CN106900279A - A kind of gripping-type picking fruit end effector and picking fruit performs device - Google Patents
A kind of gripping-type picking fruit end effector and picking fruit performs device Download PDFInfo
- Publication number
- CN106900279A CN106900279A CN201710266781.2A CN201710266781A CN106900279A CN 106900279 A CN106900279 A CN 106900279A CN 201710266781 A CN201710266781 A CN 201710266781A CN 106900279 A CN106900279 A CN 106900279A
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- Prior art keywords
- bracket
- support
- magnetic valve
- fruit
- lower jaw
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 78
- 239000012636 effector Substances 0.000 title claims abstract description 17
- 210000002050 maxilla Anatomy 0.000 claims description 33
- 210000001847 jaw Anatomy 0.000 claims description 17
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000003306 harvesting Methods 0.000 abstract description 5
- 239000011435 rock Substances 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 5
- 208000019300 CLIPPERS Diseases 0.000 description 4
- 208000021930 chronic lymphocytic inflammation with pontine perivascular enhancement responsive to steroids Diseases 0.000 description 4
- 241000207199 Citrus Species 0.000 description 2
- 241000220225 Malus Species 0.000 description 2
- 235000011430 Malus pumila Nutrition 0.000 description 2
- 235000015103 Malus silvestris Nutrition 0.000 description 2
- 241000220324 Pyrus Species 0.000 description 2
- 235000020971 citrus fruits Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000021017 pears Nutrition 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 244000131316 Panax pseudoginseng Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 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
- A01D46/24—Devices for picking apples or like fruit
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gripping-type picking fruit end effector and picking fruit performs device, including U-bracket and the straight line cylinder for being fixedly connected on U-bracket bottom, straight line cylinder has the piston rod that can be passed through U-bracket and just set to U-bracket opening direction, mounting seat is fixedly connected with the top of piston rod, mounting seat is fixedly connected with sucker away from one end of piston rod, the bottom of sucker is provided with suction hole, air entry is provided with the top of mounting seat, mounting seat is internally provided with the air intake passage for being extended to from air entry and being connected with suction hole opposite position and with suction hole, air entry is provided with and communicated with the air intake duct that can carry out air-breathing, the position that U-bracket is located at its opening is provided with the shear that can be sheared to branch.Simple structure of the present invention, it is easy to use, by the way that fruit is firmly grasped after shear again branch avoid fruit rock cause collision injure, improve the harvesting quality of fruit.
Description
Technical field
Fruit instrument is plucked the present invention relates to one kind, and in particular to a kind of gripping-type picking fruit end effector and picking fruit
Performs device.
Background technology
In recent years, with China's rural reform of the economic structure deeply and market economy development, fruits output is big year by year
Amplitude increases, and fruit industry occupies critical role in national economy.According to national statistics office data：China's fruit is total within 2014
Increase of production increases by 4.2% to 26142.24 ten thousand tons compared with same period last year；Apple total output is 4092.32 ten thousand tons, and yield increases on year-on-year basis
Long 3.1%, account for the 15.65% of same period country's fruit total output；Citrus total output is 3492.66 ten thousand tons, and yield increases by 5.2% on a year-on-year basis,
Account for the 13.36% of same period country's fruit total output；Pears yield is 1796.44 ten thousand tons, and yield increases by 3.8% on a year-on-year basis, accounts for the same period domestic
The 6.87% of fruit total output.From the plantation of fruit to list marketing, wherein plucking a ring most time-consuming, most laborious during operation
Section.All it is to grow aloft as the fruit of apple, citrus and pears etc, so as to must complete to pluck by instrument.Common
Picker includes a telescopic arm that can be stretched, and the top of telescopic arm is provided with picking end effector, and picking end is held
Row device includes the clipper that can be sheared to branch, and after clipper cuts off tree shears, the fruit that fruit just falls to lower section is received
In acquisition means.But clipper is in the moment of shearing branch, very big active force, fruit is produced to rock to branch, may
Fruit is struck on clipper or telescopic arm, fruit is damaged, reduce the quality of fruit.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：How to provide one kind can be
When picking fruit, fruit is fixed, it is to avoid the gripping-type picking fruit end that damaging occurs in fruit collision rift performs
Device.
In order to solve the above-mentioned technical problem, present invention employs following technical scheme：
A kind of gripping-type picking fruit end effector, including U-bracket and the straight line gas for being fixedly connected on U-bracket bottom
Cylinder, straight line cylinder has the work with Telescopic that can be passed through U-bracket and just set to U-bracket opening direction
Stopper rod, is fixedly connected with mounting seat at the top of piston rod, mounting seat is fixedly connected with opening towards far away from one end of piston rod
From the sucker in piston rod direction, the bottom of sucker is provided with the suction hole for making sucker inner chamber with being connected outside sucker, mounting seat
Top be provided with air entry, mounting seat is internally provided with from air entry and extends to and suction hole opposite position and and suction hole
The air intake passage of connection, air entry is provided with and communicated with the air intake duct that can carry out air-breathing, and U-bracket is located at the position at its opening
The shear that can be sheared to branch is installed, being formed between the inner side of U-bracket and shear to accommodate
The fruit receiving space of fruit.
In the present invention, then operation gripping-type picking fruit end effector is opened and is cut close to the fruit for needing to pluck
Cutting apparatus, control the piston rod of straight line cylinder to be stretched out towards fruit direction, while air intake duct starts air-breathing；The suction of piston rod part
Disk touches fruit surface, because, always in air-breathing, therefore sucker paster is after fruit surface in sucker inner chamber, sucker and fruit it
Between will produce negative pressure, and then sucker is firmly held fruit；Piston rod retraction, fruit is drawn in fruit and is held afterwards
Receive in space, shear is sheared to branch, complete the harvesting of fruit.Shear branch is sheared when
Wait, fruit is motionless in fruit receiving space, and the active force for shearing branch does not result in rocking for fruit, and then makes fruit
Will not be collided with U-bracket and shear, it is to avoid damaging occurs in fruit, and improves the harvesting quality of fruit, its
Simple structure, it is easy to use.
Used as optimization, the shear includes maxilla support and lower jaw support, and maxilla support and lower jaw support are overall
U-shaped structure, the two ends of maxilla support and the two ends of lower jaw support are hingedly connected on two side arms of U-bracket, U-shaped
Being fixedly connected with support can respectively drive the drive device of maxilla support and lower jaw holder pivots, when maxilla support and lower jaw
Support towards relative direction rotate when, can mutually suit between maxilla support and lower jaw support.Drive device first drives maxilla branch
, towards rotating in the direction away from each other, will form one between such maxilla support and lower jaw support opens for frame and lower jaw support
Mouthful, fruit can be made to be entered into fruit receiving space by this opening.Then drive device drives maxilla support with again
Jaw support towards relative direction quick rotation, when maxilla support mutually suits with lower jaw support, it becomes possible to cut branch.
Used as optimization, the position that the maxilla support mutually suits with the lower jaw support has been respectively fixedly connected with blade, sword
Piece is extended along the length direction of the maxilla support and the lower jaw support respectively, and the cutting edge of two pieces of blade is oppositely arranged.
Branch is sheared by blade, preferably can be cut off branch, improve the harvesting quality of fruit, in addition the branch of fruit tree
Otch is smooth intact, reduces the injury to fruit tree.
Used as optimization, the drive device includes being located at U-bracket both sides side arm outside respectively and being fixed with U-bracket connecting
The clamping jaw cylinder for connecing, two clamping jaws of clamping jaw cylinder pass through the pull bar and the maxilla support and the lower jaw that are articulated and connected respectively
Support is articulated and connected, for driving the maxilla support and the lower jaw holder pivots.Two clamping jaws of clamping jaw cylinder can be from
Mutually rotate and be separated from each other, the rotation of maxilla support and lower jaw support is controlled respectively, the strength for making it mutually suit is bigger, can
Preferably branch is cut.
Used as optimization, the center line of the suction hole is coaxially disposed with the center line of the sucker, the bottom of the sucker
The connection tracheae for being coaxially disposed with the suction hole and being connected with the suction hole is also fixedly connected with, connection tracheae is by setting
External screw thread in its outer surface is connected with air intake passage threaded connection with the air intake passage.Process of the sucker in air-breathing
In, various debris can be sucked unavoidably causes air-breathing hole plug, and then sucker cannot firmly catch fruit.Air admission hole is plugged
Afterwards, sucker can be disassembled and is individually changed, reduce the block clearing time, improve picking efficiency.
The invention also discloses a kind of picking fruit performs device, including source of the gas, 3 position-5 way magnetic valve I, 3 position-5 way
Magnetic valve II, two-bit triplet magnetic valve, vacuum generator and picker, picker are that the above-mentioned gripping-type fruit is adopted
End effector is plucked, source of the gas is electric with 3 position-5 way magnetic valve I, 3 position-5 way magnetic valve II and two-bit triplet respectively by appendix
The air inlet connection of magnet valve, two of the straight line cylinder connect gas port and connect with two gas outlets of 3 position-5 way magnetic valve I respectively
Logical, the air intake duct is connected with the vacuum port of vacuum generator, the air inlet of vacuum generator and going out for two-bit triplet magnetic valve
Gas port is connected, and two of the clamping jaw cylinder connect gas port and connected with two gas outlets of 3 position-5 way magnetic valve II respectively.Source of the gas
Output gas, and air inlet is controlled by different magnetic valves, occur to reach control straight line cylinder, clamping jaw cylinder and vacuum
The purpose of device, its simple structure is easy to use.
As optimization, pneumatic triple piece is in series with the appendix, the appendix is by the three of setting connected in parallel
Root wireway respectively with the 3 position-5 way magnetic valve I, the 3 position-5 way magnetic valve II and the two-bit triplet magnetic valve
Air inlet is connected, and choke valve is in series with every wireway, is also pacified on the wireway connected with the two-bit triplet magnetic valve
Hold equipped with the gas for communicating therewith.By the gentle appearance of pneumatic triple piece, the stabilization of source of the gas output gas and clean is controlled, and pass through
Choke valve, controls the displacement of distinct device, to meet equipment use requirement.
In sum, the beneficial effects of the present invention are：Simple structure of the present invention, it is easy to use, by sucker by fruit
Steadily promptly and it is pulled in fruit receiving space, then branch is sheared, it is to avoid fruit is rocked and causes collision to injure, and is carried
The harvesting quality of fruit high.
Brief description of the drawings
In order that the purpose, technical scheme and advantage of invention are clearer, the present invention is made into one below in conjunction with accompanying drawing
The detailed description of step, wherein：
Fig. 1 is the three dimensional structure diagram of gripping-type picking fruit end effector in the present invention；
Fig. 2 is the pneumatic diagram of picking fruit performs device in the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of gripping-type picking fruit end effector in this specific embodiment, U-bracket 1 and solid
Surely the straight line cylinder 2 of the bottom of U-bracket 1 is connected to, straight line cylinder 2 has can be passed through U-bracket 1 and just U-bracket 1 is being opened
The piston rod with Telescopic that mouth direction is set, is fixedly connected with mounting seat 3 at the top of piston rod, mounting seat 3 is remote
The sucker 4 that opening is directed away from piston rod direction is fixedly connected with from one end of piston rod, the bottom of sucker 4 is provided with making
The outer suction hole for connecting of the inner chamber of sucker 4 and sucker 4, the top of mounting seat 3 is provided with air entry, mounting seat 3 be internally provided with from
Air entry extends to the air intake passage connected with suction hole opposite position and with suction hole, and air entry is provided with and communicated with can be entered
The air intake duct 5 of row air-breathing, the position that U-bracket 1 is located at its opening is provided with the shear that can be sheared to branch,
Being formed between the inner side of U-bracket 1 and shear can accommodate the fruit receiving space of fruit.
In this specific embodiment, the shear includes maxilla support 6 and lower jaw support 7, maxilla support 6 and lower jaw
The overall U-shaped structure of support 7, the two ends of maxilla support 6 and the two ends of lower jaw support 7 are hingedly connected in U-bracket 1
On two side arms, the driving that being fixedly connected with U-bracket 1 can respectively drive maxilla support 6 and lower jaw support 7 to rotate is filled
Put, when maxilla support 6 and lower jaw support 7 are rotated towards relative direction, can be tangent between maxilla support 6 and lower jaw support 7
Close.
In this specific embodiment, the position that the maxilla support 6 mutually suits with the lower jaw support 7 is respectively fixedly connected with
There is a blade 8, blade 8 is extended along the length direction of the maxilla support 6 and the lower jaw support 7 respectively, two pieces of blade 8
Cutting edge is oppositely arranged.
In this specific embodiment, the drive device includes being located at the both sides side arm outside of U-bracket 1 and and U-shaped respectively
The clamping jaw cylinder 9 that support 1 is fixedly connected, two clamping jaws of clamping jaw cylinder 9 respectively by the pull bar 10 that is articulated and connected with it is described on
Jaw support 6 and the lower jaw support 7 are articulated and connected, for driving the maxilla support 6 and the lower jaw support 7 to rotate.
In this specific embodiment, the center line of the suction hole is coaxially disposed with the center line of the sucker 4, the suction
The bottom of disk 4 is also fixedly connected with the connection tracheae for being coaxially disposed with the suction hole and being connected with the suction hole, connects gas
Pipe is connected with air intake passage threaded connection by being arranged on the external screw thread of its outer surface with the air intake passage.
As shown in Fig. 2 a kind of picking fruit performs device, including source of the gas 11,3 position-5 way magnetic valve I 12,3 position-5 way
Magnetic valve II 13, two-bit triplet magnetic valve 14, vacuum generator 15 and picker, picker are the above-mentioned gripping-type
Picking fruit end effector, source of the gas 11 by appendix respectively with 3 position-5 way magnetic valve I 12,3 position-5 way magnetic valve II 13
Air inlet with two-bit triplet magnetic valve 14 is connected, two of the straight line cylinder 2 connect gas port respectively with 3 position-5 way magnetic valve I
12 two gas outlets connection, the air intake duct 5 is connected with the vacuum port of vacuum generator 15, the air inlet of vacuum generator 15
Gas outlet with two-bit triplet magnetic valve 14 connects, two of the clamping jaw cylinder 9 connect gas port respectively with 3 position-5 way magnetic valve
II 13 two gas outlets connection.
In this specific embodiment, pneumatic triple piece 16 is in series with the appendix, the appendix is by with it simultaneously
Join set three wireways respectively with the 3 position-5 way magnetic valve I 12, the 3 position-5 way magnetic valve II 13 and described two
The air inlet connection of position-3-way solenoid valve 14, is in series with choke valve 17, with the two-bit triplet magnetic valve on every wireway
The gas for being also equipped with communicating therewith on the wireway of 14 connections holds 18.
During specific implementation, the position of the air entry is provided with suction joint, and suction joint is led including one
Pipe, is provided with the hexagonal for being coaxial therewith setting and twists portion to facilitate operation conduit to rotate in the middle part of conduit, portion is twisted positioned at hexagonal
The catheter outer surface of side is provided with external screw thread and is threadedly coupled with air entry by external screw thread, and portion's opposite side is twisted positioned at hexagonal
Catheter outer surface be arranged at intervals with least two bulge loops along conduit circumferential projection, the air-breathing pipe sleeve along catheter length direction
Twisted on conduit of the portion away from air entry side positioned at hexagonal and be fixedly connected on conduit by anchor ear device, anchor ear device
Between any two adjacent bulge loops.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although by ginseng
According to the preferred embodiments of the present invention, invention has been described, it should be appreciated by those of ordinary skill in the art that can
To make various changes to it in the form and details, without departing from the present invention that appended claims are limited
Spirit and scope.
Claims (7)
1. a kind of gripping-type picking fruit end effector, it is characterised in that：Including U-bracket and being fixedly connected on U-bracket
The straight line cylinder of bottom, straight line cylinder has one U-bracket opening direction can set through U-bracket and just and has
The piston rod of Telescopic, is fixedly connected with mounting seat at the top of piston rod, mounting seat is fixedly connected away from one end of piston rod
There is opening to be directed away from the sucker in piston rod direction, the bottom of sucker is provided with the suction for making sucker inner chamber with being connected outside sucker
Stomata, is provided with air entry at the top of mounting seat, mounting seat is internally provided with from air entry and extends to position corresponding with suction hole
The air intake passage put and connected with suction hole, air entry is provided with and communicated with the air intake duct that can carry out air-breathing, and U-bracket is located at it
Position at opening is provided with the shear that can be sheared to branch, shape between the inner side of U-bracket and shear
Into there is the fruit receiving space that can accommodate fruit.
2. a kind of gripping-type picking fruit end effector according to claim 1, it is characterised in that：The shear
Including maxilla support and lower jaw support, the overall U-shaped structure of maxilla support and lower jaw support, the two ends of maxilla support and lower jaw
The two ends of support are hingedly connected on two side arms of U-bracket, and be fixedly connected with U-bracket to drive respectively
The drive device of jaw support and lower jaw holder pivots, when maxilla support and lower jaw support are rotated towards relative direction, maxilla branch
Can mutually suit between frame and lower jaw support.
3. a kind of gripping-type picking fruit end effector according to claim 2, it is characterised in that：The maxilla support
The position mutually suited with the lower jaw support has been respectively fixedly connected with blade, and blade is respectively along the maxilla support and the lower jaw
The length direction of support is extended, and the cutting edge of two pieces of blade is oppositely arranged.
4. a kind of gripping-type picking fruit end effector according to claim 2, it is characterised in that：The drive device
Including being located at the clamping jaw cylinder being fixedly connected on the outside of the side arm of U-bracket both sides and with U-bracket, two folders of clamping jaw cylinder respectively
Pawl is articulated and connected by the pull bar being articulated and connected with the maxilla support and the lower jaw support respectively, for driving the maxilla
Support and the lower jaw holder pivots.
5. a kind of gripping-type picking fruit end effector according to claim 1, it is characterised in that：The suction hole
Center line is coaxially disposed with the center line of the sucker, and the bottom of the sucker is also fixedly connected with and is coaxially set with the suction hole
The connection tracheae put and connected with the suction hole, connection tracheae is logical with the air-breathing by being arranged on the external screw thread of its outer surface
Road threaded connection is connected with the air intake passage.
6. a kind of picking fruit performs device, it is characterised in that：Including source of the gas, 3 position-5 way magnetic valve I, 3 position-5 way magnetic valve
IIth, two-bit triplet magnetic valve, vacuum generator and picker, picker are the institute in any one in claim 1 to 5
State gripping-type picking fruit end effector, source of the gas by appendix respectively with 3 position-5 way magnetic valve I, 3 position-5 way magnetic valve
II connects with the air inlet of two-bit triplet magnetic valve, two of the straight line cylinder connect gas port respectively with 3 position-5 way magnetic valve I
The connection of two gas outlets, the air intake duct connects with the vacuum port of vacuum generator, the air inlet of vacuum generator and two
The gas outlet connection of three-way magnetic valve, two of the clamping jaw cylinder meet two respectively with 3 position-5 way magnetic valve II of gas port and go out
Gas port is connected.
7. a kind of picking fruit performs device according to claim 6, it is characterised in that：Gas is in series with the appendix
Dynamic three linked piece, the appendix by three wireways of setting connected in parallel respectively with the 3 position-5 way magnetic valve I, described
3 position-5 way magnetic valve II is connected with the air inlet of the two-bit triplet magnetic valve, and choke valve is in series with every wireway,
The gas for being also equipped with communicating therewith on the wireway connected with the two-bit triplet magnetic valve holds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710266781.2A CN106900279A (en) | 2017-04-21 | 2017-04-21 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710266781.2A CN106900279A (en) | 2017-04-21 | 2017-04-21 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106900279A true CN106900279A (en) | 2017-06-30 |
Family
ID=59210704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710266781.2A Pending CN106900279A (en) | 2017-04-21 | 2017-04-21 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106900279A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107859684A (en) * | 2017-12-12 | 2018-03-30 | 广东利迅达机器人系统股份有限公司 | The vacuum air-channel system of sucker |
| CN113424705A (en) * | 2021-07-27 | 2021-09-24 | 重庆市农业科学院 | End effector for picking fruits |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
| CN117999962A (en) * | 2024-04-10 | 2024-05-10 | 南京信息工程大学 | End effector for autonomous picking and control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107859684A (en) * | 2017-12-12 | 2018-03-30 | 广东利迅达机器人系统股份有限公司 | The vacuum air-channel system of sucker |
| CN113424705A (en) * | 2021-07-27 | 2021-09-24 | 重庆市农业科学院 | End effector for picking fruits |
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
| CN117999962A (en) * | 2024-04-10 | 2024-05-10 | 南京信息工程大学 | End effector for autonomous picking and control system |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170630 |
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