CN213755768U - Solar hybrid power air-suction type manipulator berry picking machine - Google Patents

Abstract

The utility model discloses a solar hybrid power air-aspiration type manipulator berry picking machine, which relates to the technical field of fruit picking and comprises a chassis, a plurality of crawler wheels, a solar cell panel, a plurality of obstacle avoidance sensors, a rotary universal joint, a lifting platform and a display screen, wherein the display screen is fixedly arranged on the upper end side wall of the chassis, the crawler wheels are fixedly arranged on the side wall of the chassis, the solar cell panel and the obstacle avoidance sensors are all fixedly arranged on the upper end side wall of the chassis, the manipulator mechanism can be controlled by the display screen through matching use among the display screen, a control cabinet, an air pump, an air pipe, the manipulator mechanism and a second electric push rod, so that picking fingers can clamp berries and adsorb the berries through suction nozzles, the berries are pulled and picked under the contraction of a telescopic arm and the second electric push rod, the picking process has high automation degree and is accurate and controllable, compare traditional manual picking mode, greatly reduced workman's intensity of labour, and then do benefit to and accelerate berry picking process.

Description

Solar hybrid power air-suction type manipulator berry picking machine

Technical Field

The utility model relates to a fruit picking technical field especially relates to a solar energy hybrid air-aspiration type manipulator berry picking machine.

Background

Berries are soft and juicy fleshy fruits developed by ovaries or combined with other flower utensils, and berry fruit trees are various, such as grapes, strawberries, raspberries, mulberries, carambola, blackcurrants and the like, can supplement nutrient substances required by human bodies, and are popular among the masses due to higher nutritional values;

in the picking of berry, traditional picking mode is through the manual work to pick, different berries need pick according to the maturity of difference, because of the difference of maturity, get off a day, a fruit tree probably is picked several times, greatly increased workman's intensity of labour, and pick the back for a long time, because of the workman health is comparatively tired, pick efficiency greatly reduced, and then influence berry and pick the progress, for this we have proposed a solar energy hybrid power air suction formula manipulator berry picking machine, solve above problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a solar hybrid power air-aspiration manipulator berry picking machine.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a solar hybrid power air-suction manipulator berry picking machine comprises a chassis, a plurality of crawler wheels, a solar cell panel, a plurality of obstacle avoidance sensors, a rotary universal joint, a lifting table and a display screen, wherein the display screen is fixedly installed on the upper end side wall of the chassis, the crawler wheels are fixedly installed on the side wall of the chassis, the solar cell panel and the obstacle avoidance sensors are fixedly installed on the upper end side wall of the chassis, the lower end side wall of the chassis is respectively and fixedly provided with a control cabinet and a storage battery, the upper end side wall of the chassis is provided with a chute, one end of the lower end of the lifting table is fixedly connected with the upper end side wall of the chassis, the other end of the lower end of the lifting table is slidably connected onto the side wall of the chute, the upper end side wall of the chassis is fixedly provided with a first electric push rod, the tail end of the first electric push rod is rotatably connected onto the side wall of the lifting table, the upper end of the lifting table is provided with a support plate, the upper end lateral wall sliding connection of backup pad has the collecting box, the upper end fixed mounting of backup pad has mechanical arm mechanism, rotatory universal joint sets up in mechanical arm mechanism, the one end lateral wall fixed mounting of mechanical arm mechanism has the air pump, the air pump is connected through the trachea with mechanical arm structure's other end lateral wall, mechanical arm structure's lateral wall fixed connection has the camera support, the terminal fixed mounting of camera support has the camera.

Preferably, the mechanical arm mechanism comprises a mechanical arm bracket fixedly arranged on the side wall of the upper end of the supporting plate, the side wall of the upper end of the mechanical arm support is rotationally connected with a cross bearing, the side wall of the upper end of the cross bearing is rotationally connected with a basic arm, the tail end of the basic arm is provided with a telescopic arm, the tail end of the telescopic arm is fixedly connected with the side wall of the rotary universal joint, the side wall of the rotary universal joint is rotatably connected with two picking fingers, a second electric push rod is rotatably connected between the two picking fingers together, a plurality of suction nozzles are fixedly arranged on the opposite side walls of the two picking fingers, a communicating groove is arranged in the side wall of the picking finger, the air pump is fixedly connected on the side wall of the lower end of the mechanical arm bracket, the air pump is connected with the side walls of the two picking fingers through air pipes respectively, and the camera support is fixedly installed on the side wall of the telescopic arm.

Preferably, the nozzle has a diameter of 1.5cm and a number specification of 4 × 5 basic arms.

Preferably, the suction nozzle is communicated with the communicating groove, and the communicating groove is communicated with the air pipe.

Preferably, the suction nozzle is made of soft rubber.

Preferably, the air pipe is arranged in a T shape and is made of soft rubber.

The utility model has the advantages that: in the utility model, the device can be driven and controlled by the cooperation of the display screen, the storage battery and the control cabinet, and the solar energy can be converted into electric energy to be stored in the storage battery by the use of the solar panel, thereby avoiding the occurrence of the condition of running interruption caused by insufficient electric quantity of the device and ensuring the smooth picking;

through the display screen, the switch board, the air pump, the trachea, arm mechanism, cooperation between the second electric putter is used, accessible display screen control arm mechanism, make the picking finger carry out the cartridge to berry, and adsorb berry through the suction nozzle, under flexible arm and second electric putter's shrink, pull berry and take, it is high and accurate controllable to pick process automation degree, compare traditional manual picking mode, greatly reduced workman's intensity of labour, and then do benefit to and accelerate berry picking process.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an enlarged view of a portion a of the present invention.

Reference numbers in the figures: the device comprises a camera support 1, an air pipe 2, a telescopic arm 3, a basic arm 4, a mechanical arm support 5, an air pump 6, a solar cell panel 7, an obstacle avoidance sensor 8, a first electric push rod 9, a second electric push rod 10, a camera 13, a picking finger 14, a rotary universal joint 15, a suction nozzle 16, a cross bearing 17, a collecting box 18, a supporting plate 19, a lifting platform 20 and a display screen 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-2, a solar hybrid power air-suction manipulator berry picking machine includes a chassis 11, a plurality of crawler wheels 12, a solar panel 7, a plurality of obstacle avoidance sensors 8, a rotary universal joint 15, a lifting platform 20, and a display screen 21, where the display screen 21 is fixedly installed on a side wall of an upper end of the chassis 11, and the display screen 21 is respectively electrically connected to a storage battery, a control cabinet, a first electric push rod 9, an air pump 6, a base arm 4, a telescopic arm 3, a camera 13, and the rotary universal joint 15, and is further controlled by the display screen 21 (which is in the prior art and is not described herein in detail);

the crawler wheel 12 is fixedly arranged on the side wall of the chassis 11, the solar cell panel 7 and the obstacle avoidance sensor 8 are both fixedly arranged on the side wall of the upper end of the chassis 11, the side wall of the lower end of the chassis 11 is respectively and fixedly provided with a control cabinet and a storage battery, the side wall of the upper end of the chassis 11 is provided with a chute, one end of the lower end of the lifting platform 20 is fixedly connected with the side wall of the upper end of the chassis 11, the other end of the lower end of the lifting platform 20 is connected with the side wall of the chute in a sliding manner, the side wall of the upper end of the chassis 11 is fixedly provided with a first electric push rod 9, the tail end of the first electric push rod 9 is rotatably connected with the side wall of the lifting platform 20, the upper end of the lifting platform 20 is provided with a supporting plate 19, the side wall of the upper end of the supporting plate 19 is slidably connected with a collecting box 18, the upper end of the supporting plate 19 is fixedly provided with a mechanical arm mechanism, a rotary universal joint 15 is arranged in the mechanical arm mechanism, and the side wall of one end of the mechanical arm mechanism is fixedly provided with an air pump 6, the air pump 6 is connected with the side wall of the other end of the mechanical arm structure through an air pipe 2, the side wall of the mechanical arm structure is fixedly connected with a camera support 1, the mechanical arm mechanism comprises a mechanical arm support 5 fixedly installed on the side wall of the upper end of a support plate 19, the side wall of the upper end of the mechanical arm support 5 is rotatably connected with a cross bearing 17, the side wall of the upper end of the cross bearing 17 is rotatably connected with a basic arm 4, the tail end of the basic arm 4 is provided with a telescopic arm 3, the tail end of the telescopic arm 3 is fixedly connected with the side wall of a rotary universal joint 15, the side wall of the rotary universal joint 15 is rotatably connected with two picking fingers 14, a second electric push rod 10 is jointly rotatably connected between the two picking fingers 14, a plurality of suction nozzles 16 are fixedly installed on the opposite side walls of the two picking fingers 14, the diameter of each suction nozzle 16 is 1.5cm, the number specification of each suction nozzle is 4 multiplied by 5, and a plurality of suction nozzles 16 are arranged to absorb a plurality of berries or absorb larger berries at one time, the berries are prevented from falling off from the picking fingers 14, so that picking is convenient;

the suction nozzle 16 is made of soft rubber, and the soft rubber is selected to avoid damage to berries caused by over hardness of the suction nozzle 16 in the picking process so as to improve the picking quality of the berries;

pick and to have seted up the intercommunication groove in the lateral wall of finger 14, 6 fixed connection of air pump is on the lower extreme lateral wall of arm support 5, air pump 6 is connected respectively with two lateral walls of picking finger 14 through trachea 2, suction nozzle 16 communicates with the intercommunication groove each other, the intercommunication groove communicates with trachea 2 each other, trachea 2 adopts T type form setting, and its material is soft rubber material, T type form setting can make air pump 6 make two suction nozzles 16 of picking on the finger 14 adsorb simultaneously, increase the adsorption affinity to berry, avoid berry to drop in the motion, 1 fixed mounting of camera support is on the lateral wall of flexible arm 3, the terminal fixed mounting of camera support 1 has camera 13, camera 13 set up aim at and provide the image for picking the eminence berry, accessible display screen 21 carries out accurate picking.

The working principle is as follows: when the device is used, the device can be powered and driven through the storage battery, solar energy is converted into electric energy through the solar cell panel 7 and stored in the storage battery to charge the storage battery (in the prior art, too many descriptions are not given here), the first electric push rod 9 can be controlled to stretch through the display screen 21, the first electric push rod 9 stretches and retracts to push one end of the lifting platform 20 to slide on the sliding groove in the side wall of the chassis 11, so that the lifting platform 20 is compressed and expanded, the height of the supporting plate 19 can be adjusted to pick berries of different heights, and meanwhile, through the arrangement of the plurality of obstacle avoidance sensors 8, the device can be prevented from colliding with obstacles in the moving process (in the prior art, too many descriptions are not given here);

when berries need to be picked, the cross bearing 17 and the basic arm 4 are controlled to rotate through the display screen 21, the alignment direction of the picking fingers 14 is adjusted, the berries are aligned, after alignment, the telescopic arm 3 is started to extend through the display screen 21, the picking fingers 14 are driven to move, the berries are included between the two picking fingers 14, the second electric push rod 10 is contracted through the display screen 21, the two picking fingers 14 rotate, the berries are wrapped and clamped, meanwhile, the air pump 6 is started to suck air, as the communicating groove is formed in the side wall of the picking finger 14, and the suction nozzle 16 on the side wall of the picking finger 14 is connected with the air pipe 2 through the communicating groove and the air pump 6, the suction of the air pump 6 can enable the suction nozzle 16 to adsorb the berries, the berries are prevented from falling off from the picking fingers 14, after the berries are adsorbed, the telescopic arm 3 is started again to contract, further pulling the berries, picking the berries from the fruit tree, aligning the picking fingers 14 to the collecting box 18 through the rotation of the rotary universal joint 15, starting the second electric push rod 10 to extend, opening the two picking fingers 14, closing the air pump 6, canceling the adsorption force of the suction nozzle 16 on the berries, and enabling the berries to fall into the collecting box 18 to be collected;

in addition, when the position of berry on the fruit tree is too high, through the setting of camera 13, can adopt like to berry (this is prior art, does not do too much repeated here), show berry on display screen 21, and then make artifical accurate control pick finger 14 and pick berry.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims (6)

1. A solar hybrid power air-aspiration type manipulator berry picking machine comprises a chassis (11), a plurality of crawler wheels (12), a solar cell panel (7), a plurality of obstacle avoidance sensors (8), a rotary universal joint (15), a lifting table (20) and a display screen (21), and is characterized in that the display screen (21) is fixedly installed on the side wall of the upper end of the chassis (11), the crawler wheels (12) are fixedly installed on the side wall of the chassis (11), the solar cell panel (7) and the obstacle avoidance sensors (8) are both fixedly installed on the side wall of the upper end of the chassis (11), the side wall of the lower end of the chassis (11) is respectively and fixedly provided with a control cabinet and a storage battery, the side wall of the upper end of the chassis (11) is provided with a chute, one end of the lower end of the lifting table (20) is fixedly connected with the side wall of the upper end of the chassis (11), and the other end of the lower end of the lifting table (20) is slidably connected with the side wall of the chute, the utility model discloses a robot manipulator, including chassis (11), the upper end lateral wall fixed mounting of chassis (11) has first electric putter (9), the end of first electric putter (9) is rotated and is connected on the lateral wall of elevating platform (20), the upper end of elevating platform (20) is provided with backup pad (19), the upper end lateral wall sliding connection of backup pad (19) has collecting box (18), the upper end fixed mounting of backup pad (19) has mechanical arm mechanism, rotatory universal joint (15) set up in mechanical arm mechanism, mechanical arm mechanism's one end lateral wall fixed mounting has air pump (6), air pump (6) are connected through trachea (2) with mechanical arm structure's the other end lateral wall, mechanical arm structure's lateral wall fixedly connected with camera support (1), the terminal fixed mounting of camera support (1) has camera (13).

2. The solar hybrid power air-aspiration manipulator berry picking machine according to claim 1, wherein the manipulator mechanism comprises a manipulator support (5) fixedly mounted on the upper end side wall of a support plate (19), the upper end side wall of the manipulator support (5) is rotatably connected with a cross bearing (17), the upper end side wall of the cross bearing (17) is rotatably connected with a basic arm (4), the end of the basic arm (4) is provided with a telescopic arm (3), the end of the telescopic arm (3) is fixedly connected with the side wall of a rotary universal joint (15), the side wall of the rotary universal joint (15) is rotatably connected with two picking fingers (14), a second electric push rod (10) is rotatably connected between the two picking fingers (14), and a plurality of suction nozzles (16) are fixedly mounted on the opposite side walls of the two picking fingers (14), the utility model discloses a picking device, including picking finger (14), air pump (6), air pump support (1) and camera support (3), pick the lateral wall of finger (14) and seted up the intercommunication groove in, air pump (6) fixed connection is on the lower extreme lateral wall of arm support (5), air pump (6) are connected respectively through trachea (2) and two lateral walls of picking finger (14), camera support (1) fixed mounting is on the lateral wall of flexible arm (3).

3. A solar hybrid suction manipulator berry picker according to claim 2, characterized by the suction nozzle (16) being 1.5cm in diameter and in a number format set at 4 x 5.

4. A solar hybrid suction manipulator berry picker according to claim 2, characterized by the fact that said suction nozzle (16) is in communication with a communication channel, which is in communication with the air pipe (2).

5. The solar hybrid suction manipulator berry picker according to claim 2, wherein said suction nozzle (16) is made of soft rubber.

6. The solar hybrid suction manipulator berry picker according to claim 1, wherein the air pipe (2) is T-shaped and made of soft rubber.

Images