CN107041211A - A kind of mechanical hand of fruit and vegetable picking controlled based on PLC - Google Patents

Abstract

The invention discloses a fruit and vegetable picking manipulator based on PLC control. Motor 2, claws, wrists, arms, flexible net brackets, flexible nets, and fruit storage boxes, the purpose of which is to improve the accuracy of operation and positioning, and can be designed in combination with the structural characteristics of fruits and vegetables and their hardness physical indicators, which improves the picking efficiency. success rate.

Description

A Fruit and Vegetable Picking Manipulator Based on PLC Control

technical field

The invention relates to an end effector for picking fruits and vegetables, in particular to a manipulator for picking fruits and vegetables based on PLC control.

Background technique

As people's demand for fruits and vegetables continues to increase, the planting area of fruits and vegetables continues to increase. Fruits and vegetables need to be picked in time after they are ripe, otherwise it will not only lead to over-ripe fruits and vegetables, but also cause losses due to climate reasons. Fruits and vegetables that are difficult to pick may be dangerous if picked manually. With the continuous advancement of science and technology, it has become inevitable for fruit and vegetable picking robots to replace manual labor. Modern fruit and vegetable planting has changed from the traditional single small-area model to the centralized wide-area model. Not only put forward higher requirements for planting technology, but also have certain requirements for its picking efficiency and picking success rate. In order to improve the degree of mechanization and automation of fruit and vegetable picking, it is necessary to introduce a picking manipulator with a higher degree of automation when picking fruits and vegetables.

Contents of the invention

In order to solve the above-mentioned problems, the present invention provides a PLC-based fruit and vegetable picking manipulator.

The technical scheme for solving the problem of the present invention is: a fruit and vegetable picking manipulator based on PLC control, which consists of a mobile trolley, characterized in that: the mobile trolley is equipped with picking machine power supply, PLC control center, stepping motor control Part, lever arm 1, fruit storage box, described lever arm 1 is connected with stepper motor 1, described stepper motor 1 is connected with lever arm 2, and described lever arm 2 is connected with stepper motor 2, so Described stepper motor 2 is connected with manipulator, and described manipulator below is equipped with flexible net, and described flexible net is connected with storage box;

The PLC-based fruit and vegetable picking manipulator includes three parts: a claw, a wrist, and an arm. A flexible net support is installed on the arm, and the flexible net support is connected to the top of the flexible net.

beneficial effect

A fruit and vegetable picking manipulator based on PLC control designed by the present invention has versatility, can pick a variety of fruits and vegetables, has a high degree of intelligence, and the cost is within the acceptable range of fruit and vegetable planting, and the picking manipulator has Multiple functions such as lifting, turning, pulling and positioning are controlled by the PLC controller, which improves the accuracy of operation and positioning accuracy, and is designed in combination with the structural characteristics of fruits and vegetables and their hardness physical indicators, which improves the success of picking. Rate.

Description of drawings

Accompanying drawing 1 is the structural diagram of the present invention.

Accompanying drawing 2 is the structural schematic diagram of the manipulator of the present invention.

In the figure: 1-mobile trolley, 2-picker power supply, 3-PLC control center, 4-stepper motor control part, 5-lever arm 1, 6-stepper motor 1, 7-lever arm 2, 8-step Enter motor 2, 9-claw, 10-wrist, 11-arm, 12-flexible net support, 13-flexible net, 14-fruit box.

detailed description

The technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of them. Based on the present invention All other embodiments obtained by persons of ordinary skill in the art without creative efforts, all belong to the scope of protection of the present invention.

As shown in Figure 1, the present invention discloses a fruit and vegetable picking manipulator based on PLC control. ), PLC control center (3), stepper motor control part (4), lever arm 1 (5), fruit storage box (14), and the lever arm 1 (5) is connected with stepper motor 1 (6) , the stepper motor 1 (6) is connected to the lever arm 2 (7), the lever arm 2 (7) is connected to the stepper motor 2 (8), and the stepper motor 2 (8) is connected to The manipulator is connected, and a flexible net (13) is installed under the manipulator, and the flexible net (13) is connected with the fruit storage box (14). The above-mentioned PLC-based fruit and vegetable picking manipulator, the manipulator It consists of three parts: claw (9), wrist (10), and arm (11). A flexible net support (12) is installed on the arm, and the flexible net support (12) is connected to the top of the flexible net (13). .

It will be obvious to a person skilled in the art that the invention is not restricted to the details of the exemplary embodiments described above, but that it can be implemented in other configurations without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents are included in the invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (2)

1. a kind of mechanical hand of fruit and vegetable picking controlled based on PLC, its composition is included：Moving cart, it is characterized in that：Described movement Harvesting electromechanical source, PLC control centres are installed on dolly, step motor control part, lever arm 1, fruit case, described lever arm 1 is deposited It is connected with stepper motor 1, described stepper motor 1 is connected with lever arm 2, described lever arm 2 is connected with stepper motor 2, described Stepper motor 2 is connected with manipulator, is provided with flexible net below described manipulator, described flexible net is connected with depositing fruit case.

2. a kind of mechanical hand of fruit and vegetable picking controlled based on PLC according to claim 1, it is characterized in that：Described machinery Hand includes paw, wrist, the part of arm three, is provided with flexible net support on described arm, described flexible net support with it is soft Property net top connection.