CN106888684A - One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry - Google Patents
One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry Download PDFInfo
- Publication number
- CN106888684A CN106888684A CN201710212526.XA CN201710212526A CN106888684A CN 106888684 A CN106888684 A CN 106888684A CN 201710212526 A CN201710212526 A CN 201710212526A CN 106888684 A CN106888684 A CN 106888684A
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- Prior art keywords
- row
- comb
- kiwi berry
- cam
- support
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Links
- 235000009436 Actinidia deliciosa Nutrition 0.000 title claims abstract description 47
- 235000009434 Actinidia chinensis Nutrition 0.000 title claims abstract description 33
- 235000021028 berry Nutrition 0.000 title claims abstract description 33
- 239000012636 effector Substances 0.000 title claims abstract description 15
- 244000298715 Actinidia chinensis Species 0.000 title claims abstract 10
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 34
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 210000001520 comb Anatomy 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 abstract description 5
- 238000000926 separation method Methods 0.000 abstract description 4
- 244000298697 Actinidia deliciosa Species 0.000 description 37
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 241000282553 Macaca Species 0.000 description 2
- 240000005809 Prunus persica Species 0.000 description 2
- 235000006040 Prunus persica var persica Nutrition 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008450 motivation 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry, is related to agricultural robot automation equipment field.It is to be separated to comb molecular by oscillating cam mechanism, inclination curved surface rushing board mechanism, linear reciprocation drive mechanism, installing plate, fruit, it is characterized in that：Oscillating cam mechanism includes master cam in a row, pressure sensor, adjustment gap, U-shaped support, cam shaft and electric rotating machine, inclining curved surface rushing board mechanism includes skew surface push pedal in a row, microsensor and twin shaft cylinder, and linear reciprocation drive mechanism includes L-type support, guide rod, guide bar support, guide rod base, linear electric motors, nut slider, leading screw and reciprocator's support.Mechanical structure of the present invention is simple, greatly reduces labour intensity, time saving and energy saving, efficiency high, realizes really separation and disposable harvesting more than Kiwi berry, solves Kiwi berry and plucks the problem for wasting time and energy.
Description
Technical field
The present invention relates to agricultural robot automation equipment field, in particular it relates to a kind of separate comb-type move toward one another
The automatic picking end effector of Kiwi berry.
Background technology
China is the maximum country of world Kiwifruit Culture area, but, domestic Kiwi berry no matter in export price or
In export volume, New Zealand and other exported countrys are all slightly poorer than, directly result in heavy economic losses of the country in agricultural product export trade,
Reason is exactly that the automatic picked technology of China's Kiwi berry falls behind, mainly by the harvesting operation for manually carrying out Kiwi berry, and macaque
Peach plucking cycle concentrates very much again, and labour intensity is big, expends substantial amounts of labour, time, inefficiency.At present both at home and abroad for agriculture
The key of the research of industry picking robot is still efficiency, and the harvesting pattern of kiwifruit fruit determines picking robot end
The structure type and operation principle of actuator, while also determining operating efficiency.The A of CN 103448061 that Chinese patent is announced
" a kind of kiwifruit fruit picking end effector " uses profiling finger grip fruit, rotates the pattern plucked, single fruit used time
22s, efficiency is too low.A kind of harvesting pattern of move toward one another is proposed after mechanism test was done in laboratory, effect can be greatly improved
Rate.Therefore it is badly in need of a kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry to solve this technical barrier,
But do not have such device in the market.
The content of the invention
This patent provides a kind of separation comb-type automatic picking end effector of move toward one another Kiwi berry, present invention machinery
Simple structure, greatly reduces labour intensity, time saving and energy saving, efficiency high, realizes the separation of fasciation Kiwi berry, and many fruits are once
Property pluck, solve Kiwi berry single fruit and pluck the technical barrier wasted time and energy.
The technical scheme adopted by the invention to solve the technical problem is that：
One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry, is by oscillating cam mechanism, inclines
Curved surface rushing board mechanism, linear reciprocation drive mechanism, installing plate, fruit are separated combs molecular, it is characterized in that：Oscillating cam mechanism
Including master cam in a row, pressure sensor, adjustment gap, U-shaped support, cam shaft and electric rotating machine, curved surface push pedal is inclined
Mechanism includes skew surface push pedal in a row, microsensor and twin shaft cylinder, and linear reciprocation drive mechanism includes L-type support, leads
Bar, guide bar support, guide rod base, linear electric motors, nut slider, leading screw and reciprocator's support；The oscillating cam mechanism peace
Mounted in linear reciprocation drive mechanism front end, the inclination curved surface rushing board mechanism is arranged on linear reciprocation drive mechanism top, described
Linear reciprocation drive mechanism is set on a mounting board, and the installing plate top separates comb connection, the profiling in a row with fruit
Cam is arranged on U-shaped support by cam shaft, and is connected with electric rotating machine, and the pressure sensor is arranged in a row imitative
Shape cam inner surface, the adjustment gap is arranged between master cam in a row；The skew surface push pedal in a row is arranged on twin shaft
Cylinder front end, the twin shaft cylinder is arranged on linear reciprocation drive mechanism top, and the microsensor is arranged in a row tiltedly bent
Face push pedal bottom；The L-type support is connected with guide rod, and the guide rod is connected by guide bar support with guide rod base, the guide rod
Base is connected with nut slider, and the nut slider and leading screw coordinate, on reciprocator's support, the linear electric motors with
Leading screw is connected.
Preferably, the master cam outline in a row is designed to imitative Kiwi berry outer contour shape, and surface adhesion has
One layer of 3mm thick soft silica gel material.
It is highly preferred that the skew surface push pedal in a row is designed to inclined imitative Kiwi berry foreign steamer contour curved surface, pressed from both sides with horizontal plane
Angle is 75 °~85 ° adjustable, and surface adhesion has the thick soft silica gel materials of one layer of 3mm.
Specifically, the fruit separates the comb in a row that comb is provided with interval 20mm, and front end sets V-shaped.
The beneficial effects of the invention are as follows：
A kind of comb-type automatic picking end effector of move toward one another Kiwi berry that separates of the invention can realize Kiwi berry
Many fruits separate and disposable harvesting.First, fruit separates comb and separates fasciation kiwifruit fruit, attitude in a row, straight line
Reciprocating drive mechanism drives oscillating cam mechanism and inclines curved surface rushing board mechanism near kiwifruit fruit, when microsensor detection
During to signal, electric rotating machine drives 90 ° of master cam clockwise oscillation in a row, while twin shaft cylinder pushes away skew surface push pedal in a row
Go out, kiwifruit fruit is slipped in storage case along the outer contour surface of master cam in a row；Secondly, when microsensor does not have
When having signal, illustrate that kiwifruit fruit has been plucked successfully, be slipped in storage case by master cam foreign steamer contour curved surface in a row,
Wherein pressure sensor is provided with threshold value, once pressure exceedes the upper limit, mechanism's stop motion prevents the surface damage of Kiwi berry.
Mechanical structure of the present invention is simple, greatly reduces labour intensity, time saving and energy saving, efficiency high, realize really separate more than Kiwi berry and
It is disposable to pluck, solve Kiwi berry and pluck the problem for wasting time and energy.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Drawings below is used for providing a further understanding of the present invention, and constitutes a part for specification, its with it is following
Specific embodiment be used to explain the present invention that but protection scope of the present invention is not limited to following accompanying drawings and specific real together
Apply mode.In the accompanying drawings：
Fig. 1 is overall structure normal axomometric drawing of the invention；
Fig. 2 is the three dimensional structure diagram of oscillating cam mechanism of the invention；
Fig. 3 is the three dimensional structure diagram of inclination curved surface rushing board mechanism of the invention；
Fig. 4 is the three dimensional structure diagram of linear reciprocation drive mechanism of the invention；
Fig. 5 is the three dimensional structure diagram that fruit of the invention separates comb.
In figure：1 oscillating cam mechanism, 101 master cams in a row, 102 pressure sensors, 103 adjustment gaps, 104U type branch
Frame, 105 cam shafts, 106 electric rotating machines, 2 inclination curved surface rushing board mechanisms, 201 skew surface push pedals in a row, 202 microsensors,
203 twin shaft cylinders, 3 linear reciprocation drive mechanisms, 301L type supports, 302 guide rods, 303 guide bar supports, 304 guide rod bases, 305
Linear electric motors, 306 nut sliders, 307 leading screws, 308 reciprocator's supports, 4 installing plates, 5 fruits separate comb.
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with accompanying drawing, it should be appreciated that retouch in this place
The specific embodiment stated is merely to illustrate and explain the present invention, and protection scope of the present invention is not limited to following specific realities
Apply mode.
Referring to shown in Fig. 1 to Fig. 5, one kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry, be by
Oscillating cam mechanism 1, inclination curved surface rushing board mechanism 2, linear reciprocation drive mechanism 3, installing plate 4, fruit separate comb 5 and constitute
, it is characterized in that：Oscillating cam mechanism 1 includes master cam in a row 101, pressure sensor 102, adjustment gap 103, U-shaped branch
Frame 104, cam shaft 105 and electric rotating machine 106, inclining curved surface rushing board mechanism 2 includes skew surface push pedal 201 in a row, miniature biography
Sensor 202 and twin shaft cylinder 203, linear reciprocation drive mechanism 3 include L-type support 301, guide rod 302, guide bar support 303, lead
Bar base 304, linear electric motors 305, nut slider 306, leading screw 307 and reciprocator's support 308；The oscillating cam mechanism 1
Installed in the front end of linear reciprocation drive mechanism 3, the inclination curved surface rushing board mechanism 2 is arranged on the top of linear reciprocation drive mechanism 3,
The linear reciprocation drive mechanism 3 is arranged on installing plate 4, and the top of the installing plate 4 separates comb 5 with fruit and connects, described
Master cam 101 in a row is arranged on U-shaped support 104 by cam shaft 105, and is connected with electric rotating machine 106, the pressure
Force snesor 102 be arranged on the inner surface of master cam in a row 101, the adjustment gap 103 be arranged on master cam in a row 101 it
Between；The skew surface push pedal 201 in a row is arranged on the front end of twin shaft cylinder 203, and the twin shaft cylinder 203 drives installed in linear reciprocation
The top of motivation structure 3, the microsensor 202 is arranged on the bottom of skew surface push pedal 201 in a row；The L-type support 301 and guide rod
302 connections, the guide rod 302 is connected by guide bar support 303 with guide rod base 304, the guide rod base 304 and nut slider
306 connections, the nut slider 306 coordinates with leading screw 307, on reciprocator's support 308, the linear electric motors 305
It is connected with leading screw 307.
It is shown in Figure 2, it is preferable that the outline of master cam in a row 101 is designed to imitative Kiwi berry outer contour shape,
And surface adhesion has the thick soft silica gel materials of one layer of 3mm.
It is shown in Figure 3, it is highly preferred that the skew surface push pedal 201 in a row is designed to inclined imitative Kiwi berry outline
Curved surface, is 75 °~85 ° adjustable with horizontal plane angle, and surface adhesion has the thick soft silica gel materials of one layer of 3mm.
Shown in Figure 4, specifically, the fruit separates the comb in a row that comb 4 is provided with interval 20mm, and front end
V-shaped is set.
It is illustrative referring to figs. 1 to Fig. 5 in order to help understand above-mentioned basic embodiment of the invention, for example：
First, fruit separates comb 5 and separates fasciation kiwifruit fruit, attitude in a row, and linear reciprocation drive mechanism 3 drives and swings
Cam mechanism 1 and inclination curved surface rushing board mechanism 2 are near kiwifruit fruit, when microsensor 202 detects signal, electric rotating
Machine 106 drives 90 ° of 101 clockwise oscillation of master cam in a row, while twin shaft cylinder 203 releases skew surface push pedal 201 in a row
Go, kiwifruit fruit is slipped in storage case along the outer contour surface of master cam in a row 101；Secondly, microsensor is worked as
202 when not having signal, illustrates that kiwifruit fruit has been plucked successfully, is slipped to by the foreign steamer contour curved surface of master cam in a row 101
In storage case, wherein pressure sensor 102 is provided with threshold value, once pressure exceedes the upper limit, mechanism's stop motion prevents Kiwi berry
Surface damage.
Job step is as follows：
The first step, device electrification reset, linear electric motors 305 drive skew surface push pedal 201 in a row and master cam in a row 101
Rightmost is moved to, electric rotating machine 106 drives master cam in a row 101 to turn 45 ° counterclockwise；
Second step, fruit separates comb 5 and separates fasciation kiwifruit fruit, attitude in a row, linear reciprocation driving machine
Structure 3 drives oscillating cam mechanism 1 and inclines curved surface rushing board mechanism 2 near kiwifruit fruit；
3rd step, when microsensor 202 detects signal, electric rotating machine 106 drives the up time of master cam in a row 101
Pin swings 90 °, while twin shaft cylinder 203 pushs out skew surface push pedal 201 in a row, kiwifruit fruit is along master cam in a row
101 outer contour surface is slipped in storage case, and wherein pressure sensor 102 is provided with threshold value, once pressure exceedes the upper limit, machine
Structure stop motion, prevents the surface damage of Kiwi berry；
4th step, Kiwi berry objective fruit is plucked and finished at this, and mechanical arm movement end effector detects new macaque
Peach region, carries out operation, re-starts three step above.
Specific embodiment of the invention is described in detail above in association with accompanying drawing, it is necessary to illustrate, in above-mentioned specific reality
Each particular technique feature described in mode is applied, in the case of reconcilable, can be carried out by any suitable means
Combination, in order to avoid unnecessary repetition, the present invention is no longer separately illustrated to various possible combinations.But, the present invention
The detail in above-mentioned implementation method is not limited to, for the ordinary skill in the art, religion of the invention
Lead, in the case where principle of the invention and spirit is not departed from, changes, modifications, replacement and the modification carried out to implementation method
Still fall within protection scope of the present invention.
Claims (4)
1. it is a kind of to separate the comb-type automatic picking end effector of move toward one another Kiwi berry, it is characterized in that：It is by oscillating cam machine
Structure, inclination curved surface rushing board mechanism, linear reciprocation drive mechanism, installing plate, fruit are separated combs molecular, oscillating cam mechanism bag
Master cam in a row, pressure sensor, adjustment gap, U-shaped support, cam shaft and electric rotating machine are included, curved surface ledal-pushing machine is inclined
Structure include skew surface push pedal in a row, microsensor and twin shaft cylinder, linear reciprocation drive mechanism include L-type support, guide rod,
Guide bar support, guide rod base, linear electric motors, nut slider, leading screw and reciprocator's support；The oscillating cam mechanism is arranged on
Linear reciprocation drive mechanism front end, the inclination curved surface rushing board mechanism is arranged on linear reciprocation drive mechanism top, the straight line
Reciprocating drive mechanism is set on a mounting board, and the installing plate top separates comb connection, the master cam in a row with fruit
It is arranged on U-shaped support by cam shaft, and is connected with electric rotating machine, it is convex that the pressure sensor is arranged on profiling in a row
Wheel inner surface, the adjustment gap is arranged between master cam in a row；The skew surface push pedal in a row is arranged on twin shaft cylinder
Front end, the twin shaft cylinder is arranged on linear reciprocation drive mechanism top, and the microsensor is pushed away installed in skew surface in a row
Plate bottom；The L-type support is connected with guide rod, and the guide rod is connected by guide bar support with guide rod base, the guide rod base
It is connected with nut slider, the nut slider and leading screw coordinate, on reciprocator's support, the linear electric motors and leading screw
Connection.
2. one kind according to claim 1 separates the comb-type automatic picking end effector of move toward one another Kiwi berry, and it is special
Levying is：The master cam outline in a row is designed to imitative Kiwi berry outer contour shape, and surface adhesion has one layer of 3mm thick
Soft silica gel material.
3. one kind according to claim 1 separates the comb-type automatic picking end effector of move toward one another Kiwi berry, and it is special
Levying is：The skew surface push pedal in a row is designed to inclined imitative Kiwi berry foreign steamer contour curved surface, is 75 °~85 ° with horizontal plane angle
It is adjustable, and surface adhesion has the thick soft silica gel materials of one layer of 3mm.
4. one kind according to claim 1 separates the comb-type automatic picking end effector of move toward one another Kiwi berry, and it is special
Levying is：The fruit separates the comb in a row that comb is provided with interval 20mm, and front end sets V-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710212526.XA CN106888684A (en) | 2017-03-23 | 2017-03-23 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710212526.XA CN106888684A (en) | 2017-03-23 | 2017-03-23 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106888684A true CN106888684A (en) | 2017-06-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710212526.XA Pending CN106888684A (en) | 2017-03-23 | 2017-03-23 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
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| Country | Link |
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| CN (1) | CN106888684A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718019A (en) * | 2017-10-12 | 2018-02-23 | 谷新运 | A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method |
| CN110521385A (en) * | 2019-09-24 | 2019-12-03 | 安徽农业大学 | A kind of torsion comb camellia oleifera fruit picker |
| CN111213492A (en) * | 2020-02-12 | 2020-06-02 | 南京林业大学 | Separation and vibration comb type automatic picking end effector for kiwi fruits |
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| CN201213381Y (en) * | 2008-07-18 | 2009-04-01 | 雷泽民 | Fruit picking machine |
| ITBO20100282A1 (en) * | 2010-05-04 | 2011-11-05 | Minelli Elettromeccanica | EQUIPMENT FOR THE COLLECTION OF OLIVES AND SIMILAR PRODUCTS |
| CN103448061A (en) * | 2013-08-07 | 2013-12-18 | 西北农林科技大学 | Kiwi fruit picking end actuator |
| CN105684651A (en) * | 2016-04-07 | 2016-06-22 | 国家林业局北京林业机械研究所 | Fruit picking device and picking device |
| CN106068928A (en) * | 2016-06-23 | 2016-11-09 | 耿峻 | Fruit picking |
| CN205902411U (en) * | 2016-05-10 | 2017-01-25 | 西北农林科技大学 | Retractable kiwi fruit fruit picking manipulator arm |
| CN206743902U (en) * | 2017-03-23 | 2017-12-15 | 西北农林科技大学 | One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry |
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2017
- 2017-03-23 CN CN201710212526.XA patent/CN106888684A/en active Pending
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|---|---|---|---|---|
| CN201213381Y (en) * | 2008-07-18 | 2009-04-01 | 雷泽民 | Fruit picking machine |
| ITBO20100282A1 (en) * | 2010-05-04 | 2011-11-05 | Minelli Elettromeccanica | EQUIPMENT FOR THE COLLECTION OF OLIVES AND SIMILAR PRODUCTS |
| CN103448061A (en) * | 2013-08-07 | 2013-12-18 | 西北农林科技大学 | Kiwi fruit picking end actuator |
| CN105684651A (en) * | 2016-04-07 | 2016-06-22 | 国家林业局北京林业机械研究所 | Fruit picking device and picking device |
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| CN206743902U (en) * | 2017-03-23 | 2017-12-15 | 西北农林科技大学 | One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry |
Non-Patent Citations (1)
| Title |
|---|
| 敖礼林;况小平;黄献奉;胡茱洗;: "枣的科学采收和储藏保鲜技术" * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718019A (en) * | 2017-10-12 | 2018-02-23 | 谷新运 | A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method |
| CN110521385A (en) * | 2019-09-24 | 2019-12-03 | 安徽农业大学 | A kind of torsion comb camellia oleifera fruit picker |
| CN111213492A (en) * | 2020-02-12 | 2020-06-02 | 南京林业大学 | Separation and vibration comb type automatic picking end effector for kiwi fruits |
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Application publication date: 20170627 |
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