CN202799697U - Red bayberry fruit picking robot lifting platform - Google Patents
Red bayberry fruit picking robot lifting platform Download PDFInfo
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- CN202799697U CN202799697U CN 201220431469 CN201220431469U CN202799697U CN 202799697 U CN202799697 U CN 202799697U CN 201220431469 CN201220431469 CN 201220431469 CN 201220431469 U CN201220431469 U CN 201220431469U CN 202799697 U CN202799697 U CN 202799697U
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- picking robot
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Abstract
Disclosed is a red bayberry fruit picking robot lifting platform. A main body structure of the red bayberry fruit picking robot lifting platform is formed by connecting rods, a hinge chain and a slider component. Shear-fork-typed connecting rod pairs are driven by a motor and motions of a lead screw nut pair and a sliding platform to flex up and down. The red bayberry fruit picking robot lifting platform is characterized in that the shear-fork-typed connecting rod pairs are arranged on two sides, along the axial horizontal direction, of a ball screw nut pair. Carrier-free (CF) bearings are used for connecting the middle portion of each pair of connecting rods in a hinged mode. The two ends of the front connecting rods and those of the back connecting rods are connected through connecting shafts in a hinged mode, wherein the front connecting rods and the back connecting rods are with the same height and arranged in middle layers. The two ends of the uppermost pair of connecting rods are connected with a movable platform side plate and a slider through pin shafts in a hinged mode. The two ends of the lowermost pair of connecting rods are connected with a connecting rod support and a support plate through the CF bearings in a hinged mode. The ball screw nut pair is arranged in the middle of a base plate, a screw nut of the ball screw nut pair is connected with a screw nut connecting plate, and the two ends of the screw nut connecting plate are connected with the support plate, the connecting plate and the sliding platform in sequence. The red bayberry fruit picking robot lifting platform is suitable for being installed on a mobile base plate of a high-branch fruit picking robot, free in lifting of the platform, and capable of facilitating the robot to pick up fruits on high branches and whole displacement.
Description
Technical field
The utility model relates to agriculture fruit and vegetable picking robot technical field, especially Waxberry fruit picking robot hoistable platform.
Background technology
Red bayberry is the precious fruit of the special product of southern china, and red bayberry is plucked mainly and finishes by hand by the people at present, and its efficient is low, and is in the fruit on the branches of tall trees, and the orchard worker will climb up a tree and win, and brings thus unsafe factor.Development Waxberry fruit picking robot can reduce harvesting labour intensity, raise labour productivity, and guarantees that orchard worker's safety is plucked, thereby has the potentiality that develop on a large scale very much.At present, although both at home and abroad at the development fruit and vegetable picking robot, mainly concentrate on the fruit and vegetable picking of the fields such as strawberry, grape, cucumber, low branch, the picking robot of this length of red bayberry on higher branch do not seen also that bibliographical information was arranged.In order to solve the problem of branches of tall trees fruit picking, the mechanical arm that need solve robot has the reduction function of larger distance, but the more piece joint arm that robot is commonly used, small scale robot particularly, every joint arm lengths is limited by rigidity requirement can not be oversize, adopts the more piece joint arm can not satisfy the requirement for height of plucking fruit.So the red bayberry picking robot need adopt hoistable platform to solve this problem.What adopt is the vehicle-mounted hydraulic hoistable platform and hoistable platform is at present main in the engineering truck at home and abroad, this platform combination many groups scissor-type connecting rod and hydraulic cylinder, platform is raise reach to more than 10 meters, be widely used in the altitude plants such as factory building maintenance, industrial installation, overhaul of the equipments, estate management, street lamp maintenance, electric power and install and overhaul.But because this hoistable platform adopts multikilowatt electric power, Driven by Hydraulic Cylinder, overall structure is huge, heavy, is not suitable for using on the fruit-bearing forest ground, hillside that does not have electric power to carry.
Summary of the invention
Can be placed on for the manipulator of realizing the Waxberry fruit picking robot on the platform of certain altitude and carry out the branches of tall trees fruit picking, the utility model provides a kind of hoistable platform, this hoistable platform drives with the accumulator dc motor, the secondary agent structure that forms hoistable platform of the double how secondary scissor-type connecting rod in front and back.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of Waxberry fruit picking robot hoistable platform, the agent structure that is formed hoistable platform by connecting rod, hinge and slider component, motion by motor-driven, feed screw nut pair and slide unit, double how secondary scissor-type connecting rod pair is done up and down and is stretched the moving platform lifting before and after driving.Scissor-type connecting rod pair places the both sides of the axial horizontal direction of ballscrew nut fitting, at the middle part of every slave connecting rod CF bearing hinge connection, mediate each layer sustained height front and rear connecting rods two ends with connecting axle hinged, topmost the two ends of a slave connecting rod and moving platform side plate, slide block use bearing pin hinged, two ends and connecting rod support, the support plate CF bearing hinge connection of a bottom slave connecting rod, ballscrew nut fitting is installed in the centre of base plate, its nut is connected with nut connecting plate, and the two ends of nut connecting plate are connected with support plate, connecting plate and slide unit successively.
Slide rail and connecting rod support are on the same rectilinear direction of screw mandrel axial direction both sides, and guaranteeing plane that support plate, connecting rod support cooperate with connecting rod on same vertical plane, the chain connection point of the left and right and middle part of every slave connecting rod is positioned on separately the plumb line.
The moving platform side plate is connected with screw with top board, and slide rail and connecting rod support are screwed on base plate.
Screw mandrel is connected with coupling for electric motor, and the two ends of screw mandrel are supported with left and right bearing block, and motor support base, Y-axis bearing all are screwed on base plate.
Motor adopts DC speed-reducing, and screw mandrel, nut adopt ballscrew nut fitting, and slide rail, slide unit adopt the straight line slide unit secondary.
Be provided with for hoistable platform at base plate and be installed in installing hole on the mobile underpan, be provided with the installing hole of mounting robot mechanical arm rotary freedom motor at top board.
For the deadweight that effectively alleviates hoistable platform and antirust, except DC speed-reducing, ball wire bar pair and connection thereof and support component, straight line slide unit pair and screw connector, remaining parts all adopts aluminum alloy materials.
The operation principle of this hoistable platform is: the nut of ball screw and nut connecting plate, support plate, connecting plate and slide unit are and are rigidly connected.The lower end of support plate and a nethermost connecting rod connects and composes hinge with the CF bearing, two connecting rods connect and compose hinge with the CF bearing, the lower end of another connecting rod and connecting rod support (frame) connect and compose hinge with the CF bearing, slide unit cooperates the formation sliding pair with slide rail (frame), i.e. 2 link components, 1 slider component and 1 rack component, 3 hinges (revolute pair) and 1 moving sets form the connecting rod link slide block mechanism, its slide block is driving link, the other end of 2 connecting rods is output, on two outputs, and the lower end balanced configuration of connecting rod: connecting rod and slide block, connecting rod and side plate connect and compose hinge with bearing pin.The power of DC speed-reducing can be provided by the batteries that is positioned on the mobile underpan, also can the autogamy D.C. regulated power supply, and electric power is provided by the orchard power network.Forward and backward by DC speed-reducing, ball screw is done forward and reverse rotation, nut is done left and right movement, the nut connecting plate that links to each other with nut, support plate, connecting plate and slide unit are just together mobile with nut, the connecting rod that is hinged on the support plate is also together mobile, the connecting rod that is hinged on simultaneously on the slide block is also mobile in the side plate translot with slide block, and the other end hinge of connecting rod is fixed.By the motion of this connecting rod link slide block mechanism, can realize that the secondary end of connecting rod fixes, the other end stretches or contractile motion, namely realizes the elevating movement function of hoistable platform.And the double forked link pair that is arranged symmetrically with in front and back, and front-seat, rear connecting rod secondary hinged with connecting axle be integral rigidity and intensity in order to improve platform.When behind the many slave connecting rods of short transverse series connection, the adjustable height of hoistable platform obtains into multiple to be increased.
Adjustable height is unrestricted in theory, and the number of connecting rod pair is more, and lifting distance is larger, but in fact be subjected to External Force Acting, the impact of the strength of materials, geometric accuracy and power size, it is more to increase the connecting rod pair, bulk strength, rigidity can reduce, and manufacturing cost, kinematic error, power can increase.By the embodiment advanced development, adopt 4 to 5 slave connecting rods proper.
The beneficial effects of the utility model are, mobile chassis at red bayberry or other branches of tall trees fruit picking robots is installed this hoistable platform, can make the stretching, extension of mechanical arm highly reach the height of plucking the branches of tall trees fruit, and can be according to the height of fruit place height control hoistable platform, when robot enters or leaves the harvesting scene, hoistable platform can be reduced to elemental height, and its center of gravity is descended, and makes things convenient for the global displacement of robot.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is the utility model unitary construction axonometric drawing.
Fig. 2 is Waxberry fruit picking robot hoistable platform unitary construction front view.
1. base plates among the figure, 2. DC speed-reducing, 3. motor support base, 4. shaft coupling, 5. nut connecting plate, 6. screw mandrel right bearing seat, 7. nut, 8. ball screw, 9. connecting axle, 10. side plate, 11. top boards, 12. slide blocks, 13. bearing pin, 14. connecting rods, 15.CF bearing, 16. connecting rod support, 17. slide rails, 18. support plates, 19. connecting plate, 20. slide units, 21. screw mandrel left shaft holders.
Embodiment
In Fig. 1 and Fig. 2 embodiment, it is secondary that two connecting rods (14) form 1 secondary scissor-type connecting rod, adopts altogether 10 pairs, forward and backward 5 pairs of respectively arranging.Every slave connecting rod intersection stacks, and the middle part is hinged with CF bearing (15), every slave connecting rod of forward and backward equal-height position, and its two ends are hinged with connecting axle (9), to strengthen stretching the Rigidity and strength that falls platform structure.
By base plate (1) both ends of the 1st slave connecting rod (14) of number upwards, left part connecting rod and connecting rod support (16) are hinged with CF bearing (15), connecting rod support is screwed on base plate (1), right part connecting rod and support plate (18) are used the CF bearing hinge connection, the two ends of nut connecting plate (5) are connected 19 with support plate with the slide unit connecting plate successively) be connected with screw, the slide unit connecting plate is connected on the slide unit (20) with screw, is connected with screw at middle part and the nut (7) of nut connecting plate.When nut is done rectilinear motion, slide at slide rail by the nut connecting plate drives slide unit.
On base plate (1), two straight line slide units that formed by slide rail (17) and slide unit (20) of the parallel installation in front and back, slide rail is screwed on base plate.Top board (10) is connected with screw with forward and backward side plate (11), consists of moving platform, and an end of side plate has horizontal translot, and the other end has fixing hole.Uppermost the 5th connecting rod is secondary, and the one end is hinged with bearing pin (13) with the slide block (12) that is placed on horizontal translot, and the other end and side plate fixing hole are hinged with bearing pin (13).When an end of nethermost the 1st connecting rod pair moves along slide rail with nut (7), also mobile in side plate (10) translot with the slide block (12) of the 5th connecting rod parafacies.
Ball screw (8) is supported by left and right bearing block (21,6), left and right bearing block is screwed on base plate (1), ball screw is connected with shaft coupling (4) with the output shaft of DC speed-reducing (2), DC speed-reducing (2) is screwed on motor support base (3), and motor support base is screwed on base plate.
Fixing hole and translot on connecting plate (19) on connecting rod support (16) on the base plate (1), slide rail (17) and the slide unit (20), support plate (18) and the moving platform side plate (10), when mounted, guarantee their physical dimension relation, that is: slide rail and connecting rod support are on the same rectilinear direction of ball screw axial direction both sides, the plane that support plate, connecting rod support cooperate with connecting rod (14) is on same vertical plane, and the chain connection point of the left and right and middle part of every slave connecting rod is positioned on separately the plumb line.
On top board (11), be processed with in advance the motor installing hole for the robot arm rotary freedom, on base plate (1), be processed with in advance hoistable platform and be installed in installing hole on the mobile underpan.
Claims (6)
1. Waxberry fruit picking robot hoistable platform, by connecting rod, hinge and slider component form the agent structure of hoistable platform, pass through motor-driven, the motion of feed screw nut pair and slide unit, double how secondary scissor-type connecting rod pair is done flexible up and down before and after driving, the moving platform lifting, it is characterized in that: scissor-type connecting rod pair places the both sides of the axial horizontal direction of ballscrew nut fitting, at the middle part of every slave connecting rod CF bearing hinge connection, mediate each layer sustained height before, the two ends of back link are hinged with connecting axle, two ends and the moving platform side plate of the top one slave connecting rod, slide block is hinged with bearing pin, two ends and the connecting rod support of a bottom slave connecting rod, support plate CF bearing hinge connection, ballscrew nut fitting is installed in the centre of base plate, its nut is connected with nut connecting plate, the two ends of nut connecting plate successively with support plate, connecting plate is connected with slide unit.
2. Waxberry fruit picking robot hoistable platform according to claim 1, it is characterized in that: slide rail and connecting rod support are on the same rectilinear direction of screw mandrel axial direction both sides, and guaranteeing plane that support plate, connecting rod support cooperate with connecting rod on same vertical plane, the chain connection point of the left and right and middle part of every slave connecting rod is positioned on separately the plumb line.
3. Waxberry fruit picking robot hoistable platform according to claim 1, it is characterized in that: the moving platform side plate is connected with screw with top board, and slide rail and connecting rod support are screwed on base plate.
4. Waxberry fruit picking robot hoistable platform according to claim 1, it is characterized in that: screw mandrel is connected with coupling for electric motor, and the two ends of screw mandrel are supported with left and right bearing block, and motor support base, Y-axis bearing all are screwed on base plate.
5. Waxberry fruit picking robot hoistable platform according to claim 1 is characterized in that: motor employing DC speed-reducing, screw mandrel, nut employing ballscrew nut fitting, slide rail, slide unit employing straight line slide unit pair.
6. Waxberry fruit picking robot hoistable platform according to claim 1, it is characterized in that: be provided with for hoistable platform at base plate and be installed in installing hole on the mobile underpan, be provided with the installing hole of mounting robot mechanical arm rotary freedom motor at top board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431469 CN202799697U (en) | 2012-08-24 | 2012-08-24 | Red bayberry fruit picking robot lifting platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431469 CN202799697U (en) | 2012-08-24 | 2012-08-24 | Red bayberry fruit picking robot lifting platform |
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| Publication Number | Publication Date |
|---|---|
| CN202799697U true CN202799697U (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220431469 Expired - Fee Related CN202799697U (en) | 2012-08-24 | 2012-08-24 | Red bayberry fruit picking robot lifting platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102804974A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Red bayberry picking robot ascending and descending platform |
| CN103270849A (en) * | 2013-05-22 | 2013-09-04 | 华南农业大学 | Movable and rotatable lifting platform used for picking agricultural products |
| CN103899895A (en) * | 2014-04-13 | 2014-07-02 | 杨志强 | Automatic retractable mechanical arm used for lifting mechanism |
| CN104396442A (en) * | 2014-12-04 | 2015-03-11 | 广西大学 | Portable bud shearing device |
| CN107214691A (en) * | 2017-07-31 | 2017-09-29 | 苏州元有讯电子科技有限公司 | A kind of stretching, extension drive mechanism for robot |
| CN108972589A (en) * | 2018-09-13 | 2018-12-11 | 南京工程学院 | A kind of pick-and-place robot device and its working method |
| CN114162498A (en) * | 2021-12-10 | 2022-03-11 | 华中科技大学 | Medical epidemic prevention garbage collection robot based on automatic control system |
-
2012
- 2012-08-24 CN CN 201220431469 patent/CN202799697U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102804974A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Red bayberry picking robot ascending and descending platform |
| CN103270849A (en) * | 2013-05-22 | 2013-09-04 | 华南农业大学 | Movable and rotatable lifting platform used for picking agricultural products |
| CN103899895A (en) * | 2014-04-13 | 2014-07-02 | 杨志强 | Automatic retractable mechanical arm used for lifting mechanism |
| CN104396442A (en) * | 2014-12-04 | 2015-03-11 | 广西大学 | Portable bud shearing device |
| CN107214691A (en) * | 2017-07-31 | 2017-09-29 | 苏州元有讯电子科技有限公司 | A kind of stretching, extension drive mechanism for robot |
| CN108972589A (en) * | 2018-09-13 | 2018-12-11 | 南京工程学院 | A kind of pick-and-place robot device and its working method |
| CN108972589B (en) * | 2018-09-13 | 2021-07-27 | 南京工程学院 | Grabbing and releasing robot device and working method thereof |
| CN114162498A (en) * | 2021-12-10 | 2022-03-11 | 华中科技大学 | Medical epidemic prevention garbage collection robot based on automatic control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130320 Termination date: 20140824 |
|
| EXPY | Termination of patent right or utility model |