CN108934451A - Tree Fruit picking robot - Google Patents
Tree Fruit picking robot Download PDFInfo
- Publication number
- CN108934451A CN108934451A CN201810986105.7A CN201810986105A CN108934451A CN 108934451 A CN108934451 A CN 108934451A CN 201810986105 A CN201810986105 A CN 201810986105A CN 108934451 A CN108934451 A CN 108934451A
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- Prior art keywords
- fruit
- picking
- square tube
- compartment
- motor
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- 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
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- 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
- A01D46/20—Platforms with lifting and lowering devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
Tree Fruit picking robot, including compartment, car bottom is provided with wheel, compartment upper back is provided with hand steered pushing-pulling-rack, the vertical baffle that interior is divided into preceding storage fruit caving and rear driving chamber is arranged in vertical in compartment, vertical baffle rear wall is vertically fixedly installed be located at after drive intracavitary guiding square tube, the body that has a back door connection is arranged in compartment rear wall, compartment front side wall is provided with front door body, driving lumenal levels are provided with horizontal baffle afterwards, the intracavitary rechargeable battery for being provided with and below horizontal baffle and being located on rear side of square tube is driven afterwards, lifting device is provided on horizontal baffle, lifting device upper end is provided with the fruit above compartment and wins manipulator.Structure of the invention design rationally, by being used cooperatively for multiple groups motor, exhaust fan and air pump, completes the picking, conveying and collection operation of fruit, whole picking process is high-efficient, high safety, can substantially reduce the amount of labour and labor intensity of orchard worker.
Description
Technical field
The invention belongs to agriculture and forestry machinery equipment technical fields, and in particular to a kind of Tree Fruit picking robot.
Background technique
Currently, the picking of the Tree Fruits such as apple, peach, pears, apricot, pomegranate mainly based on manually picking, needs to increase
A large amount of human cost is needed by tools such as stool, short ladders, and also to be climbed on fruit tree in the fruit people of higher limb
It is picked, this undoubtedly adds the risk of picking, and heavy workload, efficiency are lower.It is careless slightly will be from fruit tree
It drops, there is very big security risk.Traditional Tree Fruit picker is exactly a long pole, is hit down down fruit by it
Come, has the injury of disconnected branch fallen leaves to fruit tree, and the fruit fallen is easily damaged, in addition, also there is easy fruit currently on the market
Device for picking is made of telescopic rod and scissors, in use, hand-held telescopic rod is needed to fall picking fruit, after working long hours,
Arm can generate sense of aching, large labor intensity, and picking efficiency is low.
Summary of the invention
The present invention provides a kind of small labor intensity, high safety, picking effect to solve shortcoming in the prior art
Rate height and not the Tree Fruit picking robot of easy damaged fruit.
In order to solve the above technical problems, the present invention adopts the following technical scheme: Tree Fruit picking robot, including vehicle
Compartment, car bottom are provided with wheel, and compartment upper back is provided with hand steered pushing-pulling-rack, has been arranged in vertical in compartment by vehicle
The vertical baffle of preceding storage fruit caving and rear driving chamber is divided into inside compartment, vertical baffle rear wall is vertically fixedly installed position
In the intracavitary guiding square tube of rear driving, the body that has a back door connection is arranged in compartment rear wall, and compartment front side wall is provided with front door body, rear driving chamber
Interior be horizontally disposed with has horizontal baffle, drives the intracavitary chargeable electricity for being provided with and below horizontal baffle and being located on rear side of square tube afterwards
Pond is provided with decelerating motor and controller on horizontal baffle, drive hole is offered on rear side of guiding square tube, sliding is worn in guiding square tube
Equipped with supporting square tube, supporting square tube lower rearward side has been arranged in vertical drive rack structure, the power output of decelerating motor
Axis is equipped with driving gear, and driving gear passes through drive hole and engages with drive rack structure, and supporting square tube upper end, which is provided with, to be located at
Fruit above compartment wins manipulator, and rechargeable battery is controller power supply, and controller is electric with deceleration respectively by control line
Machine is won manipulator with fruit and is connected.
It includes picking cylinder that fruit, which wins manipulator, and picking cylinder is vertically arranged and open top, and picking cylinder bottom is equipped with bottom cover,
The upper end of supporting square tube is fixed with support frame, angular adjustment motor is fixed on support frame, the main shaft of angular adjustment motor is before
Rear direction is horizontally disposed, and bottom cover lower surface is fixedly connected on the main shaft of angular adjustment motor by engaging lug, and the upper of cylinder is picked
Open up on front side of portion jagged, there is fruit whereabouts guide pipe in picking cylinder lower part by clamp connection, and fruit whereabouts guide pipe, which is located at, to be propped up
The front side of square tube is supportted, the upper end of fruit whereabouts guide pipe is tilted backwards mutually to be connected with notch, and lifting motor, peace are equipped in picking cylinder
Shelve, lifter rack and picking sucker, lifting motor and mounting rack are fixed in picking cylinder, side and upper is offered on mounting rack
Under penetrating guide groove, lifter rack sliding is plugged in guide groove and the length direction of lifter rack is set in the vertical direction
It sets, the main shaft of lifting motor is equipped with driving gear, driving gear and lifter rack engaged transmission, and the upper end of lifter rack is fixed
There is mounting base, be fixed with rotating electric machine in mounting base, the bottom for picking sucker is provided with attachment base, and attachment base lower part passes through first
Pin shaft is hinged in mounting base, and the first pin shaft is horizontally arranged, and the main shaft of rotating electric machine and the coaxial fixation of the first pin shaft are even
It connects；It picks cylinder top and is equipped with the carpopodium cutter assembly being located above picking sucker.
Sucker is picked in open bowl structure upward, picking sucker is double-layer structure, and picking suction cup interior is equipped with cavity,
The medial surface of picking sucker offers several stomatas, and exhaust fan and air pump, the pumping of exhaust fan are equipped on bottom cover in picking cylinder
Mouth is connect by air inlet pipe with the cavity picked in sucker, and air pump is connect by appendix with the cavity picked in sucker, gas transmission
Pipe is equipped with air pressure valve.
Carpopodium cutting assembly includes cutter and cutting motor, and cutter shape is 1/6th spherical structures, cutter or so two
Side passes through the top that the second pin shaft is hinged on picking cylinder, and the center line of the second pin shaft passes through the centre of sphere of cutter, third pin shaft with
Cutter is fixedly connected, and along being cutting edge, the outer end of one of them the second pin shaft is equipped with from belt wheel, cutting motor the front side edge of cutter
It is fixed in picking cylinder, the main shaft for cutting off motor is equipped with main pulley, main pulley and the outside that picking cylinder is respectively positioned on from belt wheel, main
Belt wheel is connect by belt with from belt wheel；
Controller wins angular adjustment motor, rotating electric machine, exhaust fan, the gas of manipulator by the control line and fruit
Pump, air pressure valve are connected with cutting motor.
Fruit whereabouts guide pipe lower end is connected with blanking hose and blanking conduit in turn, and blanking conduit passes through connector and branch
Square tube connection is supportted, before blanking conduit lower end is extend into storage fruit caving, blanking conduit lower end is rotatably connected to slow by third pin shaft
Punching lid, is arranged with torsional spring on third pin shaft, under the action of torsional spring, end in contact under buffer cover and blanking conduit, and table in buffer cover
Face is provided with the spongy layer in blanking conduit.
Compartment is provided with cover board in rear driving top of chamber, and touch control screen is provided on cover board, and touch control screen is in preceding height
Low dip is arranged afterwards, and the case top of rotating electric machine is fixedly installed the high-definition camera being arranged upward, high-definition camera and touching
It touches control flow and passes through signal wire and connect with controller.
Car bottom offers immediately below supporting square tube penetrates hole for what is moved up and down by supporting square tube.
By adopting the above technical scheme, the invention has the following advantages:
(1), for the present invention when picking Tree Fruit, operator pushes compartment and fruit to win manipulator and arrive by hand steered pushing-pulling-rack
Under fruit tree, by the i.e. controllable decelerating motor of manipulation touch control screen, angular adjustment motor, rotating electric machine, exhaust fan, air pump,
The opening and closing of air pressure valve and cutting motor, fruit are won manipulator and will be fallen in compartment after under the fruit on fruit tree.Entire picking
Process is smooth, and labor intensity is small, and work efficiency is high, high safety, changes traditional artificial mode and picks fruit.
(2), the fruit in the present invention, which wins manipulator, simulation manually to pick fruit mode very well, by the fruit of eminence
Real picking, picks movement decomposition are as follows: according to the height of fruit on fruit tree, compartment is shifted under fruit tree, fruit wins manipulator
Positioned at the underface of fruit, then start decelerating motor, decelerating motor is driven by the engagement of driving gear and drive rack structure
Dynamic supporting square tube is moved up along guiding square tube, so that the picking cylinder of supporting square tube upper end is moved up close to fruit to be picked, fruit
It is real to stop decelerating motor slightly into rear in picking cylinder；High-definition camera monitors fruit and picks the position of sucker simultaneously at this time
It is shown by touch control screen, decelerating motor, angular adjustment motor, rotating electric machine, exhausting is shown in touch control screen
Machine, air pump, air pressure valve and the membrane keyboard for cutting off motor；If there are also distances in the lateral direction for fruit and picking sucker, just start
Angular adjustment motor, angular adjustment motor driven is by engaging lug and bottom cover driving picking cylinder left-right rotation, until fruit is located at
Stop after picking the underface of sucker；Then restart lifting motor, lifting motor is nibbled by driving gear and lifter rack
It closes driving picking sucker to move up, stops lifting motor after the fruit wait pick enters in picking sucker；If wait adopt
Between the fruit plucked and picking sucker there is distance in the longitudinal direction, then when lifting motor not yet stops, starting electric rotating
Machine, rotating electric machine drive picking sucker to rotate forward or backward by attachment base, inhale until fruit to be picked enters picking
Stop lifting motor and rotating electric machine after contacting in disk and with picking sucker inner wall；Then start exhaust fan, exhaust fan by into
Lacuna between the medial surface for picking sucker and fruit outer surface is vacuumized and forms negative pressure by tracheae, under atmospheric pressure effect,
Fruit is attracted on picking sucker；
Since fruit is connected by carpopodium with the limb of fruit tree, needs to cut off carpopodium, picking fruit could be got off, in fruit quilt
After being adsorbed on picking sucker, the motor of starting cutting at once, cutting motor drives cutter to rotate forward by belt transmission agency,
The cutting edge of cutter front side edge cuts off the carpopodium being connected with fruit；Operate cutting motor reversal again, make cutter rotate backward to
Origin-location；
Then start lifting motor, lifting motor driving lifter rack bounces back downwards, so that picking sucker is drawn back into picking cylinder
It is interior, restart rotating electric machine, rotating electric machine drives picking sucker to rotate forward, until the inclination of picking sucker is led towards fruit whereabouts
To after the upper port of pipe, exhaust fan is closed, booster air pump opens air pressure valve, and air pump passes through appendix to the cavity of picking sucker
Interior offer high pressure gas, high pressure gas push the fruit on picking sucker by stomata, and fruit is pushed to fruit whereabouts guide pipe
Interior, the fruit of picking is dropped into the preceding storage fruit caving on front side of compartment by fruit whereabouts guide pipe, blanking hose and blanking conduit,
Blanking hose is played when fruit wins manipulator rotation, it is mobile not to will drive blanking conduit, it is ensured that stabilization when fruit falls
Property, when fruit is fallen in the buffer cover of blanking conduit lower end, due to the spongy layer of setting, fruit damage is avoided in this way,
Fruit overcomes the elastic force of torsional spring to the impact force of buffer board, and buffer cover downwardly turns over opening, and fruit falls on vehicle out of blanking conduit
In compartment.So far whole movements of picking fruit are completed.
3, the front door body in present invention use is used to take out the fruit of picking, and rear door body is for driving chamber after installing, safeguarding
The components such as interior chargeable motor.
4, it is provided with high-definition camera, and will be real-time since picking cylinder can block the sight of operator in the present invention
The image of monitoring shows that such operator, which observes touch control screen, can be carried out control operation respectively by touch control screen
A motor, blower and air pump.Also avoiding facing upward head so for a long time, to generate cervical vertebra tired.
5, through the setting in hole, the length of supporting square tube can be made to increase as far as possible, improves the height that supporting square tube rises, that is, mentions
The height of height picking fruit.And the storage height that fruit wins manipulator can also be reduced when not in use of the invention, is more convenient
Storage.
In conclusion structure of the invention design is rationally, it is complete by being used cooperatively for multiple groups motor, exhaust fan and air pump
At the picking of fruit, conveying and operation is collected, whole picking process is high-efficient, high safety, can substantially reduce the labor of orchard worker
Momentum and labor intensity.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the half-sectional perspective view that fruit wins manipulator in the present invention；
Fig. 3 is the floor map that fruit in the present invention wins manipulator；
Fig. 4 is the structural schematic diagram that sucker is picked in the present invention.
Specific embodiment
As Figure 1-Figure 4, Tree Fruit picking robot of the invention, including compartment 1,1 bottom of compartment are provided with vehicle
Wheel 2,1 upper back of compartment is provided with hand steered pushing-pulling-rack 3, has been arranged in vertical before being divided into inside compartment 1 in compartment 1
The vertical baffle 6 of fruit caving 4 and rear driving chamber 5 is stored up, 6 rear wall of vertical baffle is vertically fixedly installed positioned at rear driving chamber
Guiding square tube 7 in 5, the setting of 1 rear wall of compartment have a back door connection body 8, and 1 front side wall of compartment is provided with front door body 9, in rear driving chamber 5
It is horizontally disposed to have horizontal baffle 10, it is provided in rear driving chamber 5 positioned at 10 lower section of horizontal baffle and is located at filling on rear side of square tube
Battery 11 is provided with decelerating motor 12 and controller 13 on horizontal baffle 10, is oriented on rear side of square tube 7 and offers drive hole 14,
Sliding is equipped with supporting square tube 15 in guiding square tube 7, and 15 lower rearward side of supporting square tube has been arranged in vertical drive rack knot
Structure 16, the power output shaft of decelerating motor 12 are equipped with driving gear 17, and driving gear 17 passes through drive hole 14 and drive rack
Structure 16 engages, and 15 upper end of supporting square tube is provided with the fruit above compartment 1 and wins manipulator 18, and rechargeable battery 11 is
Controller 13 is powered, and controller 13 is won manipulator 18 with decelerating motor 12 and fruit respectively by control line and connect.
It includes picking cylinder 19 that fruit, which wins manipulator 18, and picking cylinder 19 is vertically arranged and open top, picks 19 bottom of cylinder
Equipped with bottom cover 20, the upper end of supporting square tube 15 is fixed with support frame 21, and angular adjustment motor 22, angle are fixed on support frame 21
The main shaft for adjusting motor 22 is horizontally disposed with along the longitudinal direction, and 20 lower surface of bottom cover is fixedly connected on angular adjustment by engaging lug 23
On the main shaft of motor 22, the upper front of picking cylinder 19 opens up jagged 24, and picking 19 lower part of cylinder is connected with fruit by clip 25
Real whereabouts guide pipe 26, fruit whereabouts guide pipe 26 are located at the front side of supporting square tube 15, the upper end of fruit whereabouts guide pipe 26 to
Rear-inclined is connected with 24 phase of notch, and lifting motor 27, mounting rack 28, lifter rack 29 and picking sucker are equipped in picking cylinder 19
30, lifting motor 27 and mounting rack 28 are fixed in picking cylinder 19, and side is offered on mounting rack 28 and penetrating is up and down led
To slot, the sliding of lifter rack 29 is plugged in guide groove and the length direction of lifter rack 29 is arranged in the vertical direction, lifting electricity
The main shaft of machine 27 is equipped with driving gear 31, and 29 engaged transmission of driving gear 31 and lifter rack, the upper end of lifter rack 29 is consolidated
Surely there is mounting base 32, rotating electric machine 33 is fixed in mounting base 32, the bottom of picking sucker 30 is provided with attachment base 34, attachment base
34 lower parts are hinged in mounting base 32 by the first pin shaft 35, and the first pin shaft 35 is horizontally arranged, the main shaft of rotating electric machine 33
With the first pin shaft 35 is coaxial is fixedly connected；It picks 19 top of cylinder and is equipped with the carpopodium cutter assembly for being located at 30 top of picking sucker.
Sucker 30 is picked in open bowl structure upward, picking sucker 30 is double-layer structure, picks and sets inside sucker 30
There is cavity 36, the medial surface of picking sucker 30 offers several stomatas 37, is equipped with exhaust fan 38 on bottom cover 20 in picking cylinder 19
It is connect by air inlet pipe with the cavity 36 picked in sucker 30 with the bleeding point of air pump 39, exhaust fan 38, air pump 39 passes through gas transmission
It manages and is connect with the cavity 36 in picking sucker 30, appendix is equipped with air pressure valve (not shown).
Carpopodium cutting assembly includes cutter 40 and cutting motor 41, and 40 shape of cutter is 1/6th spherical structures, cutter
40 left and right sides are hinged on the top of picking cylinder 19 by the second pin shaft 42, and the center line of the second pin shaft 42 passes through cutter 40
The centre of sphere, third pin shaft are fixedly connected with cutter 40, the front side edge of cutter 40 along being cutting edge, one of them the second pin shaft 42 it is outer
End is equipped with from belt wheel 43, is cut off motor 41 and is fixed in picking cylinder 19, the main shaft of cutting motor 41 is equipped with main pulley 44, master tape
Wheel 44 and the outside that picking cylinder 19 is respectively positioned on from belt wheel 43, main pulley 44 are connect by belt 45 with from belt wheel 43；
Controller 13 is won the angular adjustment motor 22 of manipulator 18 by the control line and fruit, rotating electric machine 33, taken out
Blower 38, air pump 39, air pressure valve and cutting motor 41 connect.
Guide pipe 26 lower end in fruit whereabouts is connected with blanking hose 46 and blanking conduit 47 in turn, and blanking conduit 47 passes through company
Fitting 48 is connect with supporting square tube 15, and before 47 lower end of blanking conduit is extend into storage fruit caving 4,47 lower end of blanking conduit passes through third
Pin shaft 49 is rotatably connected to buffer cover 50, is arranged with torsional spring on third pin shaft 19, under the action of torsional spring, buffer cover 50 and blanking
The lower end in contact of conduit 47,50 upper surface of buffer cover is provided with the spongy layer in blanking conduit 47.
Compartment 1 is provided with cover board 51 at the top of rear driving chamber 5, and touch control screen 52, touch control are provided on cover board 51
Screen 52 is obliquely installed in the front is high and the back is low, and the case top of rotating electric machine 33 is fixedly installed the high-definition camera 53 being arranged upward,
High-definition camera 53 and touch control screen 52 are connect by signal wire with controller 13.
Car bottom offers immediately below supporting square tube 15 penetrates hole 54 for what is moved up and down by supporting square tube 15.
Work use process of the invention are as follows:
Fruit in the present invention, which wins manipulator 18, simulation manually to pick fruit mode very well, and the fruit of eminence is adopted
It plucks, picks movement decomposition are as follows: according to the height of fruit on fruit tree, compartment 1 is shifted under fruit tree, fruit wins 18, manipulator
In the underface of fruit, then start decelerating motor 12, decelerating motor 12 passes through driving gear 17 and drive rack structure 16
Engagement, driving supporting square tube 15 along guiding square tube 7 move up so that the picking cylinder 19 of 15 upper end of supporting square tube move up close to
The fruit of picking, fruit stop decelerating motor 12 after entering in picking cylinder 19；At this time high-definition camera 53 monitor fruit with
It picks the position of sucker 30 and is shown by touch control screen 52, decelerating motor 12, angle are shown in touch control screen 52
Degree adjusts motor 22, rotating electric machine 33, exhaust fan 38, air pump 39, air pressure valve and the membrane keyboard for cutting off motor 41；If fruit with adopt
Plucking sucker 30, there are also distances in the lateral direction, just start angular adjustment motor 22, angular adjustment motor 22 is driven through connection
Ear 23 and driving picking 19 left-right rotation of cylinder of bottom cover 20, stop behind the underface that fruit is located at picking sucker 30；Then again
Start lifting motor 27, lifting motor 27 picks sucker 30 to moving up by the driving of engaging of driving gear 31 and lifter rack 29
It is dynamic, stop lifting motor 27 after the fruit wait pick enters in picking sucker 30；If fruit to be picked and picking are inhaled
There is distance in the longitudinal direction between disk 30, then when lifting motor 27 not yet stops, starting rotating electric machine 33, rotating electric machine
33 drive picking sucker 30 to rotate forward or backward by attachment base 34, until fruit to be picked enters in picking sucker 30
And stop lifting motor 27 and rotating electric machine 33 after contacting with picking 30 inner wall of sucker；Then start exhaust fan 38, exhaust fan 38
It vacuumizes the lacuna between the medial surface and fruit outer surface of picking sucker 30 to form negative pressure by air inlet pipe, in atmospheric pressure
Under effect, fruit is attracted on picking sucker 30；
Since fruit is connected by carpopodium with the limb of fruit tree, needs to cut off carpopodium, picking fruit could be got off, in fruit quilt
After being adsorbed on picking sucker 30, the motor 41 of starting cutting at once, cutting motor 41 drives cutter by 45 transport mechanism of belt
40 rotate forward, and the cutting edge of 40 front side edge of cutter cuts off the carpopodium being connected with fruit；Cutting motor 41 is operated again to invert, and is made
Cutter 40 rotates backward to origin-location；
Then start lifting motor 27, lifting motor 27 drives lifter rack 29 to bounce back downwards, is pulled to pick sucker 30
To picking cylinder 19, restart rotating electric machine 33, rotating electric machine 33 drives picking sucker 30 to rotate forward, until picking sucker 30
It tilts towards after the upper port of fruit whereabouts guide pipe 26, closes exhaust fan 38, booster air pump 39 opens air pressure valve, air pump 39
High pressure gas is provided into the cavity 36 of picking sucker 30 by appendix, high pressure gas pushes picking sucker 30 by stomata 37
On fruit, fruit is pushed in fruit whereabouts guide pipe 26, and the fruit of picking passes through fruit whereabouts guide pipe 26, blanking hose
46 and blanking conduit 47 drop into the preceding storage fruit caving 4 of the front side of compartment 1, blanking hose 46, which is played, to be won manipulator 18 when fruit and revolves
When turning, it is mobile blanking conduit 47 is not will drive, it is ensured that stability when fruit falls, fruit fall on 47 lower end of blanking conduit
When in buffer cover 50, due to the spongy layer of setting, fruit damage is avoided in this way, fruit overcomes torsion to the impact force of buffer board
The elastic force of spring, buffer cover 50 downwardly turn over opening, and fruit is fallen on out of blanking conduit 47 in compartment 1.So far picking fruit is completed
Whole movements.
The present embodiment not makes any form of restriction shape of the invention, material, structure etc., all according to this hair
Bright technical spirit any simple modification, equivalent change and modification to the above embodiments, belong to the technology of the present invention side
The protection scope of case.
Claims (7)
1. Tree Fruit picking robot, it is characterised in that: including compartment, car bottom is provided with wheel, compartment upper back
It is provided with hand steered pushing-pulling-rack, is arranged in vertical in compartment and interior is divided into the perpendicular of preceding storage fruit caving and rear driving chamber
To partition, vertical baffle rear wall is vertically fixedly installed be located at after drive intracavitary guiding square tube, compartment rear wall
The body that has a back door connection is set, compartment front side wall is provided with front door body, and it is rear that lumenal levels is driven to be provided with horizontal baffle, intracavitary set is driven afterwards
It is equipped with the rechargeable battery for being located at and below horizontal baffle and being located on rear side of square tube, is provided with decelerating motor and control on horizontal baffle
Device, guiding square tube rear side offer drive hole, and sliding is equipped with supporting square tube in guiding square tube, and supporting square tube lower rearward side is along vertical
Histogram is equipped with driving gear to drive rack structure, the power output shaft of decelerating motor is provided with, and driving gear passes through driving
Hole is engaged with drive rack structure, and supporting square tube upper end is provided with the fruit above compartment and wins manipulator, chargeable electricity
Pond is controller power supply, and controller is won manipulator with decelerating motor and fruit respectively by control line and connect.
2. Tree Fruit picking robot according to claim 1, it is characterised in that: it includes picking that fruit, which wins manipulator,
Cylinder, picking cylinder is vertically arranged and open top, and picking cylinder bottom is equipped with bottom cover, and the upper end of supporting square tube is fixed with support frame, props up
Angular adjustment motor is fixed on support, the main shaft of angular adjustment motor is horizontally disposed with along the longitudinal direction, and bottom cover lower surface passes through
Engaging lug is fixedly connected on the main shaft of angular adjustment motor, and the upper front for picking cylinder opens up jagged, and picking cylinder lower part is logical
Crossing clamp connection has fruit whereabouts guide pipe, and fruit whereabouts guide pipe is located at the front side of supporting square tube, fruit whereabouts guide pipe
Upper end is tilted backwards mutually to be connected with notch, and lifting motor, mounting rack, lifter rack and picking sucker, lifting are equipped in picking cylinder
Motor and mounting rack are fixed in picking cylinder, and side and guide groove penetrating up and down are offered on mounting rack, and lifter rack is sliding
Dynamic to be plugged in guide groove and the length direction of lifter rack is arranged in the vertical direction, the main shaft of lifting motor is equipped with driving tooth
Wheel, driving gear and lifter rack engaged transmission, the upper end of lifter rack is fixed with mounting base, is fixed with electric rotating in mounting base
Machine, the bottom for picking sucker are provided with attachment base, and attachment base lower part is hinged in mounting base by the first pin shaft, the first pin shaft water
Square to setting, the main shaft of rotating electric machine with the first pin shaft is coaxial is fixedly connected；It picks cylinder top and is equipped with and be located at picking sucker
The carpopodium cutter assembly of top.
3. Tree Fruit picking robot according to claim 2, it is characterised in that: picking sucker is in open bowl upward
Shape structure, picking sucker are double-layer structure, and picking suction cup interior is equipped with cavity, if the medial surface for picking sucker offers dry gas
Hole, picking cylinder is interior to be equipped with exhaust fan and air pump on bottom cover, and the bleeding point of exhaust fan by air inlet pipe and picks the sky in sucker
Chamber connection, air pump are connect by appendix with the cavity picked in sucker, and appendix is equipped with air pressure valve.
4. Tree Fruit picking robot according to claim 3, it is characterised in that: carpopodium cutting assembly include cutter and
Motor is cut off, cutter shape is 1/6th spherical structures, is hinged on picking cylinder by the second pin shaft at left and right sides of cutter
Top, the center line of the second pin shaft pass through the centre of sphere of cutter, and third pin shaft is fixedly connected with cutter, and the front side edge edge of cutter is to cut
Sword is cut, the outer end of one of them the second pin shaft is equipped with from belt wheel, is cut off motor and is fixed in picking cylinder, cuts off on the main shaft of motor
The outside of picking cylinder is respectively positioned on equipped with main pulley, main pulley and from belt wheel, main pulley is connect by belt with from belt wheel；
Controller wins angular adjustment motor, rotating electric machine, exhaust fan, the gas of manipulator by the control line and fruit
Pump, air pressure valve are connected with cutting motor.
5. Tree Fruit picking robot according to claim 2, it is characterised in that: fruit whereabouts guide pipe lower end is successively
It is connected with blanking hose and blanking conduit, blanking conduit is connect by connector with supporting square tube, and blanking conduit lower end is extend into
In preceding storage fruit caving, blanking conduit lower end is rotatably connected to buffer cover by third pin shaft, is arranged with torsional spring on third pin shaft, is turning round
Under the action of spring, end in contact under buffer cover and blanking conduit, buffering cap upper surface is provided with the spongy layer in blanking conduit.
6. Tree Fruit picking robot according to claim 2, it is characterised in that: compartment is arranged in rear driving top of chamber
There is cover board, touch control screen is provided on cover board, touch control screen is obliquely installed in the front is high and the back is low, the case top of rotating electric machine
It is fixedly installed the high-definition camera being arranged upward, high-definition camera and touch control screen pass through signal wire and controller connects
It connects.
7. Tree Fruit picking robot according to claim 2, it is characterised in that: car bottom supporting square tube just under
Side, which is offered, penetrates hole for what is moved up and down by supporting square tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810986105.7A CN108934451B (en) | 2018-08-28 | 2018-08-28 | Fruit picking robot for fruit trees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810986105.7A CN108934451B (en) | 2018-08-28 | 2018-08-28 | Fruit picking robot for fruit trees |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108934451A true CN108934451A (en) | 2018-12-07 |
| CN108934451B CN108934451B (en) | 2023-08-04 |
Family
ID=64474293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810986105.7A Active CN108934451B (en) | 2018-08-28 | 2018-08-28 | Fruit picking robot for fruit trees |
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| CN109874506A (en) * | 2019-04-08 | 2019-06-14 | 济南大学 | A kind of modularized bionic quadruped robot for spraying or picking |
| CN111602510A (en) * | 2020-06-29 | 2020-09-01 | 广西师范大学 | Semi-automatic mulberry leaf picking device |
| CN112005722A (en) * | 2020-08-26 | 2020-12-01 | 秦杰 | High-altitude fruit and vegetable picking device based on air pressure protection simulation manual picking |
| CN113251269A (en) * | 2021-06-22 | 2021-08-13 | 深圳市海多嘉新建材有限公司 | Angle-adjustable hemispherical explosion-proof camera and adjusting method thereof |
| CN113352335A (en) * | 2021-06-02 | 2021-09-07 | 王雨豪 | Machinery and vision correlation positioning experiment platform |
| CN114175921A (en) * | 2021-12-21 | 2022-03-15 | 姚花花 | Agricultural coconut picking lifting equipment |
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| CN114287236A (en) * | 2021-12-10 | 2022-04-08 | 王永军 | Fruit picking equipment for fruit tree planting convenient to pick |
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| CN114287236A (en) * | 2021-12-10 | 2022-04-08 | 王永军 | Fruit picking equipment for fruit tree planting convenient to pick |
| CN114175921A (en) * | 2021-12-21 | 2022-03-15 | 姚花花 | Agricultural coconut picking lifting equipment |
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