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Cartesian coordinate type fruit picking mechanical arm device

A technology of rectangular coordinates and manipulators, which is applied to picking machines, agricultural machinery and tools, harvesters, etc., can solve the problems of low versatility and difficult control, and achieve the effect of broad market prospects, low cost and good mechanical versatility

Inactive Publication Date: 2008-03-19
CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Joints, suitable for picking one kind of fruit, relatively flexible, but difficult to control and not very versatile

Method used

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  • Cartesian coordinate type fruit picking mechanical arm device
  • Cartesian coordinate type fruit picking mechanical arm device
  • Cartesian coordinate type fruit picking mechanical arm device

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Embodiment Construction

[0023] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0024] As shown in Figure 1, the present invention includes a working support, a horizontal movement mechanism, a vertical movement mechanism and a depth movement mechanism.

[0025] The working support includes a flat workbench 1, a group of "II" type supports 2, 2' are fixed on both sides of the workbench 1, and a belt There is a motor support bar 3 with a reducer, and a vertical lead screw support bar 4 corresponding to the motor support bar 3 is arranged on the bottom surface of the middle part of the beams 2a, 2a' of the two sets of brackets 2, 2'. The middle part of the motor support bar 3 and the vertical lead screw support bar 4 is respectively provided with a long-hole-shaped horizontal slideway 5, 5'.

[0026] The horizontal movement mechanism includes two fixed plates 6, 6' arranged on the workbench 1 arranged inside the two groups of brac...

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Abstract

The invention relates to a Cartesian coordinate fruit picking manipulator, which includes a working support, a horizontal movement mechanism, a vertical movement mechanism and a depth movement mechanism; the working support includes a flat workbench and an upper support, and a horizontal slideway is arranged on the upper support; The horizontal movement mechanism includes a horizontal lead screw driven by a horizontal motor through a harmonic reducer, a horizontal slider connected to the horizontal lead screw and guided by two horizontal light rods; the vertical movement mechanism includes a vertical motor through a harmonic deceleration The vertical lead screw driven by the device, a vertical slider connected to the vertical lead screw and guided by two vertical light rods, the bottom of the vertical movement mechanism is connected to the top of the horizontal slider, and the top of the vertical movement mechanism is slid on the level of the upper bracket. In the slideway; the depth moving mechanism includes a rack driven by a gear motor through a gear, the rack is set on a rack support plate, and the rack support plate is fixedly connected to one side of the vertical slider; the picking claw is connected to the rack one end. The invention can be widely applied to the automatic picking of vertical hanging fruits.

Description

technical field [0001] The invention relates to an agricultural machine, in particular to a Cartesian coordinate fruit picking manipulator. Background technique [0002] With the gradual expansion of greenhouse vegetable planting area, vegetable production has increased year by year. However, the picking of vegetables is still carried out manually, and the labor intensity is also very high. The gradual transfer of rural labor force to the secondary and tertiary industries has gradually increased the cost of labor, and it is urgent to solve the problem of mechanization of picking. Regarding the research on fruit picking machinery, Japan, the United States, etc. have developed picking robots such as apples, citrus, Chinese cabbage, watermelon, cucumber, tomato, etc. The manipulators of these robots use rotary joints and direct motion [0003] The joints are suitable for picking one kind of fruit. They are relatively flexible, but difficult to control and not very versatile. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30
Inventor 徐丽明邓丁华
Owner CHINA AGRI UNIV
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