CN108528561A - The simple agricultural manipulator three dimensions walking mechanism of terrestrial path - Google Patents
The simple agricultural manipulator three dimensions walking mechanism of terrestrial path Download PDFInfo
- Publication number
- CN108528561A CN108528561A CN201810393722.6A CN201810393722A CN108528561A CN 108528561 A CN108528561 A CN 108528561A CN 201810393722 A CN201810393722 A CN 201810393722A CN 108528561 A CN108528561 A CN 108528561A
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- CN
- China
- Prior art keywords
- traveling
- crossbeam
- manipulator
- dimensions
- walking mechanism
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/002—Devices for adjusting or regulating the position of tools or wheels
- A01B63/004—Lateral adjustment of tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/002—Devices for adjusting or regulating the position of tools or wheels
- A01B63/008—Vertical adjustment of tools
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of simple agricultural manipulator three dimensions walking mechanisms of terrestrial path, the mechanism includes moving left and right unit, be moved forward and backward unit and moving up and down unit, move left and right unit include high-order crossbeam be socketed in high-order crossbeam can it is synchronous along crossbeam, towards or away from two traveling boxes moved；It includes being located at the crossbeam left and right sides and top to be fixed on the vertical support piece at crossbeam both ends, the second driving device that the bottom of vertical support piece is provided with traveling wheel and traveling wheel is driven to be moved forward and backward to be moved forward and backward unit；It includes two connecting rods for being movably connected on two traveling box bottoms to move up and down unit, and the other end of connecting rod is connected with the fixed platform of a manipulator.The walking mechanism of the present invention, it is simple in sturcture, ingenious in design, only it need to open up the three-dimensional walking that two paths for vertical support piece straight line moving achieve that manipulator in the both sides on greenhouse gardening ground, it is safe to use and at low cost, the fruits and vegetables of different cultivated areas may be implemented accurately to pick.
Description
Technical field
The present invention relates to a kind of agricultural production auxiliary machinery more particularly to a kind of intelligent robots of agricultural, more specifically
It is to be related to one kind in the simple agricultural manipulator three dimensions walking mechanism in ground running path.
Background technology
Plastic greenhouse cultivation, which is that current rural area is widely used, efficiently to be utilized soil, meets urban vegetable, water throughout the year
The effective ways of fruit market supply.Existing greenhouse gardening is in the fruits and vegetables maturity period, mostly or by the way of manually picking, due to
Artificial picking labor intensity is big, time-consuming and laborious, especially higher and higher in current agricultural workforce's critical shortage, labour cost
In the case of, when the fruits and vegetables planted bumper harvist over an extensive area and sell do not hike when, farmer often helplessly allows its fruits and vegetables rotten in the ground
Also without picking, because income from sales does not often offset the expense of hired laborer's picking, this is not only a big loss to farmer, and
And it is also a kind of waste to resource.With the continuous development of machinery and control with computational intelligence industry so that intelligent robot exists
The application of every field is commonplace, therefore is also begun in agricultural production using intelligent picking robot.Existing intelligence
Picking robot, it is not only complicated, and also field needs to hew out the pahtfinder hard of suitable picking robot walking, but for
Some fruits and vegetables, in initial planting and maturity period, soil is all that comparison is moist, this just makes the walking of picking robot become ten
Divide difficulty, in addition, for the closeer fruits and vegetables of some Planting Row Distances, picking robot can only be in the periphery walking in field, then
It stretches in ground and is picked by manipulator, since the length of manipulator cannot infinitely extend, thus for the larger fruits and vegetables of area
Picking also suffers from prodigious limitation, in addition, the power supply of this robot is also cumbersome, since robot is complete machine movement,
Power consumption is big, and anyhow indefinite in ground running, and conducting wire follows robot to walk about in field, not only dangerous, but also easily sends out
Life winds and causes short circuit.
Invention content
To solve the problems, such as present on, the object of the present invention is to provide the simple agricultural manipulators of a kind of terrestrial path three
Dimension space walking mechanism, the mechanism is on ground only along straight line moving.
In order to achieve the above object, the simple agricultural manipulator three dimensions walking mechanism of terrestrial path of the present invention, including
Unit is moved left and right, unit is moved forward and backward and moves up and down unit, it is characterised in that：The unit that moves left and right includes high-order horizontal
Beam, two traveling boxes being socketed in high-order crossbeam, crossbeam front and back sides are fixed with upward two of positional symmetry and rail level and lead
The back side of rail, guide rail is fixed with rack, and the front-rear side walls of traveling box are respectively arranged with the traveling wheel coordinated with guide rail and driving
The first driving means that traveling box is moved left and right along crossbeam；Back-and-forth motion unit includes at left and right sides of crossbeam and top is fixed
Vertical support piece in crossbeam both ends, the bottom of vertical support piece be provided with traveling wheel and drive that traveling wheel is moved forward and backward the
Two driving devices；It includes two connecting rods for being movably connected on two traveling box bottoms to move up and down unit, and the other end of connecting rod is lived
The dynamic fixed platform for being connected with a manipulator.
In order to keep the back-and-forth motion of crossbeam more steady, while the weight of vertical support piece is reduced, above-mentioned vertical support piece
Traveling wheel for hollow prismatoid, each vertical support piece is four, is respectively arranged at four angles of prismatoid bottom；Above-mentioned cross
Beam end is fixed on prismatoid side wall perpendicular to the ground.
Above-mentioned first driving means include first motor and the first reduction box, and the first reduction box is fixed on traveling box front side wall
With the outer surface of rear wall and be meshed by wheel and rack.
Above-mentioned second driving device includes the second motor and the second reduction box, and the second reduction box is fixed on vertical support piece
The output shaft of bottom, the second reduction box directly carries out axis connection with traveling wheel.
Above-mentioned guide rail is the guide rail that rail level is equipped with convex ridge, and traveling wheel is periphery equipped with the walking with convex ridge respective slot
Wheel.
The wheel shaft of above-mentioned traveling wheel is directly fixed on the front side wall of traveling box and the inner surface of rear wall.
For the ease of processing and installation, above-mentioned traveling box is made of bottom plate, front-rear side walls and case lid.
In order to reduce the weight of crossbeam, above-mentioned high-order crossbeam is the proximate matter of hollow-core construction.
The simple agricultural manipulator three dimensions walking mechanism of terrestrial path of the present invention, by the upper of fruits and vegetables planting site
Sky setting high-order crossbeam, then two traveling boxes are socketed on crossbeam, by side-to-side movement of two traveling boxes on crossbeam come real
Existing manipulator moves left and right；Crossbeam both sides setting can fixed cross beam and can make crossbeam be moved forward and backward vertical support piece,
The back-and-forth motion of manipulator is realized by moving synchronously for vertical support piece；And moving up and down for manipulator is connected by activity
The connecting rod of two traveling box bottoms is connected to realize, when two traveling boxes go in the same direction, manipulator moves down, when two rows
Walk that case is opposite when row, manipulator moves up.The three dimensions walking mechanism of the present invention, it is simple in structure, ingenious in design, only need
Two paths for vertical support piece straight line moving, the area further according to planting site and fruit are opened up in the both sides on greenhouse gardening ground
The height of vegetable selects suitable crossbeam, connecting rod and vertical support piece, so that it may be realized to the fruits and vegetables of different cultivated areas, different cultivars
Accurately pick, in addition, since the walking mechanism of the present invention only has vertical support piece to be moved in a straight line on ground, therefore convenient for power supply
The laying and connection of circuit, it is safe to use and at low cost, it is particularly well suited as the production auxiliary machinery at greenhouse gardening family.
Description of the drawings
Fig. 1 is the structural schematic diagram of the simple agricultural manipulator three dimensions walking mechanism of terrestrial path of the present invention.
Fig. 2 is sectional views of the Fig. 1 along line A-A.
Fig. 3 is sectional views of the Fig. 2 along line B-B.
Fig. 4 is sectional views of the Fig. 1 along C- C lines.
Fig. 5 is the structural schematic diagram for the three dimensions walking mechanism that manipulator is in minimum state.
Specific implementation mode
It is moved as shown in Figure 1, the simple agricultural manipulator three dimensions walking mechanism of terrestrial path of the present invention includes left and right
Moving cell is moved forward and backward unit and moves up and down unit；
Move left and right unit include high-order crossbeam 10, two traveling boxes 11 being socketed in high-order crossbeam, crossbeam is hollow-core construction,
Crossbeam front and back sides lower part is respectively fixed with positional symmetry and top surface is equipped with the guide rail 12 of convex ridge, and the back side of guide rail is fixed with rack
13, traveling box includes bottom plate 111, front-rear side walls 112 and head cover 113, and the inner surface of traveling box front-rear side walls is respectively fixed with position
Wheel shaft 15 symmetrical and that traveling wheel 14 can be socketed is set, traveling wheel is that the walking that periphery is equipped with convex ridge respective slot is slided
Wheel, the outer surface of traveling box front-rear side walls are fixed with the first reduction box 16, and the first reduction box is driven by first motor 17, and first subtracts
The output shaft of fast case is meshed by first gear 18 with the first rack 13, as shown in Figure 2,3；
It includes the vertical support piece 20 being located at left and right sides of crossbeam to be moved forward and backward unit, and vertical support piece is hollow prismatoid, horizontal
Prismatoid 201 top of side wall perpendicular to the ground is fixed in the end of beam, and four angles of prismatoid bottom 202 are respectively arranged with four
A traveling wheel 21, traveling wheel are the traveling wheel that can directly land, each traveling wheel is subtracted by being fixed on the second of prismatoid bottom
Fast case 22 and the driving of the second motor 23, the output shaft of the second reduction box directly carry out axis connection with traveling wheel, as shown in Figure 4；
The fixed platform 31 that unit includes two connecting rods 30 and manipulator 40 is moved up and down, connecting rod one end is movably hinged in traveling box
The bottom of inside, the other end are movably hinged in the left and right end face of fixed platform, as shown in Figure 1,5.
The simple agricultural manipulator three dimensions walking mechanism of terrestrial path of the present invention, in use, by controlling two
Traveling box it is in the same direction, move synchronously, realize moving left and right for manipulator；By two traveling boxes of control towards and away from fortune
It is dynamic, realize moving up and down for manipulator, when the distance maximum of two traveling boxes, manipulator is in highest position, when two
Most in short-term, manipulator is in minimum position to the distance of traveling box, as shown in Figure 5；Synchronizing direct is done by controlling vertical support piece
Line movement makes crossbeam be moved forward and backward, and realizes the back-and-forth motion of manipulator；And by strictly control two traveling boxes traveling direction,
The direction of travel of speed and vertical support piece, speed are, it can be achieved that manipulator comprehensive accurate positionin in three dimensions.
The manipulator of the present invention can be the manipulator for having different function, when manipulator has the function of picking, cooperation
The walking mechanism of the present invention is exactly one in the simple picking mechanical people in ground running path, ploughs a field or sows when manipulator has
When function, coordinates the walking mechanism of the present invention to be exactly one and simply plough a field or seeding machinery people in ground running path；This hair
Bright walking mechanism only leans on traveling box and the linear motion of vertical support piece to can be achieved with three dimensions walking, battery can be used
Power supply sets up fixed line powering.
It is the tool of three dimensions walking mechanism one embodiment of terrestrial path aimless farming manipulator of the present invention above
Body illustrates, but the embodiment is not all equivalent realities without departing from technical solution of the present invention to limit the scope of the invention
It applies or changes, such as the change of vertical support piece, traveling wheel, driving device structure or fixed form, should be included in the present invention's
In protection domain.
Claims (8)
1. a kind of simple agricultural manipulator three dimensions walking mechanism of terrestrial path, including move left and right unit, be moved forward and backward
Unit and move up and down unit, it is characterised in that：The unit that moves left and right includes high-order crossbeam, is socketed in high-order crossbeam
Two traveling boxes, crossbeam front and back sides are fixed with positional symmetry and two guide rails of rail level upwards, and the back side fixation of guide rail is with teeth
The front-rear side walls of item, traveling box are respectively arranged with the traveling wheel coordinated with guide rail and traveling box are driven to be moved left and right along crossbeam
First driving means；It includes being located at the crossbeam left and right sides and top to be fixed on the vertical supporting at crossbeam both ends to be moved forward and backward unit
The second driving device that the bottom of part, vertical support piece is provided with traveling wheel and traveling wheel is driven to be moved forward and backward；Move up and down list
Member includes being movably connected on two connecting rods of two traveling box bottoms, and the other end of connecting rod is connected with the fixation of a manipulator
Platform.
2. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 1, it is characterised in that：
The vertical support piece is hollow prismatoid, and the traveling wheel of each vertical support piece is four, is respectively arranged at prismatoid bottom
Four angles；The beam-end is fixed on prismatoid side wall perpendicular to the ground.
3. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 1 or 2, feature exist
In：The first driving means include first motor and the first reduction box, and the first reduction box is fixed on traveling box front side wall with after
It the outer surface of side wall and is meshed by wheel and rack.
4. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 3, it is characterised in that：
Second driving device includes the second motor and the second reduction box, and the second reduction box is fixed on the bottom of vertical support piece, the
The output shaft of two reduction boxes directly carries out axis connection with traveling wheel.
5. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 4, it is characterised in that：
The guide rail is the guide rail that rail level is equipped with convex ridge, and traveling wheel is periphery equipped with the traveling wheel with convex ridge respective slot.
6. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 5, it is characterised in that：
The wheel shaft of the traveling wheel is directly fixed on the front side wall of traveling box and the inner surface of rear wall.
7. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 6, it is characterised in that：
The traveling box is made of bottom plate, front-rear side walls and case lid.
8. the simple agricultural manipulator three dimensions walking mechanism of terrestrial path according to claim 7, it is characterised in that：
The high-order crossbeam is the proximate matter of hollow-core construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810393722.6A CN108528561A (en) | 2018-04-27 | 2018-04-27 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810393722.6A CN108528561A (en) | 2018-04-27 | 2018-04-27 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
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| Publication Number | Publication Date |
|---|---|
| CN108528561A true CN108528561A (en) | 2018-09-14 |
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ID=63479388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810393722.6A Pending CN108528561A (en) | 2018-04-27 | 2018-04-27 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
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Citations (9)
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|---|---|---|---|---|
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| CN2505244Y (en) * | 2001-09-25 | 2002-08-14 | 大连理工大学 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
| CN101765476A (en) * | 2007-07-30 | 2010-06-30 | 丰田自动车株式会社 | Work transfer apparatus |
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| CN206265760U (en) * | 2016-09-30 | 2017-06-20 | 江苏中天华宇智能科技有限公司 | A kind of bagged material access and the running gear of vending machine |
| CN107160358A (en) * | 2017-06-09 | 2017-09-15 | 浙江安控科技有限公司 | The travel mechanism of automatic moving type truss robot |
| CN107412982A (en) * | 2017-05-19 | 2017-12-01 | 常州轻工职业技术学院 | Industrial firefighting robot with Lifting carrying platform |
| WO2018015744A1 (en) * | 2016-07-19 | 2018-01-25 | Norwegian University Of Life Sciences | Single rail robot |
| CN208102152U (en) * | 2018-04-27 | 2018-11-16 | 王承辉 | A kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path |
-
2018
- 2018-04-27 CN CN201810393722.6A patent/CN108528561A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06125609A (en) * | 1992-02-03 | 1994-05-10 | Sadao Yabuno | Tower type mobile crane used for cultivation or the like and method for agricultural work using the same |
| CN2505244Y (en) * | 2001-09-25 | 2002-08-14 | 大连理工大学 | Robot for ignition and water-spraying machine-shaping of curved steel plate |
| CN101765476A (en) * | 2007-07-30 | 2010-06-30 | 丰田自动车株式会社 | Work transfer apparatus |
| CN204508205U (en) * | 2015-03-28 | 2015-07-29 | 苏州荣威工贸有限公司 | A kind of two-way transfer robot of two bars based on parallel principle |
| KR20160003443U (en) * | 2015-03-28 | 2016-10-06 | 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. | A two-way transfer robot with two rods by parallel principle |
| WO2018015744A1 (en) * | 2016-07-19 | 2018-01-25 | Norwegian University Of Life Sciences | Single rail robot |
| CN206265760U (en) * | 2016-09-30 | 2017-06-20 | 江苏中天华宇智能科技有限公司 | A kind of bagged material access and the running gear of vending machine |
| CN107412982A (en) * | 2017-05-19 | 2017-12-01 | 常州轻工职业技术学院 | Industrial firefighting robot with Lifting carrying platform |
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| CN208102152U (en) * | 2018-04-27 | 2018-11-16 | 王承辉 | A kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path |
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