CN117530054A - Unmanned electric picking robot for palm fruits - Google Patents
Unmanned electric picking robot for palm fruits Download PDFInfo
- Publication number
- CN117530054A CN117530054A CN202311806036.4A CN202311806036A CN117530054A CN 117530054 A CN117530054 A CN 117530054A CN 202311806036 A CN202311806036 A CN 202311806036A CN 117530054 A CN117530054 A CN 117530054A
- Authority
- CN
- China
- Prior art keywords
- fixed
- chassis
- palm fruit
- oil cylinder
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 61
- 239000003921 oil Substances 0.000 claims abstract description 43
- 230000001276 controlling effect Effects 0.000 claims abstract description 7
- 230000001105 regulatory effect Effects 0.000 claims abstract description 6
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000004807 localization Effects 0.000 abstract 1
- 241001133760 Acoelorraphe Species 0.000 description 52
- 230000009471 action Effects 0.000 description 17
- 230000000694 effects Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a palm fruit unmanned electric picking robot which comprises a chassis, wherein a generator set is fixed on the right side of the upper end face of the chassis, a hydraulic oil tank is fixed on the front side of the upper end face of the chassis, a hydraulic power device is fixed on the rear side of the upper end face of the chassis, a radiator is also fixed on the chassis, and an electric control system for regulating and controlling the whole device is fixed on the left side of the radiator; further comprises: and the hydraulic support oil cylinder is fixed at the lower end of the right side of the chassis. This unmanned electric picking robot of palm fruit can realize high-efficient picking, through autonomous localization, navigation and the route planning technique of robot, can realize the palm fruit of efficient and pick the operation, and the robot can continuous operation, does not receive time and climate restriction, can accomplish a large amount of picking tasks in the short time, improves production efficiency by a wide margin, and greatly reduces the cost of labor and the danger of picking to effectively solve the ubiquitous labour shortage problem in palm fruit planting area.
Description
Technical Field
The invention relates to the technical field of palm fruit picking, in particular to an unmanned electric palm fruit picking robot.
Background
At present, the palm fruit picking robot market is at a starting stage and is not marketized, but has a wide development prospect, the picking efficiency is improved, the labor cost is reduced, the picking quality is improved by adopting a robot picking technology, and meanwhile, the unmanned picking robot market is gradually expanded along with the rising of the labor cost and the promotion of agricultural mechanization.
The traditional palm fruit picking work mainly relies on manual labor, and the leaves and fruits of the palm tree are cut by using a manual tool, so that the problems of high labor intensity, low efficiency, high risk, high labor cost and the like are solved. Therefore, the unmanned palm fruit picking robot has important application prospect and market demand.
Disclosure of Invention
The invention aims to provide an unmanned electric picking robot for palm fruits, which aims to solve the problems of high labor intensity, low efficiency, high risk and high labor cost of manual picking in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the palm fruit unmanned electric picking robot comprises a chassis, a generator set is fixed on the right side of the upper end face of the chassis, a hydraulic oil tank is fixed on the front side of the upper end face of the chassis, a hydraulic power device is fixed on the rear side of the upper end face of the chassis, a radiator is further fixed on the chassis, and an electric control system is fixed on the left side of the radiator for regulating and controlling the whole device;
further comprises:
the hydraulic support oil cylinder is fixed at the lower end of the right side of the chassis, a mounting beam is further arranged below the chassis, steel crawler travelling mechanisms are symmetrically fixed on the mounting beam front and back, and a driving motor is connected to the steel crawler travelling mechanisms;
the first oil cylinder is rotationally connected to the right side of the chassis;
the lift is connected to the chassis up end, the chassis up end still is connected with rotatable adjusting cylinder, adjusting cylinder sets up on the lift right side, still be fixed with camera and range radar on the lift, the camera is located range radar top, six transfer robots are installed to the lift upper end, be fixed with the mounting bracket on the six transfer robots, the mounting bracket left end downside is fixed with hydraulic pressure scissors, hydraulic pressure scissors square is provided with grabbing device, grabbing device installs on the mounting bracket.
Preferably, the generating set consists of a solar generating device, and comprises a solar cell module, a controller, a storage battery and an inverter, and the self-generating power supply mechanism is formed by the mechanism, so that a power foundation can be provided for the whole device, and a foundation guarantee is provided for the normal operation of the whole device.
Preferably, the hydraulic support oil cylinder is symmetrically distributed around the central line of the chassis, the bottom plate is fixed at the output end of the hydraulic support oil cylinder, and after the device moves to a required position, the positioning and fixing of the whole device can be realized through the functions of the hydraulic support oil cylinder and the bottom plate, so that the device is prevented from deviating and shaking in the picking process, and the normal picking process is ensured.
Preferably, one end of a spring damper is fixed on the mounting beam, the other end of the spring damper is fixed on the chassis, the spring damper is symmetrically distributed around the central line of the mounting beam, a buffer mechanism is formed through the mechanism, and when the device walks, the buffer damping can be realized through the action of the spring damper, so that the travelling comfort of a vehicle is improved, and the impact on different terrains is reduced.
Preferably, the first oil cylinder is rotationally connected with the chassis, the output end of the first oil cylinder is rotationally connected with the push shovel, the push shovel is positioned on the left side of the chassis, the adjusting mechanism is formed by the mechanism, and the adjusting function of the push shovel can be realized through the expansion and contraction of the first oil cylinder and the rotation function of the push shovel and the first oil cylinder, so that the push shovel can perform normal foreign matter cleaning function, and the obstacle is prevented from influencing the normal running of the device.
Preferably, the one end at the connecting plate is connected in the rotation of pushing away shovel right-hand member face downside, and the other end of connecting plate rotates to be connected on the chassis, push away and still be fixed with the shovel board through the bolt on the shovel, and the shovel board is the slope installation, through the rotation effect of connecting plate, is the basic guarantee that realizes pushing away shovel normal adjustment, cooperates the effect of shovel board, can conveniently promote the foreign matter, and can avoid causing the damage to pushing away the shovel, guarantees the life of pushing away the shovel.
Preferably, the lifter is rotationally connected with the chassis, the right end of the lifter is fixedly provided with a guide rod, and the height of the whole picking device can be adjusted through the effect of the lifter, so that palm fruits with different heights can be picked, and the adaptability of the device is improved.
Preferably, the output end of the adjusting oil cylinder is rotationally connected with a sliding block, the sliding block is in sliding connection with the guide rod, and when the inclination angle of the lifter is adjusted, the normal operation of the inclination angle adjustment of the lifter can be ensured through the telescopic action of the adjusting oil cylinder and the sliding adjustment action of the sliding block.
Preferably, the hydraulic scissors are composed of a fixed rod, a fixed cutter, a movable cutter and a hydraulic rod, the fixed cutter is fixed on the fixed rod, the movable cutter which is rotatable is connected to the fixed rod, the hydraulic rod is rotationally connected to the fixed rod, meanwhile, the output end of the hydraulic rod is rotationally connected to the movable cutter, the hydraulic rod is used for forming a shearing mechanism, the movable cutter is driven to rotate through stretching of the hydraulic rod when palm fruits are picked, the shearing action of the movable cutter and the fixed cutter is matched, and basic guarantee is provided for picking of the palm fruits.
Preferably, the grabbing device comprises a second oil cylinder, a mounting ring, clamping jaws, a fixing plate and a connecting rod, wherein the mounting ring is fixed on the outer side of the second oil cylinder, three groups of rotatable clamping jaws are connected with the mounting ring at equal angles, the fixing plate is fixed at the lower end of the second oil cylinder, one end of the rotatable connecting rod is connected to the fixing plate, the other end of the connecting rod is rotationally connected to the clamping jaw, the clamping and positioning mechanism is formed through the mechanism, and when palm fruits are picked, the clamping and positioning mechanism can be unfolded or tightened through the telescopic action of the second oil cylinder and the transmission action of the connecting rod, so that palm fruits needing to be picked can be clamped and fixed, and normal picking is facilitated.
Compared with the prior art, the invention has the beneficial effects that: the unmanned electric picking robot for the palm fruits can realize efficient picking, can realize efficient palm fruit picking operation through autonomous positioning, navigation and path planning technologies of the robot, can continuously operate without being limited by time and weather, can finish a large number of picking tasks in a short time, greatly improves the production efficiency, greatly reduces the labor cost and the picking danger, thereby effectively solving the problem of labor shortage commonly existing in palm fruit planting areas, and can improve the intelligent level of agricultural production and promote the innovation and upgrading of agricultural industry by introducing advanced robot technology;
the palm fruit unmanned electric picking robot is provided with the steel track travelling mechanism, and when picking, the whole device can be conveniently and stably walked through the generator set, the mounting beam, the spring shock absorber, the steel track travelling mechanism and the driving motor, so that the device can be conveniently moved to a picking area, foreign matters on a travelling path of the device can be conveniently cleaned by matching with the functions of the first oil cylinder, the push shovel, the connecting plate and the shovel plate, and the normal walking of the device is ensured;
the unmanned electric picking robot for the palm fruits is provided with the six-axis carrying robot, when picking, the palm fruits can be identified and positioned through the camera and the range radar, and the height and the inclination angle of the picking mechanism can be adjusted through the actions of the lifter, the guide rod, the adjusting oil cylinder and the sliding block, so that the actual picking requirements can be met better;
this unmanned electric picking robot of palm fruit is provided with grabbing device, when picking palm fruit, through grabbing device, second hydro-cylinder, collar, clamping jaw, fixed plate and connecting rod's effect, can realize that the centre gripping of palm fruit is fixed, cooperation, dead lever, fixed cutter, activity cutter and hydraulic stem's effect can realize shearing action to realize the automatic picking of palm fruit.
Drawings
FIG. 1 is a schematic perspective view of a structural robot in front of the present invention;
FIG. 2 is a schematic diagram of a side view of the structural robot of the present invention;
FIG. 3 is a schematic perspective view of the chassis structure of the present invention;
FIG. 4 is a partial front view of the guide rod and the adjusting cylinder of the present invention;
FIG. 5 is a schematic perspective view of a structure of the gripping device of the present invention;
FIG. 6 is a schematic diagram of the relationship of the various components of the present invention;
FIG. 7 is a schematic diagram of the control center system of the present invention.
In the figure: 1. a chassis; 2. a generator set; 3. a hydraulic oil tank; 4. a hydraulic power device; 5. a heat sink; 6. an electric control system; 7. a hydraulic support cylinder; 701. a bottom plate; 8. mounting a beam; 801. a spring damper; 9. a steel track travelling mechanism; 10. a driving motor; 11. a first cylinder; 12. pushing shovel; 1201. a connecting plate; 1202. a shovel plate; 13. a lifter; 1301. a guide rod; 14. an adjusting oil cylinder; 1401. a slide block; 15. a camera; 16. a range radar; 17. six-axis transfer robot; 18. a mounting frame; 19. hydraulic scissors; 1901. a fixed rod; 1902. fixing the cutter; 1903. a movable cutter; 1904. a hydraulic rod; 20. a gripping device; 2001. a second cylinder; 2002. a mounting ring; 2003. a clamping jaw; 2004. a fixing plate; 2005. and (5) connecting a rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 7, the present invention provides a technical solution: the unmanned electric picking robot for the palm fruits comprises a chassis 1, wherein a generator set 2 is fixed on the right side of the upper end face of the chassis 1, a hydraulic oil tank 3 is fixed on the front side of the upper end face of the chassis 1, a hydraulic power device 4 is fixed on the rear side of the upper end face of the chassis 1, a radiator 5 is also fixed on the chassis 1, and an electric control system 6 for regulating and controlling the whole device is fixed on the left side of the radiator 5; further comprises: the hydraulic support oil cylinder 7 is fixed at the lower end of the right side of the chassis 1, a mounting beam 8 is also arranged below the chassis 1, steel crawler travelling mechanisms 9 are symmetrically fixed on the mounting beam 8 front and back, and a driving motor 10 is connected to the steel crawler travelling mechanisms 9; the first oil cylinder 11 is rotatably connected to the right side of the chassis 1; the generator set 2 is composed of a solar power generation device, and the generator set 2 comprises a solar cell module, a controller, a storage battery and an inverter; the hydraulic support cylinders 7 are symmetrically distributed around the central line of the chassis 1, and a bottom plate 701 is fixed at the output end of each hydraulic support cylinder 7; one end of a spring damper 801 is fixed on the mounting beam 8, the other end of the spring damper 801 is fixed on the chassis 1, and the spring damper 801 is symmetrically distributed around the center line of the mounting beam 8; the first oil cylinder 11 is rotationally connected with the chassis 1, the output end of the first oil cylinder 11 is rotationally connected with the push shovel 12, and the push shovel 12 is positioned on the left side of the chassis 1; the lower side of the right end surface of the push shovel 12 is rotationally connected with one end of a connecting plate 1201, the other end of the connecting plate 1201 is rotationally connected with the chassis 1, a shovel plate 1202 is also fixed on the push shovel 12 through bolts, and the shovel plate 1202 is obliquely installed;
when the palm fruit unmanned electric picking robot is used, as shown in fig. 1-3, a power switch is turned on, a generator set 2 is matched to supply power to the whole device, a driving motor 10 is started by controlling a remote controller to operate an electric control system 6, a steel crawler traveling mechanism 9 is matched to enable the whole device to travel, in the traveling process, the stability of the traveling of the device can be ensured by the buffering and damping effect of a spring damper 801, in the traveling process of the device, when an obstacle such as a dendrobe exists at the front side of the traveling of the device, only a first oil cylinder 11 is controlled to stretch, the angle of a pushing shovel 12 can be adjusted by the action of the first oil cylinder 11 and the rotation effect of a connecting plate 1201 until a shoveling plate 1202 on the pushing shovel 12 contacts with the ground, at the moment, when the device travels, the foreign matters at the front side of a traveling route of the device can be pushed away by the action of the shoveling plate 1202, so that the normal traveling effect of the device is ensured, when the device moves to a required picking position, the hydraulic support oil cylinder 7 is controlled to stretch, the bottom plate 701 is driven to move downwards, and when the bottom plate 701 contacts with the ground, the supporting effect of the whole device can be ensured, and the stable device can be prevented from sliding is produced;
the lifting machine 13 is connected to the upper end face of the chassis 1, the upper end face of the chassis 1 is also connected with a rotatable adjusting oil cylinder 14, the adjusting oil cylinder 14 is arranged on the right side of the lifting machine 13, a camera 15 and a range radar 16 are also fixed on the lifting machine 13, the camera 15 is positioned above the range radar 16, and a six-axis carrying robot 17 is arranged at the upper end of the lifting machine 13; the lifter 13 is rotatably connected with the chassis 1, and a guide rod 1301 is fixed at the right end of the lifter 13; the output end of the adjusting oil cylinder 14 is rotatably connected with a sliding block 1401, and the sliding block 1401 is in sliding connection with a guide rod 1301; after the device is fixed, as shown in fig. 1, 2 and 4, the height of the picking device can be adjusted by controlling the lifter 13 so as to adapt to picking of palm fruits with different heights, and after the adjustment is finished, the lifter 13 can be stressed to rotate around the chassis 1 by matching with the rotation action between the adjusting cylinder 14 and the sliding block 1401 and the sliding action between the sliding block 1401 and the guide rod 1301 by controlling the adjusting cylinder 14 to stretch out and draw back, so that the inclination angle of the picking device can be adjusted so as to better meet the actual use requirements;
a mounting frame 18 is fixed on the six-axis transfer robot 17, a hydraulic shear 19 is fixed on the lower side of the left end of the mounting frame 18, a grabbing device 20 is arranged on the hydraulic shear 19 in a square manner, and the grabbing device 20 is mounted on the mounting frame 18; the hydraulic scissors 19 are composed of a fixed rod 1901, a fixed cutter 1902, a movable cutter 1903 and a hydraulic rod 1904, wherein the fixed cutter 1902 is fixed on the fixed rod 1901, the movable cutter 1903 which can rotate is connected to the fixed rod 1901, the hydraulic rod 1904 is also connected to the fixed rod 1901 in a rotating way, and meanwhile, the output end of the hydraulic rod 1904 is connected to the movable cutter 1903 in a rotating way; the grabbing device 20 is composed of a second oil cylinder 2001, a mounting ring 2002, clamping jaws 2003, a fixed plate 2004 and a connecting rod 2005, wherein the mounting ring 2002 is fixed on the outer side of the second oil cylinder 2001, three groups of rotatable clamping jaws 2003 are connected with the mounting ring 2002 at equal angles, the fixed plate 2004 is fixed at the lower end of the second oil cylinder 2001, one end of the rotatable connecting rod 2005 is connected to the fixed plate 2004, and the other end of the connecting rod 2005 is rotatably connected to the clamping jaws 2003;
when picking, as shown in fig. 1, fig. 2, fig. 5, fig. 6 and fig. 7, the color of the palm fruit can be identified through the camera 15 (the palm fruit can be picked up in red), so that whether the palm fruit meets the picking requirement is determined, when the picking requirement is met, the position of the palm fruit can be determined through the range finding radar 16, then the position of the hydraulic scissors 19 and the position of the grabbing device 20 can be adjusted by matching with the action of the six-axis transfer robot 17, the hydraulic scissors 19 and the grabbing device 20 are matched with the picked palm fruit cluster, when picking is carried out, the hydraulic scissors 19 can be rotated to the position above the grabbing device 20 through the action of the six-axis transfer robot 17, then the second oil cylinder 2001 is controlled to start, so that the fixed plate 2004 is driven to move, the three groups of cutters 2003 are stressed and rotate in a manner through matching with the transmission action of the connecting rods, and the distance between the three groups of the cutters 2003 is reduced until the three groups of cutters 2003 are contacted with the root of the palm fruit cluster to realize the clamping action, then the hydraulic rods 1903 are started, the hydraulic scissors 19 and the grabbing device 20 can be controlled, when the palm fruit cluster is picked up, the palm fruit cluster can be cut off by the root of the movable scissors 1903 and the palm cluster, the palm fruit cluster can be cut off the palm fruit cluster according to the action of the palm cluster 20, and the palm fruit cluster can be grabbed by the palm cluster, and the palm cluster can be separated, and the palm fruit can be grabbed by the palm cluster, and the principle that the palm cluster can be cut and the palm 20 is separated, and the left by the palm device when the palm device can be cut and the fact that is separated according to the effect and the situation when the situation is picked;
to sum up, as shown in fig. 1-7, through starting the generator set 2, turn on the power switch, after supplying power to the whole machine, operate the electric control system 6 through the remote controller, make this robot move to the working area, in the course of moving, if there is foreign matter such as branch on the ground to hinder this machine from moving, only need start the first hydro-cylinder 11, make the push shovel 12 work, push away the foreign matter, make things convenient for the device walk to the working area, rethread starts camera 15 and range radar 16 to get into operating condition, collect the palm tree in the area, and after comparing through the data of database, accord with the requirement of picking, this machine fully gets into the automatic degree of picking, at first carry out automatically regulated to the height of palm tree fruit through hydraulic lift 13, then carry out the automatically regulated of horizontal distance through six-axis transfer robot 17, after in place, grasp the root of whole string of palm fruit through grabbing device 20, cut from the root of cutting with hydraulic scissors 19, grasp whole string of palm fruit in the open ground after completion, then carry out the root position of fruit through six-axis transfer robot 17, this fruit is cut into the fruit through the electric drive of the robot, this fruit picking principle is completed.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The palm fruit unmanned electric picking robot comprises a chassis (1), a generator set (2) is fixed on the right side of the upper end face of the chassis (1), a hydraulic oil tank (3) is fixed on the front side of the upper end face of the chassis (1), a hydraulic power device (4) is fixed on the rear side of the upper end face of the chassis (1), a radiator (5) is further fixed on the chassis (1), and an electric control system (6) is fixed on the left side of the radiator (5) for regulating and controlling the whole device;
characterized by further comprising:
the hydraulic support oil cylinder (7) is fixed at the lower end of the right side of the chassis (1), a mounting beam (8) is further arranged below the chassis (1), steel crawler travelling mechanisms (9) are symmetrically fixed on the mounting beam (8) front and back, and a driving motor (10) is connected to the steel crawler travelling mechanisms (9);
the first oil cylinder (11) is rotationally connected to the right side of the chassis (1);
the lifting device comprises a lifting machine (13), wherein the lifting machine is connected to the upper end face of a chassis (1), a rotatable adjusting oil cylinder (14) is further connected to the upper end face of the chassis (1), the adjusting oil cylinder (14) is arranged on the right side of the lifting machine (13), a camera (15) and a range radar (16) are further fixed to the lifting machine (13), the camera (15) is located above the range radar (16), a six-axis transfer robot (17) is mounted at the upper end of the lifting machine (13), a mounting frame (18) is fixed to the six-axis transfer robot (17), hydraulic scissors (19) are fixedly arranged on the lower side of the left end of the mounting frame (18), grabbing devices (20) are arranged on the mounting frame (18) in a square mode, and the grabbing devices (20) are mounted on the mounting frame (18).
2. The palm fruit unmanned electric picking robot of claim 1, wherein: the generating set (2) is composed of a solar generating device, and the generating set (2) comprises a solar cell module, a controller, a storage battery and an inverter.
3. The palm fruit unmanned electric picking robot of claim 1, wherein: the hydraulic support cylinders (7) are symmetrically distributed around the central line of the chassis (1), and a bottom plate (701) is fixed at the output end of each hydraulic support cylinder (7).
4. The palm fruit unmanned electric picking robot of claim 1, wherein: one end of a spring damper (801) is fixed on the mounting beam (8), the other end of the spring damper (801) is fixed on the chassis (1), and the spring dampers (801) are symmetrically distributed around the central line of the mounting beam (8).
5. The palm fruit unmanned electric picking robot of claim 1, wherein: the first oil cylinder (11) is rotationally connected with the chassis (1), the output end of the first oil cylinder (11) is rotationally connected to the push shovel (12), and the push shovel (12) is positioned on the left side of the chassis (1).
6. The palm fruit unmanned electric picking robot of claim 5, wherein: the lower side of the right end face of the pushing shovel (12) is rotationally connected to one end of the connecting plate (1201), the other end of the connecting plate (1201) is rotationally connected to the chassis (1), the pushing shovel (12) is further fixedly provided with a shovel plate (1202) through a bolt, and the shovel plate (1202) is obliquely installed.
7. The palm fruit unmanned electric picking robot of claim 1, wherein: the lifter (13) is rotatably connected with the chassis (1), and a guide rod (1301) is fixed at the right end of the lifter (13).
8. The palm fruit unmanned electric picking robot of claim 7, wherein: the output end of the adjusting oil cylinder (14) is rotatably connected with a sliding block (1401), and the sliding block (1401) is in sliding connection with the guide rod (1301).
9. The palm fruit unmanned electric picking robot of claim 1, wherein: the hydraulic scissors (19) are composed of a fixed rod (1901), a fixed cutter (1902), a movable cutter (1903) and a hydraulic rod (1904), wherein the fixed cutter (1902) is fixed on the fixed rod (1901), the movable cutter (1903) which can rotate is connected to the fixed rod (1901), the hydraulic rod (1904) is further rotationally connected to the fixed rod (1901), and meanwhile, the output end of the hydraulic rod (1904) is rotationally connected to the movable cutter (1903).
10. The palm fruit unmanned electric picking robot of claim 1, wherein: the grabbing device (20) is composed of a second oil cylinder (2001), a mounting ring (2002), clamping jaws (2003), a fixing plate (2004) and a connecting rod (2005), wherein the mounting ring (2002) is fixed on the outer side of the second oil cylinder (2001), three groups of rotatable clamping jaws (2003) are connected with the mounting ring (2002) at equal angles, the fixing plate (2004) is fixed at the lower end of the second oil cylinder (2001), one end of the rotatable connecting rod (2005) is connected to the fixing plate (2004), and the other end of the connecting rod (2005) is connected to the clamping jaws (2003) in a rotating mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311806036.4A CN117530054A (en) | 2023-12-26 | 2023-12-26 | Unmanned electric picking robot for palm fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311806036.4A CN117530054A (en) | 2023-12-26 | 2023-12-26 | Unmanned electric picking robot for palm fruits |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117530054A true CN117530054A (en) | 2024-02-09 |
Family
ID=89794072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311806036.4A Pending CN117530054A (en) | 2023-12-26 | 2023-12-26 | Unmanned electric picking robot for palm fruits |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117530054A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102635081A (en) * | 2012-05-09 | 2012-08-15 | 中信机电制造公司科研设计院 | Push shovel device used for airport road obstacle clearing |
| KR101249355B1 (en) * | 2013-01-24 | 2013-04-03 | 경북대학교 산학협력단 | Hander for oriental melon harvesting robot |
| CN103967067A (en) * | 2013-02-02 | 2014-08-06 | 江苏八达重工机械股份有限公司 | Wheel type chassis travelling device with H-shaped support legs and bulldozer of engineering machinery |
| CN107558517A (en) * | 2017-07-26 | 2018-01-09 | 三汽车制造有限公司 | Special vehicle with barrier clearing device |
| CN111602515A (en) * | 2020-05-18 | 2020-09-01 | 山东省农业机械科学研究院 | Palm orchard operation device and system |
| CN112166817A (en) * | 2019-07-05 | 2021-01-05 | 泰国久保田有限公司 | Clamping device for agricultural products and disassembling method |
| CN112753361A (en) * | 2021-02-24 | 2021-05-07 | 安徽天达网络科技有限公司 | Orchard fruit picking assembly based on internet agriculture |
| CN217308341U (en) * | 2022-04-18 | 2022-08-30 | 张芷雯 | Automatic fruit picking machine |
-
2023
- 2023-12-26 CN CN202311806036.4A patent/CN117530054A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102635081A (en) * | 2012-05-09 | 2012-08-15 | 中信机电制造公司科研设计院 | Push shovel device used for airport road obstacle clearing |
| KR101249355B1 (en) * | 2013-01-24 | 2013-04-03 | 경북대학교 산학협력단 | Hander for oriental melon harvesting robot |
| CN103967067A (en) * | 2013-02-02 | 2014-08-06 | 江苏八达重工机械股份有限公司 | Wheel type chassis travelling device with H-shaped support legs and bulldozer of engineering machinery |
| CN107558517A (en) * | 2017-07-26 | 2018-01-09 | 三汽车制造有限公司 | Special vehicle with barrier clearing device |
| CN112166817A (en) * | 2019-07-05 | 2021-01-05 | 泰国久保田有限公司 | Clamping device for agricultural products and disassembling method |
| CN111602515A (en) * | 2020-05-18 | 2020-09-01 | 山东省农业机械科学研究院 | Palm orchard operation device and system |
| CN112753361A (en) * | 2021-02-24 | 2021-05-07 | 安徽天达网络科技有限公司 | Orchard fruit picking assembly based on internet agriculture |
| CN217308341U (en) * | 2022-04-18 | 2022-08-30 | 张芷雯 | Automatic fruit picking machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202077380U (en) | Global positioning system (GPS) navigation mowing robot | |
| CN102612926B (en) | Mechanized fruit picking, collecting and transporting system and method | |
| CN209527208U (en) | A kind of strawberry picking machine | |
| CN114301386B (en) | Photovoltaic panel cleaning device and cleaning method | |
| CN204132038U (en) | A kind of vehicle type electric hedgeclipper | |
| CN108738640B (en) | Self-propelled lawn trimming device | |
| CN111133882B (en) | Mower with omnidirectional mowing cutterhead | |
| CN209572524U (en) | A kind of intelligence branch pruning machine people | |
| CN113981969A (en) | Guardrail pile driver capable of intelligently taking and positioning piles and working method | |
| CN111149534A (en) | Movable double-arm fruit tree pruning robot | |
| CN109744006B (en) | Green belt trimming system based on laser cutting and trimming method thereof | |
| CN108990548B (en) | Unmanned tea picking machine suitable for different terrains | |
| CN117530054A (en) | Unmanned electric picking robot for palm fruits | |
| CN208816963U (en) | A kind of robot | |
| CN215223279U (en) | Multifunctional pruning vehicle | |
| CN214015083U (en) | Sufficient low-order picking robot | |
| CN114451149A (en) | Profiling shearing lifting type intelligent picking robot for watermelon and melon | |
| CN202819064U (en) | Grape winter pruning operation device based on machine vision | |
| CN216839423U (en) | Guardrail pile driver of stake, location is got to intelligence | |
| CN113748865B (en) | Electric tree-climbing pruning machine based on clamping degree adjustable device | |
| CN113079825A (en) | Automatic fruit and vegetable picking machine based on three-coordinate mechanical arm | |
| CN114946408B (en) | Four-wheel type multifunctional orchard mechanical device for facility cultivation melon | |
| CN113812232A (en) | Self-adaptive support platform convenient for smart orchard operation and operation method thereof | |
| CN219893933U (en) | Tree obstacle cleaning device | |
| CN217722084U (en) | Passion fruit intelligent vehicle of gathering |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |