CN106576597B

CN106576597B - Fruit and vegetable picking manipulator

Info

Publication number: CN106576597B
Application number: CN201611109386.5A
Authority: CN
Inventors: 李小兵; 廖鸿朋; 兰新强; 钱浩琛; 艾凌飞
Original assignee: Nanchang University
Current assignee: Nanchang University
Priority date: 2016-12-06
Filing date: 2016-12-06
Publication date: 2023-04-07
Anticipated expiration: 2036-12-06
Also published as: CN106576597A

Abstract

A fruit and vegetable picking manipulator comprises a grabbing device, a cutting device and a shell; the mechanical arm consists of a plurality of mechanical claws, each mechanical claw is provided with a blade, when fruits and vegetables are placed in an inner shell of the mechanical arm, branches of the fruits and vegetables can be fed into gaps of the two mechanical claws along with the fruits and vegetables, every two adjacent mechanical claws are connected through a spring, when the mechanical arm rotates outside the inner shell, the spring is not stressed, when the mechanical arm rotates in the inner shell, the mechanical claws are contacted with mutually approaching tracks on the surface of the inner shell gradually, the mechanical claws are drawn close inwards, and the blades on the claws can be contacted and closed to finish the action of cutting the branches; the manipulator adopts the innovative mode of grabbing and cutting, and the speed of picking the fruits and vegetables can be obviously improved, and the fresh-keeping time of the fruits and vegetables can be prolonged by cutting off the branches, so that the cost of preserving the fruits and vegetables by fruit growers is reduced, and the manual labor is reduced.

Description

Fruit and vegetable picking manipulator

Technical Field

The invention relates to a fruit and vegetable picking manipulator, and belongs to the technical field of machinery.

Background

At present, most of fruit picking adopts a mode of positioning fruit branches and then cutting the branches by rotating a blade. However, when the cutting mode is used for cutting fruits such as fruits and vegetables, due to the fact that branches of the fruits and vegetables are moderate in hardness and good in toughness, the rapidly rotating blade can bounce the branches of the fruits and vegetables under most conditions, and the cutting of the branches cannot be completed. In addition, after the fruit branches are positioned by a small number of fruit picking devices, the branches can be cut off by the mechanical arm through the scissors-shaped blades, the method can cut off the branches of the fruits and the vegetables when the force of the blades is enough, but the method has the defect that the branches of the fruits and the vegetables cannot be cut continuously, positioning is needed once every time the fruit and the vegetable is reduced, then the mechanical arm stretches out again, the mechanical arm retracts after the cutting is finished, the efficiency is very low, and the cost is high.

Disclosure of Invention

The invention aims to provide a fruit and vegetable picking manipulator aiming at the defects in the prior art.

The fruit and vegetable picking manipulator comprises a grabbing device, a cutting device, a motor and a shell;

the gripping device comprises a manipulator, a main shaft, a shaft connecting part, a radial thrust ball bearing, a shaft cover and a straight tooth cylindrical gear set; the mechanical arm consists of seven mechanical claws, a shaft connecting part is arranged on the main shaft, the mechanical claws are connected with the shaft connecting part through hinges, the mechanical claws and the shaft connecting part can rotate at a certain small angle, the radial thrust ball bearing is arranged on the main shaft, the matched end cover is used for fixing the position of the mechanical arm, and the straight-tooth cylindrical gear set is connected with the main shaft through a key. When the motor drives the straight-tooth cylindrical gear set to rotate and further drives the main shaft to rotate, the manipulator rotates along with the main shaft, then contacts with fruits and vegetables in a rotating space, and the manipulator rotates to push the fruits and vegetables into the end effector.

The cutting device comprises a blade, a spring, a mechanical claw, a track and a guide rod group; the blade passes through the bolt and installs on the gripper surface, and the gripper is total seven and all connect on a spring, realizes the certain angle rotation of gripper through the flexible of spring, and orbital position is on end effector inner chamber surface, and seven tracks are total and seven tracks draw close to the centre along with the extension of length, and the guide bar group is installed on the gripper. After the fruits and vegetables enter the end effector, fruit and vegetable branches enter, guide rod groups on the seven mechanical claws are gradually contacted with the seven tracks, the mechanical claws compress springs under the constraint action of the tracks and then are all closed towards the middle, and at the moment, blades on every two mechanical claws are closed in a contact manner to cut the branches of the fruits and vegetables;

the motor comprises a speed reducing mechanism and an output shaft; the motor is arranged on the surface of the end effector; an output shaft of the motor is connected with the straight-tooth cylindrical gear set through a key;

the shell is formed by splicing a plurality of processed plates; the shell is placed in the center of the end effector; the shell is provided with a hole for placing the main shaft.

The invention has the following effects: can continuously and effectively cut the fruit and vegetable branches, thereby saving time and reducing cost.

Drawings

FIG. 1 is a schematic structural view of the present invention; in the figure: 1-a shell, 2-a motor, 3-a gripping device and 4-a cutting device;

FIG. 2a is a front view of a partial structure of the grasping apparatus; FIG. 2b is an isometric view of the grasping device; FIG. 2c is a front view of the grasping apparatus;

in the figure: 5-a shaft connecting component, 6-a manipulator, 7-a main shaft, 8-a radial thrust ball bearing, 9-a shaft cover and 10-a straight-tooth cylindrical gear set;

FIG. 3a is an isometric view of a shearing device; FIG. 3b is an enlarged view of a portion of the shearing device;

in the figure: 11-spring, 12-rail, 13-blade, 14-gripper, 15-guide bar set;

FIGS. 4a, 4b, 4c, 4d and 4e are schematic diagrams of fruit and vegetable picking processes; in the figure: g is fruit and vegetable.

Detailed description of the preferred embodiments

The embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, the gripping means 3 and the cutting means 4, the motor 2 are mounted on the housing 1. As shown in fig. 2a, the motor drives the spindle 7 to rotate through the spur gear set 10, the spindle 7 is provided with a shaft cover 9 and a radial thrust ball bearing 8, the spindle 7 is connected with the manipulator 6 through the shaft connecting part 5, and the manipulator 6 is driven to rotate when the spindle 7 rotates, so that the fruit and vegetable can be grabbed. As shown in fig. 3a, 3b, 4c, and 4d, after fruit and vegetable branches enter the gap between 3 and 4 of the gripper 14, in the rotation process, the guide rod set 15 on the gripper 14 contacts the track 12, the gripper 14 is pressed by the track 12 to move toward the center, at this time, the blades 13 on the gripper 14 overlap each other to complete the cutting action on the branches, after the cutting is completed, the guide rod set 15 is separated from the track, the gripper 14 is propped open by the spring 11 connected to the spring 11 to return to the initial position, and the fruit and vegetable branches fall into the collecting device from below.

Claims

1. The utility model provides a manipulator is picked to fruit vegetables which characterized in that: the fruit and vegetable picking manipulator comprises a grabbing device, a cutting device, a motor and a shell;

the gripping device comprises a manipulator, a main shaft, a shaft connecting component, a radial thrust ball bearing, a shaft cover and a straight-tooth cylindrical gear set; the mechanical arm consists of seven mechanical claws, a shaft connecting part is arranged on the main shaft, the mechanical claws are connected with the shaft connecting part through hinges, the two mechanical claws can rotate at a certain small angle, the radial thrust ball bearing is arranged on the main shaft, an end cover is matched for fixing the position of the mechanical arm, a straight-tooth cylindrical gear set is connected with the main shaft through a key, when the motor drives the straight-tooth cylindrical gear set to rotate so as to drive the main shaft to rotate, the mechanical arm rotates along with the main shaft and then contacts with fruits and vegetables in a rotating space, and the mechanical arm rotates to push the fruits and vegetables into the end effector;

the cutting device comprises a blade, a spring, a mechanical claw, a track and a guide rod group; the blades are installed on the surface of the mechanical claw through bolts, seven mechanical claws are connected to one spring, the mechanical claw rotates at a certain angle through the extension and retraction of the spring, the position of a track is arranged on the surface of the inner cavity of the end effector, seven tracks are arranged, the seven tracks are drawn close to the middle along with the extension of the length, a guide rod group is installed on the mechanical claw, fruit and vegetable branches enter the mechanical claw after the fruit and vegetable enter the end effector, the guide rod groups on the seven mechanical claws are gradually contacted with the seven tracks, the mechanical claw compresses the spring under the constraint action of the tracks and then draws close to the middle, and the blades on every two mechanical claws are contacted and closed at the moment to cut the branches of the fruit and vegetable;

the shell is formed by splicing a plurality of processed plates; the shell is placed in the center of the end effector; the shell is provided with a hole for placing the main shaft;

the working process of the fruit and vegetable picking manipulator is as follows: the gripping device (3), the cutting device (4) and the motor (2) are all arranged on the shell (1); the electric motor drives the main shaft (7) to rotate through the straight-tooth cylindrical gear set (10), the main shaft (7) is provided with the shaft cover (9) and the radial thrust ball bearing (8), the main shaft (7) is connected with the mechanical arm (6) through the shaft connecting part (5), and the mechanical arm (6) is driven to rotate when the main shaft (7) rotates, so that the fruit and vegetable can be grabbed; after fruit and vegetable branches enter a gap between 3 and 4 of the mechanical claw (14), in the rotating process, a guide rod group (15) on the mechanical claw (14) can be in contact with the track (12), the mechanical claw (14) is extruded by the track (12) to be close to the center, blades (13) on the mechanical claw (14) are overlapped with each other at the moment to complete the cutting action on the branches, after the cutting is completed, the guide rod group (15) is separated from the track, a spring (11) connected with the mechanical claw (14) is stretched to return to the initial position, and the fruit and vegetable branches fall into the collecting device from the lower part.