CN106576604B

CN106576604B - Fruit and vegetable picking grabber

Info

Publication number: CN106576604B
Application number: CN201611108515.9A
Authority: CN
Inventors: 李小兵; 钱浩琛; 兰新强; 艾凌飞; 廖鸿朋
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: CN106576604A

Abstract

A fruit and vegetable picking grabber structurally comprises a grabbing system, a cutting system, a sensing system, a propelling system, a sleeve and the like. Picking grabber adopts novel snatching, transmission, cutting mode, and is simple reliable, and increases substantially intelligent picking robot's picking speed, and the control degree of difficulty is low, and is with low costs. Can meet the requirements of almost all fruit and vegetable picking machines, and is beneficial to improving the picking speed of the fruit picking machines and the practicability and commercialization of the robot.

Description

Fruit and vegetable picking grabber

Technical Field

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

Background

The fruits of citrus have larger acre yield, and the picking is more labor-consuming, and currently, no method or agricultural machinery in the world can effectively solve the problem. Two end effectors exist, one is to use the rotation of the wrist joint in two perpendicular directions to simulate the action of twisting the national handle by a human hand, and the other is to use a rotary blade to cut after the fruit is clamped by two hemispherical clamping covers. The two actuators respectively have the defects of incapability of continuously picking fruits, easiness in damaging the surfaces of the fruits, inconvenience in storage and low grabbing accuracy, and the two methods cannot realize continuous picking operation of the fruits and cannot cope with picking of citrus fruits with high growth density and easily damaged and unfavorable preservation of peels.

Disclosure of Invention

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

The grabber structure provided by the invention comprises: sleeve, grasping system, cutting system, sensing system, advancing system.

The grasping system includes: the device comprises a gripper, a rotating shaft, a motor, a bolt, a nut and a gasket; the gripper comprises two groups of eight sections of angle steel, wherein one group of eight sections of angle steel is bent by 30 degrees to form a centripetal closing trend to block fruits and vegetables to continue to move backwards, two holes with equal size and equal distance are formed at the tail ends of each section of angle steel and each bending angle steel, the two sections of angle steel are respectively connected through bolts, nuts and gaskets to form a long gripper segment consisting of the angle steel and the bending angle steel, the two groups of eight sections of angle steel are connected through the bolts, the nuts and the gaskets to form eight gripper segments, the eight gripper segments are matched with the right angle steel segment openings in the gripper segment through an eight-petal-shaped slice at the center and riveted together, so that the eight gripper segments can be fixed together to form a gripper similar to a birdcage shape, and because a wide gap is always kept between the gripper segments, branches can always reach the tail ends of the gripper through the gaps, and the eight tail ends of the slice have certain inclination, so that the gripper can be completely fixed through riveting and inclination matching; when the grabbing system operates, the fruit and vegetable are approached through the propelling system, when the fruit and vegetable approach to a certain degree, the grabbing system sleeves the fruit and vegetable and rotates along the rotating shaft under the driving of a motor arranged in the grabbing system, at the moment, the branches enter the tail end of the grabbing hand, the branches are cut off by the cutting system and are withdrawn through the propelling system, the grabbing system sleeves the fruit and vegetable and returns the fruit and vegetable to the sleeve, and one-time grabbing is completed.

The cutting system comprises a saw blade, a rotating shaft and a motor; the sensing system is formed by a pressure sensor; the method comprises the steps that a saw blade is matched with a rotating shaft of a motor, so that the motor can drive the saw blade to rotate at a high speed to cut branches when the motor operates, a pressure sensor is welded at the tail end of the rotating shaft, the motor is controlled, when a pushing system operates to push a grabbing system forwards to the positions of fruits and vegetables and to sleeve the fruits and vegetables, the motor in the grabbing system enables a hand grip to rotate, branches are gathered to the tail end of the hand grip through a gap between the hand grip, the pushing system starts to withdraw the grabbing system, when the grabbing system withdraws, the sensing system starts to operate, the pressure sensor in the sensing system receives extrusion from the fruits and vegetables when the pushing system withdraws the hand grip, a signal is generated and transmitted to the motor in the cutting system, and when the motor in the cutting system receives the signal transmitted from the sensing system, the motor starts to operate, the rotating shaft is driven to drive the saw blade to rotate at a high speed, and the branches gathered to the tail end of the hand grip are cut; the gripper is withdrawn by the pushing system all the time, when the branch is cut off, the pressure of the fruit and vegetable on a pressure sensor in the sensing system is reduced to be lower than the signal for driving the motor in the cutting system to start, and at the moment, the motor in the cutting system stops working.

The sleeve comprises a hollow cylinder and sliding grooves at two sides; two sides of one end of the sliding groove, which is close to the handle, are respectively provided with three small holes with equal intervals, and the small holes in the middle of the two sides are used for placing and fixing the motor and the rotating shaft; the other two groups of small holes on the two sides are used for matching with a half-transverse-n-shaped thin plate, the two thin plates are provided with two small holes and Kong Peitao on the sliding groove, and the two small holes and the Kong Peitao on the sliding groove are used for protecting a gear and preventing the gear from being blocked due to interference of outer branches; eight blocking rods with rotation limitation are installed at the end, close to the gripper, of the sleeve through pin connection, the blocking rods can only rotate towards the sleeve and cannot rotate towards the outside of the sleeve, the installation positions of the blocking rods are just matched with the gaps of the gripper, so that the gripper cannot push the blocking rods to rotate towards the outside, the blocking rods can only be pushed by fruits and vegetables to rotate towards the inside of the sleeve, the fruits and vegetables entering the inside of the sleeve cannot jump out of the sleeve due to the existence of the blocking plates, and the fruits and vegetables entering the inside of the sleeve are prevented from falling out of the sleeve due to external influence, and collection failure is caused.

The propulsion system comprises a gear, a rack, a motor, a rotating shaft and a fixed shaft; the installation of the propulsion system is as follows: the method comprises the steps of punching one end, without teeth, of a rack, installing the end, matched with a rotating shaft in a grabbing system, of a motor in a propelling system, connecting the rotating shaft with the rotating shaft in a matched mode, matching the rotating shaft with a middle small hole in three small holes in two sides of a sleeve, then matching two gears with the rotating shaft respectively, driving the rotating shaft to drive the gears to rotate by the motor, then loading the rack into a sliding groove, working matched with the gears, driving the rotating shaft to rotate by the motor in the propelling system to drive the gears to rotate, enabling the rack to move in the sliding groove by matching of the gears and the rack, and enabling the grabbing system to move by the aid of the grabbing system and the propelling system in a matched mode of shaft and hole, so that the rack can drive the grabbing system to move, and completing the actions of propelling and withdrawing the grabbing system.

The fruit and vegetable picking grabber comprises the following working processes: the gripper is close to the fruits and vegetables through the propelling system, when the fruits and vegetables enter the grabbing system, the motor in the grabbing system enables the gripper to rotate, so that fruit and vegetable branches fall to the tail end of the grabbing system, then the propelling system retracts, the fruit and vegetable extrusion sensing system drives the motor of the cutting system, the saw blade is driven to rotate at a high speed to cut off the branches, then the grabbing system brings the fruits and vegetables back into the sleeve to be retracted, and one-time picking action is completed.

The invention has the beneficial effects that: the picking grabber adopts novel grabbing, transmission and cutting modes, is simple and reliable, greatly improves the picking speed of the intelligent picking robot, and is low in control difficulty and low in cost. Can meet the requirements of almost all fruit and vegetable picking machines, and is beneficial to improving the picking speed of the fruit picking machines and the practicability and commercialization of the robot.

Drawings

FIG. 1 is a schematic structural view of the present invention;

in the figure: the device comprises a grabbing system 1, a sensing system 2, a cutting system 3 and a propelling system 4;

FIG. 2 is an assembled view of the components of the present invention;

in the figure: motor 5, rotation axis 6, tongs 7, saw blade 8, motor 9, rotation axis 10, motor 11, rack 12, motor 13, gear 14, sleeve 15, gear 16, motor 17, rack 18.

FIG. 3 is a schematic view of the grasping system of the present invention;

in the figure: motor 5, hand grip 7, rotating shaft 6, rotating shaft 10, motor 11;

FIG. 4 is a schematic view of a sensing system and grasping system of the present invention;

in the figure: a saw blade 8, a motor 9, a pressure sensor 19, and a rotary shaft 22;

FIG. 5 is a schematic view of a propulsion system and sleeve of the present invention;

in the figure: rack 12, motor 13, gear 14, sleeve 15, gear 16, motor 17, rack 18, and shift lever 20.

Detailed description of the preferred embodiments

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

As shown in fig. 1, the grasping system 1, the cutting system 2, the sensing system 3 and the propelling system 4. The motor 13 and the motor 17 respectively drive the gear 14 and the gear 16 to drive the rack 12 and the rack 18 to move away from the sleeve 15, so as to drive the grasping system 1 to move forward to the fruit and vegetable. When the grabbing system 1 advances to fruits and vegetables and is taken outside the fruits and vegetables, the motor 5 and the motor 11 drive the grippers 7 to rotate through the driving rotating shaft 6 and the driving rotating shaft 10 respectively, branches can enter the cutting system 3 behind the grippers along gaps between the gripper segments, the pushing system 4 starts to work and withdraws the grabbing system 1, the fruits and vegetables extrude a pressure sensor 19 arranged at the tail end of a rotating shaft 22 of the cutting system in the process that the pushing system 4 withdraws the grabbing system 1, the extruding force is increased along with the continuous withdrawing of the pushing system 4, when the extruding force is increased to a certain degree, and a signal is increased to a specified value, the motor 9 in the cutting system 3 starts, and the motor 9 starts to drive the saw blade 8 to rotate at a high speed to cut the branches entering the rear of the grippers 7. After the cutting, the extrusion force of the fruits and vegetables on the pressure sensor 19 is greatly reduced, so that the signal is reduced to a value lower than the specified signal which can drive the motor 9, at the moment, the motor 9 stops working, and after the grabbing system 1 is retracted through the pushing system 4, the fruits and vegetables push the eight stop rods 20 with rotation limitation to enter the sleeve 15, the gaps of the gripper segments cannot push the stop rods 20, and the stop rods 20 can only rotate towards the inlet direction of the collecting device and cannot rotate outwards, so that the fruits are protected from falling out due to the influence of external factors.

The above-mentioned embodiment only expresses one embodiment of the invention, and the description is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The fruit and vegetable picking grabber is characterized in that the grabber comprises: the device comprises a sleeve, a grabbing system, a cutting system, a sensing system and a propelling system;

the grasping system includes: the device comprises a gripper, a rotating shaft, a motor, a bolt, a nut and a gasket; the gripper comprises two groups of eight sections of angle steels, wherein one group of eight sections of angle steels is bent by 30 degrees to form a centripetal closing state to block fruits and vegetables to continue to move backwards, two holes with equal size and equal distance are formed at the tail end of each section of angle steel and the tail end of each bent angle steel, the two types of angle steels are respectively connected through bolts, nuts and gaskets to form a gripper segment consisting of the angle steel and the bent angle steel, the two groups of eight sections of angle steels are connected through the bolts, the nuts and the gaskets to form eight sections of gripper segments, the eight sections of gripper segments are matched with the right angle steel segment openings in the gripper segment through a central eight-petal-shaped sheet and riveted together, so that the eight sections of gripper can be fixed together to form a gripper similar to a birdcage shape, and because gaps are always kept among the gripper segments, branches can reach the tail ends of the gripper through the gaps all the time, and the eight tail ends of the sheet have certain inclination, so that the gripper can be completely fixed through riveting and inclination matching; when the grabbing system runs, the fruit and vegetable are close to each other through the propelling system, when the fruit and vegetable approach to each other to a certain degree, the grabbing system sleeves the fruit and vegetable and rotates along the rotating shaft under the driving of a motor arranged in the grabbing system, at the moment, the branches enter the tail end of the grabbing hand, the branches are cut off by the cutting system and are withdrawn back to the grabbing system through the propelling system, the grabbing system sleeves the fruit and vegetable and returns to the grabbing hand, and the fruit and vegetable enters the sleeve to complete one-time grabbing;

the cutting system comprises a saw blade, a rotating shaft and a motor; the sensing system is a pressure sensor; the method comprises the steps that a saw blade is matched on a rotating shaft of a motor, so that the motor can drive the saw blade to rotate at a high speed to cut branches when the motor operates, a pressure sensor is welded at the tail end of the rotating shaft to control the motor, when a propelling system operates to propel the grasping system to the fruit and vegetable and to pick the fruit and vegetable, the motor in the grasping system enables a gripper to rotate, branches are gathered to the tail end of the gripper through gaps among the grippers, then the propelling system starts to withdraw the grasping system, when the grasping system withdraws, the sensing system starts to operate, the pressure sensor in the sensing system receives extrusion from the fruit and vegetable when the propelling system withdraws the gripper, a signal is generated and transmitted to the motor in the cutting system, and when the motor in the cutting system receives the signal transmitted from the sensing system, the motor starts to operate to drive the rotating shaft to drive the saw blade to rotate at a high speed to cut the branches gathered to the tail end of the gripper; the pushing system retracts the gripper all the time, when the branch is cut off, the pressure of the fruit and vegetable on a pressure sensor in the sensing system is reduced to be lower than the signal for driving a motor in the cutting system to start, and at the moment, the motor in the cutting system stops working;

the sleeve comprises a hollow cylinder and sliding grooves at two sides; two sides of one end of the sliding groove, which is close to the handle, are provided with three small holes at equal intervals, and the small holes in the middle of the two sides are used for placing and fixing the motor and the rotating shaft; the other two groups of small holes on the two sides are used for matching with a half-transverse-n-shaped thin plate, the two thin plates are provided with two small holes and Kong Peitao on the sliding groove, and the two small holes and the Kong Peitao on the sliding groove are used for protecting a gear and preventing the gear from being blocked due to interference of outer branches; eight blocking rods with rotation limitation are installed at the end, close to the gripper, of the sleeve through pin connection, the blocking rods can only rotate towards the sleeve and cannot rotate towards the outside of the sleeve, the installation positions of the blocking rods are just matched with gaps of the gripper, so that the gripper cannot push the blocking rods to rotate towards the outside, the blocking rods can only be pushed by fruits and vegetables to rotate towards the sleeve, the fruits and vegetables entering the inside of the sleeve cannot jump out any more due to the existence of the blocking plates, and the fruits and vegetables entering the inside of the sleeve are prevented from falling out of the sleeve due to external influence, so that collection failure is caused;

the propulsion system comprises a gear, a rack, a motor, a rotating shaft and a fixed shaft; the installation of the propulsion system is as follows: punching one end of a rack without teeth, installing the end of the rack in a matching manner with a rotating shaft in a grabbing system, connecting a motor in a propelling system in a matching manner with the rotating shaft, matching the rotating shaft with a middle small hole in three small holes at two sides of a sleeve, then respectively matching two gears with the rotating shaft, driving the rotating shaft to drive the gears to rotate by the motor, then loading the rack into a sliding groove, working in a matching manner with the gears, driving the rotating shaft to rotate by the work of the motor in the propelling system to drive the gears to rotate, enabling the rack to move in the sliding groove by the matching of the gears and the rack, and enabling the grabbing system to move by the movement of the rack due to the matching connection of the grabbing system and the propelling system in a shaft and hole manner, so as to finish the actions of propelling and withdrawing the grabbing system;

the fruit and vegetable picking grabber comprises the following working processes: make the tongs be close to the fruit vegetables through advancing system, when the fruit vegetables got into grasping system, the motor among the grasping system made the tongs rotate for the fruit vegetables branch falls grasping system end, and advancing system withdraws afterwards, and fruit vegetables extrusion sensing system drive cutting system motor makes the saw bit driven and rotate at a high speed and cut off the branch, and grasping system takes back the fruit vegetables to retrieve in the sleeve afterwards, accomplishes once and picks the action.