primary structure is screwed, and the right threaded hole on next level structure passes through axle center gear（11）With axle center
（10）It is fixed, the motor II in upper level structure（18）Rotation, and then next level structure is pushed to be rotated around upper level structure.
5. suspension type fruits picking mechanical arm according to claim 1, it is characterised in that：The two level arm of force（13）On set
There is upward circular groove, for receiving the fruit taken, circular groove bottom has circular open, opening connection fruit to store channel, circular groove
The fruit of reception slides into fruit storage channel through circular open and reaches fruit storage pocket.
6. suspension type fruits picking mechanical arm according to claim 1, it is characterised in that：The end effector（17）With
In crawl fruit, and put fruits into the two level arm of force（13）, fruit slides into fruit storage pocket in turn；In end effector（17）It puts
In the action of fruit, the level-one arm of force（12）, the two level arm of force（13）, the three-level arm of force（14）It is adjusted to corresponding position, the two level arm of force
（13）It is required that horizontal, the three-level arm of force（14）It will be with the end effector of picking to fruit（17）It rotates to the two level arm of force（13）'s
Top, the level-one arm of force（12）For making the level-one arm of force（12）Following mechanism allows end effector far from unmanned aerial vehicle platform
（17）It rotates to the two level arm of force（13）The action of top have enough spaces, unmanned plane will not be encountered.
7. suspension type fruits picking mechanical arm according to claim 1, it is characterised in that：The end motor housing（15）In
The output shaft of motor directly pass through end shaft coupling（16）With end effector（17）Connection, makes end effector（17）It can be around
End motor housing（15）Center line rotates, and flexibility ratio when fruit is won for improving, while can help end effector（17）
The fruit that branches and leaves are not cut completely is twisted off by rotating.
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|---|---|---|---|
| CN201810407367.3A CN108496554B (en) | 2018-05-02 | 2018-05-02 | Arm is picked to suspension type fruit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810407367.3A CN108496554B (en) | 2018-05-02 | 2018-05-02 | Arm is picked to suspension type fruit |
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| CN108496554A true CN108496554A (en) | 2018-09-07 |
| CN108496554B CN108496554B (en) | 2020-05-15 |
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ID=63399918
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| Application Number | Title | Priority Date | Filing Date |
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| CN109601135A (en) * | 2018-12-27 | 2019-04-12 | 浙江工业大学 | A kind of high-altitude nut fruits picker |
| CN110249791A (en) * | 2019-07-30 | 2019-09-20 | 陕西理工大学 | A kind of tealeaves bud head unmanned plane picker and method |
| CN113108156A (en) * | 2021-04-15 | 2021-07-13 | 盐城工学院 | Drainage pipe ultraviolet curing equipment that can support |
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| CN108496554B (en) | 2020-05-15 |
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