CN105284298A

CN105284298A - Fruit picking manipulator

Info

Publication number: CN105284298A
Application number: CN201510840905.4A
Authority: CN
Inventors: 欧阳健; 黄海松; 王万发; 刘建红; 李阳
Original assignee: Guizhou University
Current assignee: Guizhou University
Priority date: 2015-11-27
Filing date: 2015-11-27
Publication date: 2016-02-03

Abstract

The invention discloses a fruit picking manipulator which comprises a pruning mechanism (I) arranged on a handheld rod, a fruit collecting mechanism (II), a controller III and a power supply part (IV), wherein the pruning mechanism (I) comprises two groups of lower arm holding manipulators (1) and an upper arm holding manipulator (3); circular saw blades (2) are arranged between each group of lower arm holding manipulators (1) and the upper arm holding manipulator (3); the circular saw blades (2) are connected with a motor (5); a left holding transmission motor (6) controls a left mechanical arm; a right holding transmission motor (9) controls a right mechanical arm; and an up-down shaking motor (7) and a left-right shaking motor (8) are arranged on the handheld rod. The manipulator is uniquely adopted instead of scissors, the manipulator can turn in the upper, lower, left and right directions, the operations of picking fruits and pruning are simultaneously performed, the efficiency is greatly improved, and great convenience is brought to users. Moreover, due to the addition of a multistage mesh bag, the picked fruits can be cyclically harvested, the practicality is enhanced, and the time is saved.

Description

A kind of Fruit-picking mechanical arm

Technical field

Patent of the present invention belongs to agriculture and forestry and produces appurtenance, relates to a kind of novel Fruit-picking mechanical arm particularly.

Background technology

Along with the scale that agriculture and forestry are produced, a large amount of harvesting tasks urgently liberates labour, but existing fruit picking device exists its own shortcomings:

1, existing fruit picking device was not all considered to change scissors and the easy way that adopts this automation of robotic arm substantially, the picker of old stuff, caused not innovation just not develop.

2, common picking device is just cutting with scissors, and stability is inadequate, destroys fruit sometimes, even causes harvesting unsuccessfully to wait error.

3, the existing fruit picking device technology such as will not shake the head joins in device, and cannot change direction when plucking, cannot accurately pluck, efficiency is low.

4, existing fruit picking device is generally each can only win one or several fruit, and efficiency is low, and practicality is poor.

5, existing fruit picking device does not possess pruning function.

Therefore, there is certain technology, defect in practical use in the machine for picking fruits device people developed on the market now, as: 1) function singleness; 2) unstable during picking period work, pluck easily failure; 3) cannot shake the head up and down in picking period core, and dumb, plucks inconvenience; 4) picking device on the market can only pluck one at every turn, and pluck seriously consuming time, efficiency is low.

Summary of the invention

The object of patent of the present invention is to provide a kind of Fruit-picking mechanical arm, solves existing fruit picker problem such as instability, function singleness, poor efficiency when fruit picking.Manipulator principle is joined in device the stability substantially increasing device by this device, with timer owing to have employed multi-stage engine braking, manipulator can freely rotate, flexibly convenient when fruit picking, this device further provided with two-stage fruit picking bag simultaneously, traditional fruit picker can be avoided at every turn can only to adopt the embarrassment of a fruit, greatly strengthen practicality, saved the time; This device is equipped with detachable lithium simultaneously, greatly reduces the labour of people, improves operating efficiency.

The object of patent of the present invention and solve its technical problem underlying and realize by the following technical solutions: a kind of Fruit-picking mechanical arm, comprise the beta pruning mechanism I that holding rod is established, Jie Guo mechanism II, controller III and power unit IV, beta pruning mechanism I comprises two groups of underarm catching robots 1 and upper arm catching robot 3, often organize between underarm catching robot 1 and upper arm catching robot 3 and circular saw blade 2 is installed, circular saw blade 2 is connected with motor 5, left crawl driving motor 6 controls left side mechanical arm, right crawl driving motor 9 controls right side mechanical arm, holding rod is also provided with upper and lower head-shaking motor 7 and left and right head-shaking motor 8.

Above-mentioned a kind of Fruit-picking mechanical arm, wherein: described Jie Guo mechanism II comprises and leads fruit bag 10 and connect fruit bag 11.

Above-mentioned a kind of Fruit-picking mechanical arm, wherein: outside described circular saw blade 2, be provided with saw blade protective cover 4.

Above-mentioned a kind of Fruit-picking mechanical arm, wherein: described controller III is hand-held controller 12.

Above-mentioned a kind of Fruit-picking mechanical arm, wherein: described power unit IV is detachable rechargeable battery 13.

During use, battery is installed, directly open switching manipulation, control to shake the head up and down by controller, left and right promptly, the operation loosened completes the action of fruit-picking and beta pruning simultaneously, provides convenient to user, without the need to people be waste time and energy go adjustment direction, dynamics, employing two mechanical arms are fixed stability when substantially increasing cutting simultaneously, improve picking efficiency, once can gather a large amount of fruit by two-stage fruit picking bag and harvesting can be plucked simultaneously, being independent of each other.

Patent of the present invention compared with prior art has obvious advantage and beneficial effect.From above technical scheme, patent of the present invention has following characteristics:

1, adopt can the circular saw blade of accurate, sharp cutting branch and two mechanical arm actings in conjunction for this device, substantially increase stability during cutting, improve picking efficiency.

2, brake owing to have employed multi-stage engine with timer, manipulator can freely rotate, flexibly convenient when fruit picking.

3, this device further provided with two-stage fruit picking bag simultaneously, and traditional fruit picker can be avoided can only to adopt the embarrassment of a fruit at every turn, once can gather a large amount of fruit and can pluck harvesting simultaneously, being independent of each other, greatly strengthen practicality, saved the time.

4, this device is equipped with detachable lithium simultaneously, greatly reduces the labour of people, improves operating efficiency.

5, existing fruit picking device does not possess pruning function, and the present invention is also included by pruning function, and a device can replace multiple device, improves the Practical multifunction of device.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention,

Fig. 2 is shears for picking fruit branch mechanism structure schematic diagram of the present invention,

Fig. 3 is the other direction schematic diagram of Fig. 2,

Fig. 4 be of the present invention connect fruit structural scheme of mechanism,

Fig. 5 is controller schematic diagram of the present invention,

Fig. 6 is using state of the present invention cutting branch schematic diagram.

Mark in figure: I, beta pruning mechanism, II, Jie Guo mechanism, III, controller; IV, power unit, 1, underarm catching robot, 2, circular saw blade; 3, upper arm catching robot, 4, saw blade protective cover, 5, motor; 6, left crawl driving motor, 7, up and down head-shaking motor, 8, left and right head-shaking motor; 9, right crawl driving motor, 10, lead fruit bag, 11, connect fruit bag; 12, hand-held controller, 13, detachable rechargeable battery.

Embodiment

Below in conjunction with accompanying drawing and preferred embodiment, to a kind of Fruit-picking mechanical arm embodiment proposed according to patent of the present invention, feature and effect thereof, be described in detail as follows.

See Fig. 1-6, a kind of Fruit-picking mechanical arm, comprise holding rod is established beta pruning mechanism I, Jie Guo mechanism II, controller III and power unit IV, beta pruning mechanism I comprises two groups of underarm catching robots 1 and upper arm catching robot 3, often organize between underarm catching robot 1 and upper arm catching robot 3 and circular saw blade 2 is installed, circular saw blade 2 is connected with motor 5, left crawl driving motor 6 controls left side mechanical arm, right crawl driving motor 9 controls right side mechanical arm, holding rod is also provided with upper and lower head-shaking motor 7 and left and right head-shaking motor 8.

Patent of the present invention has following characteristics:

1, functional diversities improves effective rate of utilization, has saved the energy and cost.

2, by adopting detachable charging device to be that power carries out device running, decreasing manpower and exporting, convenient, fast, efficient.

3, patent of the present invention once can gather a large amount of fruit and can pluck harvesting simultaneously, is independent of each other, excellent stability when simultaneously plucking.

The above, it is only the preferred embodiment of patent of the present invention, not any pro forma restriction is done to patent of the present invention, anyly do not depart from art solutions content of the present invention, the any simple modification done above embodiment according to the technical spirit of patent of the present invention, equivalent variations and modification, all still belong in the scope of art solutions of the present invention.

Claims

1. a Fruit-picking mechanical arm, it is characterized in that: comprise the beta pruning mechanism (I) that holding rod is established, Jie Guo mechanism (II), controller III and power unit (IV), beta pruning mechanism (I) comprises two groups of underarm catching robots (1) and upper arm catching robot (3), often organize between underarm catching robot (1) and upper arm catching robot (3) and circular saw blade (2) is installed, circular saw blade (2) is connected with motor (5), left crawl driving motor (6) controls left side mechanical arm, right crawl driving motor (9) controls right side mechanical arm, holding rod is also provided with upper and lower head-shaking motor (7) and left and right head-shaking motor (8).

2. a kind of Fruit-picking mechanical arm as claimed in claim 1, is characterized in that: described Jie Guo mechanism (II) comprises leads fruit bag (10) and connects fruit bag (11).

3. a kind of Fruit-picking mechanical arm as claimed in claim 1, is characterized in that: be provided with saw blade protective cover (4) outside described circular saw blade (2).

4. a kind of Fruit-picking mechanical arm as claimed in claim 1, is characterized in that: described controller (III) is hand-held controller (12).

5. a kind of Fruit-picking mechanical arm as claimed in claim 1, is characterized in that: described power unit (IV) is detachable rechargeable battery (13).