CN204929756U - A kind of Novel fruit-tree nursing robot - Google Patents
A kind of Novel fruit-tree nursing robot Download PDFInfo
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- CN204929756U CN204929756U CN201420872836.6U CN201420872836U CN204929756U CN 204929756 U CN204929756 U CN 204929756U CN 201420872836 U CN201420872836 U CN 201420872836U CN 204929756 U CN204929756 U CN 204929756U
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- cutter
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Abstract
The utility model discloses a kind of Novel fruit-tree nursing robot, comprise mobile machine hand, be arranged on mobile machine hand front end pruning end executive module, control assembly, camera; The action of pruning the parts such as end executive module, camera controls by controlling assembly; Mobile machine hand comprises power set, finger actuation device, finger-type interlock assembly, cutter, cutter shaft, cutter shaft drive unit; Power set drive finger actuation device and the action of cutter shaft drive unit; Cutter is arranged on the periphery of cutter shaft, and cutter shaft connects cutter shaft drive unit; The finger-type assembly that interlocks is connected with finger actuation device.The utility model decreases branch carrying link, can pulverize in real time.And the broken end utilizing branch and leaf to pulverize on the spot is as organic manure, turns back in soil, reduces production cost, decreases the usage amount of crop to chemosynthesis fertilizer, facilitate the development of organic fruits industry.
Description
Technical field
The utility model relates to the nursing field of garden fruit tree, particularly relates to a kind of Novel fruit-tree nursing robot.
Background technology
The quality of nursing to fruit growth and fruit of garden fruit tree is all significant.In recent years, the research of garden fruit tree care appliances is subject to extensive concern, but mainly for the research that the automation of flowers and plants branch is pruned.The pruning of fruit tree requires with other ornamental plants different, needs optionally to prune the branch of tree body, and ornamental plant is generally prune tree body entirety.Therefore, less to the automation nursing pruning research of garden fruit tree, the Study of intelligent that garden fruit tree nursing in urgent need of strengthening is pruned and pulverized.
Utility model content
The purpose of this utility model is the shortcoming and defect overcoming above-mentioned prior art, provides a kind of Novel fruit-tree nursing robot.
The utility model is achieved through the following technical solutions:
A kind of Novel fruit-tree nursing robot, comprise the mobile machine hand be arranged on pedestal 6, be arranged on the pruning end executive module 7 of mobile machine hand front end, the control assembly 3 be arranged on pedestal 6, with control the camera 4 that is connected of assembly 3, be arranged on the driving wheel assembly 1 on pedestal, driven pulley assembly 2;
Described mobile machine hand comprises the wrist that connects successively to revolving joint 5, telescopic arms 8, elbow position rotary connecting device 9, arm position rotary connecting device 10, waist position revolving joint 11;
The action of described pruning end executive module 7, camera 4, driving wheel assembly 1 and driven pulley assembly 2, is controlled by control assembly 3;
Described mobile machine hand comprises power set 15, finger actuation assembly 16, finger-type interlock assembly 17, cutter 18, cutter shaft 19, cutter shaft drive unit 20; Power set 15 drive finger actuation assembly 16 and cutter shaft drive unit 20 action; Described cutter 18 is arranged on the periphery of cutter shaft 19, and cutter shaft 19 connects cutter shaft drive unit 20; The material of described cutter is stainless steel; Described stainless steel comprises the Si of the Mn of Mo, 1-5 % by weight of Ni, 0-3 % by weight of Cr, 3-7 % by weight of Cu, 17-28 % by weight of Mg, 12-16 % by weight of C, 4-7 % by weight of 0.9-1.6 % by weight, Pb and < 0.4 % by weight of 0.5 % by weight, and surplus is Fe; The described finger-type assembly 17 that interlocks is connected with finger actuation assembly 16.
Described stainless manufacture method comprises the following steps:
A, heating steel billet, heating-up temperature is between 1250-1350 DEG C;
B, 840-860 DEG C start hot rolling, the reduction ratio with more than 87% carries out hot rolling, keep finishing temperature at about 765 DEG C, sulphur removal;
C, hot-roll annealing, annealing temperature 875-984 DEG C;
D, the steel plate de-scaling by after annealing, pickling.
E, cold rolling, reduction ratio is not less than 32%;
F, annealing, annealing temperature is between 850-1300 DEG C;
G, de-scaling, pickling;
H, about 850 DEG C batch, waxing.
Described cutter shaft 19 is rotated under the effect of cutter shaft drive unit 20, and its rotational plane and finger-type assembly 17 plane of movement that interlocks is parallel; Described stainless steel comprises the C of 1.2-1.4 % by weight.
Described Novel fruit-tree nursing robot also comprises the strip object pulper 13 that is arranged on pedestal 6 rear end; Described stainless steel comprises the Cr of 19-25 % by weight.
The stepper motor 14 that described strip object pulper 13 machine comprises licker-in roller assembly 21, lateral compression plate 22, charging assist mouth 23, circumferential teeth groove 24, transmission mechanism 25, power transmission shaft 26, blade assembly, driving blade assembly to rotate;
Described charging assists the porch of mouth 23 to be provided with circumferential teeth groove 24; One end of described lateral compression plate 22 is arranged on the charging swash plate above blade assembly by power transmission shaft 26, and the other end is provided with transmission mechanism 25 and rolls with circumferential teeth groove 24 and is connected;
Described licker-in roller assembly 21 is made up of many toothed roll bodies, and in yi word pattern, arrangement is arranged on the charging swash plate of the relative opposite side of lateral compression plate 22.
Described blade assembly comprises the anvil roller 27, bayonet 28, the pallet 29 that are arranged in stepper motor 14 rotating shaft.
Described strip object pulper also comprises a plastic-steel shell 30, and plastic-steel shell 30 is provided with mobile machine hand sliding channel 12.
The method that employing Novel fruit-tree nursing robot prunes broken branch is as follows:
1) robot location drives
The terrestrial information controlling assembly 3 pairs of cameras 4 collections is analyzed, and determines the position coordinates on ground, target branch place, and regulation and control driving wheel assembly 1 and driven pulley assembly 2 move, and instruction robot arrives relevant position;
2) mobile machine hand position drives
Camera 4 is collected the image information of pruning branch and is delivered to control assembly 3 and analyzes, the target branch needing to prune is determined according to the dense degree of branch, attitude, fineness and health condition, controlling assembly 3 send instruction and drive wrist, to revolving joint 5, telescopic arms 8, elbow position rotary connecting device 9, arm position rotary connecting device 10, waist position revolving joint 11, corresponding sports occurs, delivering to pruning end executive module 7 aiming station waiting to shear branch;
3) shearing of branch
Finger-type on branch end executive module 7 interlock assembly 17 finger actuation assembly 16 control under clamp branch, after having clamped, cutter 18 cuts branch under the effect of cutter shaft drive unit 20;
4) pulverizing of branch
Under the control controlling assembly 3, mouth 23 place is assisted in the charging that the branch sheared is delivered to strip object pulper 13 by mobile machine hand, and pruning end executive module 7 is discharged branch by mobile machine hand sliding channel 12 and left charging assists mouth 23; Branch produces pressure to licker-in roller assembly 21 under the extruding of lateral compression plate 22, and be transported to blade assembly place by the licker-in roller assembly 21 rotated, finally by anvil roller 27, branch is delivered to pallet 29 to pulverize, branch flies out along discharging opening after being shredded by bayonet 28, and paving is spread across ground.
The utility model, relative to prior art, has following advantage and effect:
The utility model carries out selectivity beta pruning to branch and pulverizing is integrated, and decreases in order to branch pulverizes the branch carrying link of carrying out, can pulverize in real time.
By being arranged on mobile machine branch end executive module on hand, branch pruning and pulverizing are combined, garden agriculture can not only be made to free from manual pruning, machinery is allowed to carry out intelligentized highly effective and safe pruning, and the broken end utilizing branch and leaf to pulverize on the spot is as organic manure, turn back in soil, reduce production cost, decrease the usage amount of crop to chemosynthesis fertilizer, facilitate the development of organic fruits industry, also substantially increase the availability of biomass energy simultaneously.
Accompanying drawing explanation
Fig. 1 is Novel fruit-tree nursing robot structure overall schematic;
Fig. 2 is that Fig. 1 prunes end executive module structural representation;
Fig. 3 is that the finger-type of end executive module 7 is interlocked assembly 17 structural representation;
Fig. 4 is the cutaway view of strip object pulper.
Embodiment
Below in conjunction with specific embodiment, the utility model is more specifically described in detail.
Embodiment
As Figure 1-4.A kind of Novel fruit-tree nursing robot of the utility model, comprise: be arranged on the mobile machine hand on pedestal 6, be arranged on the pruning end executive module 7 of mobile machine hand front end, the control assembly 3 be arranged on pedestal 6, with control the camera 4 that is connected of assembly 3, be arranged on the driving wheel assembly 1 on pedestal, driven pulley assembly 2;
Described mobile machine hand comprises the wrist that connects successively to revolving joint 5, telescopic arms 8, elbow position rotary connecting device 9, arm position rotary connecting device 10, waist position revolving joint 11;
The action of described pruning end executive module 7, camera 4, driving wheel assembly 1 and driven pulley assembly 2, is controlled by control assembly 3;
Described mobile machine hand comprises power set 15, finger actuation assembly 16, finger-type interlock assembly 17, cutter 18, cutter shaft 19, cutter shaft drive unit 20; Power set 15 drive finger actuation assembly 16 and cutter shaft drive unit 20 action; Described cutter 18 is arranged on the periphery of cutter shaft 19, and cutter shaft 19 connects cutter shaft drive unit 20; The material of described cutter is stainless steel; Described stainless steel comprises the Si of the Mn of Mo, 1-5 % by weight of Ni, 0-3 % by weight of Cr, 3-7 % by weight of Cu, 17-28 % by weight of Mg, 12-16 % by weight of C, 4-79 % by weight of 0.9-1.6 % by weight, Pb and < 0.4 % by weight of 0.5 % by weight, and surplus is Fe; The described finger-type assembly 17 that interlocks is connected with finger actuation assembly 16.
Described stainless manufacture method comprises the following steps:
A, heating steel billet, heating-up temperature is between 1250-1350 DEG C;
B, 840-860 DEG C start hot rolling, the reduction ratio with more than 87% carries out hot rolling, keep finishing temperature at about 765 DEG C, sulphur removal;
C, hot-roll annealing, annealing temperature 875-984 DEG C;
D, the steel plate de-scaling by after annealing, pickling.
E, cold rolling, reduction ratio is not less than 32%;
F, annealing, annealing temperature is between 850-1300 DEG C;
G, de-scaling, pickling;
H, about 850 DEG C batch, waxing.
Described cutter shaft 19 is rotated under the effect of cutter shaft drive unit 20, and its rotational plane and finger-type assembly 17 plane of movement that interlocks is parallel; Described stainless steel comprises the C of 1.2-1.4 % by weight.
Described Novel fruit-tree nursing robot also comprises the strip object pulper 13 that is arranged on pedestal 6 rear end; Described stainless steel comprises the Cr of 19-25 % by weight.
The stepper motor 14 that described strip object pulper 13 machine comprises licker-in roller assembly 21, lateral compression plate 22, charging assist mouth 23, circumferential teeth groove 24, transmission mechanism 25, power transmission shaft 26, blade assembly, driving blade assembly to rotate;
Described charging assists the porch of mouth 23 to be provided with circumferential teeth groove 24; One end of described lateral compression plate 22 is arranged on the charging swash plate above blade assembly by power transmission shaft 26, and the other end is provided with transmission mechanism 25 and rolls with circumferential teeth groove 24 and is connected;
Described licker-in roller assembly 21 is made up of many toothed roll bodies, and in yi word pattern, arrangement is arranged on the charging swash plate of the relative opposite side of lateral compression plate 22.
Described blade assembly comprises the anvil roller 27, bayonet 28, the pallet 29 that are arranged in stepper motor 14 rotating shaft.
Described strip object pulper also comprises a plastic-steel shell 30, and plastic-steel shell 30 is provided with mobile machine hand sliding channel 12.
Adopt Novel fruit-tree nursing robot to prune the method for broken branch, realize by following several step:
1) robot location drives
The terrestrial information controlling assembly 3 pairs of cameras 4 collections is analyzed, and determines the position coordinates on ground, target branch place, and regulation and control driving wheel assembly 1 and driven pulley assembly 2 move, and instruction robot arrives relevant position;
2) mobile machine hand position drives
Camera 4 is collected the image information of pruning branch and is delivered to control assembly 3 and analyzes, the target branch needing to prune is determined according to the dense degree of branch, attitude, fineness and health condition, controlling assembly 3 send instruction and drive wrist, to revolving joint 5, telescopic arms 8, elbow position rotary connecting device 9, arm position rotary connecting device 10, waist position revolving joint 11, corresponding sports occurs, delivering to pruning end executive module 7 aiming station waiting to shear branch;
3) shearing of branch
Finger-type on branch end executive module 7 interlock assembly 17 finger actuation assembly 16 control under clamp branch, after having clamped, cutter 18 cuts branch under the effect of cutter shaft drive unit 20;
4) pulverizing of branch
Under the control controlling assembly 3, mouth 23 place is assisted in the charging that the branch sheared is delivered to strip object pulper 13 by mobile machine hand, and pruning end executive module 7 is discharged branch by mobile machine hand sliding channel 12 and left charging assists mouth 23; Branch produces pressure to licker-in roller assembly 21 under the extruding of lateral compression plate 22, and be transported to blade assembly place by the licker-in roller assembly 21 rotated, finally by anvil roller 27, branch is delivered to pallet 29 to pulverize, branch flies out along discharging opening after being shredded by bayonet 28, and paving is spread across ground.
As mentioned above, just the utility model can be realized preferably.
Embodiment of the present utility model is not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present utility model and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (6)
1. a Novel fruit-tree nursing robot, it is characterized in that, comprise the mobile machine hand be arranged on pedestal (6), be arranged on the pruning end executive module (7) of mobile machine hand front end, the control assembly (3) be arranged on pedestal (6), with control assembly (3) camera (4) that is connected, be arranged on the driving wheel assembly (1) on pedestal (6), driven pulley assembly (2); Described mobile machine hand comprises the wrist that connects successively to revolving joint (5), telescopic arms (8), elbow position rotary connecting device (9), arm position rotary connecting device (10), waist position revolving joint (11); The action of described pruning end executive module (7), camera (4), driving wheel assembly (1) and driven pulley assembly (2), is controlled by control assembly (3); Described mobile machine hand comprises power set (15), finger actuation assembly (16), finger-type interlock assembly (17), cutter (18), cutter shaft (19), cutter shaft drive unit (20); Power set (15) drive finger actuation assembly (16) and cutter shaft drive unit (20) action; Described cutter (18) is arranged on the periphery of cutter shaft (19), cutter shaft (19) connects cutter shaft drive unit (20), the material of described cutter (18) is stainless steel, and the described finger-type assembly (17) that interlocks is connected with finger actuation assembly (16).
2. a kind of Novel fruit-tree nursing robot according to claim 1, it is characterized in that, described cutter shaft (19) is rotated under the effect of cutter shaft drive unit (20), and its rotational plane and finger-type assembly (17) plane of movement that interlocks is parallel.
3. a kind of Novel fruit-tree nursing robot according to claim 2, is characterized in that, also comprises the strip object pulper (13) that is arranged on pedestal (6) rear end.
4. a kind of Novel fruit-tree nursing robot according to claim 3, it is characterized in that, described strip object pulper (13) comprises licker-in roller assembly (21), stepper motor (14) that lateral compression plate (22), charging assist mouth (23), circumferential teeth groove (24), transmission mechanism (25), power transmission shaft (26), blade assembly, driving blade assembly to rotate; Described charging assists the porch of mouth (23) to be provided with circumferential teeth groove (24); One end of described lateral compression plate (22) is arranged on the charging swash plate above blade assembly by power transmission shaft (26), and the other end is provided with transmission mechanism (25) and rolls with circumferential teeth groove (24) and is connected; Described licker-in roller assembly (21) is made up of many toothed roll bodies, and in yi word pattern, arrangement is arranged on the charging swash plate of the relative opposite side of lateral compression plate (22).
5. a kind of Novel fruit-tree nursing robot according to claim 4, it is characterized in that, described blade assembly comprises the anvil roller (27) be arranged in stepper motor (14) rotating shaft, bayonet (28), pallet (29).
6. a kind of Novel fruit-tree nursing robot according to claim 5, it is characterized in that, described strip object pulper also comprises a plastic-steel shell (30), and plastic-steel shell (30) is provided with mobile machine hand sliding channel (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872836.6U CN204929756U (en) | 2014-12-31 | 2014-12-31 | A kind of Novel fruit-tree nursing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420872836.6U CN204929756U (en) | 2014-12-31 | 2014-12-31 | A kind of Novel fruit-tree nursing robot |
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| Publication Number | Publication Date |
|---|---|
| CN204929756U true CN204929756U (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420872836.6U Expired - Fee Related CN204929756U (en) | 2014-12-31 | 2014-12-31 | A kind of Novel fruit-tree nursing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113001A (en) * | 2016-07-27 | 2016-11-16 | 常俊苹 | A kind of gardens gardening modeling machines people |
| CN106258526A (en) * | 2016-08-30 | 2017-01-04 | 王葱芽 | A kind of automatic clipping device of motor-car rail protection trees |
| CN106416770A (en) * | 2016-08-30 | 2017-02-22 | 王葱芽 | Protective tree pruning equipment with rail detection function |
| CN108049264A (en) * | 2016-08-30 | 2018-05-18 | 金跃祖 | A kind of collection road conditions detection, pruning trees, stone squeeze and push away integral railway maintenance machine |
-
2014
- 2014-12-31 CN CN201420872836.6U patent/CN204929756U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113001A (en) * | 2016-07-27 | 2016-11-16 | 常俊苹 | A kind of gardens gardening modeling machines people |
| CN106113001B (en) * | 2016-07-27 | 2019-01-04 | 殷培培 | A kind of gardens gardening modeling machines people |
| CN106258526A (en) * | 2016-08-30 | 2017-01-04 | 王葱芽 | A kind of automatic clipping device of motor-car rail protection trees |
| CN106416770A (en) * | 2016-08-30 | 2017-02-22 | 王葱芽 | Protective tree pruning equipment with rail detection function |
| CN108049264A (en) * | 2016-08-30 | 2018-05-18 | 金跃祖 | A kind of collection road conditions detection, pruning trees, stone squeeze and push away integral railway maintenance machine |
| CN108049264B (en) * | 2016-08-30 | 2020-06-26 | 台州市黄岩智正信息科技有限公司 | Track maintenance machine integrating road condition detection, tree pruning and stone squeezing |
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| 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: 20160106 Termination date: 20171231 |
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| CF01 | Termination of patent right due to non-payment of annual fee |