CN107852952A - One kind curries profiling matrimony vine picking end effector - Google Patents
One kind curries profiling matrimony vine picking end effector Download PDFInfo
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- CN107852952A CN107852952A CN201711099214.9A CN201711099214A CN107852952A CN 107852952 A CN107852952 A CN 107852952A CN 201711099214 A CN201711099214 A CN 201711099214A CN 107852952 A CN107852952 A CN 107852952A
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- harvesting
- main shaft
- cam
- matrimony vine
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Classifications
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- 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
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention belongs to agricultural machinery technological field, more particularly to one kind to curry profiling matrimony vine picking end effector, including：A piece main shaft and each one of the grooved cam of main shaft both ends connection, some harvestings are hinged with the middle part of main shaft to refer to, some harvestings refer to that to be grouped together be in emitting shape from the inside to surface, a circle cam path is milled with the inner side of grooved cam, there is cam driven bearing freely to be rolled along cam path in cam path, pressing plate is housed on two grooved cams between corresponding cam driven bearing, multiple holes are provided with pressing plate, every harvesting refers to be passed through among each hole, harvesting is driven to refer to rotation during main axis, harvesting refers to band dynamic pressure plate and rotated, hole on pressing plate refers to lower end in harvesting and slided up and down, the gap referred to from each other so as to oppress harvesting changes.Simple in construction, cost is relatively low, can effectively screen the fruit with harvesting ripe；The breakage rate of matrimony vine is greatly reduced, while increases the frictional force plucked and referred to matrimony vine, ensures net picking rate.
Description
Technical field
The invention belongs to agricultural machinery technological field, more particularly to one kind to curry profiling matrimony vine picking end effector.
Background technology
Lycium indefinite inflorescence berry plant, collecting period are early June-late October, are harvested once within every seven days or so,
Ripe matrimony vine water content is easily damaged in 80% or so, picking process.As market demand is continuously increased, matrimony vine growing surface
Product also constantly expand, it is necessary to labour it is more and more, but influenceed by urbanization process, the size of population of being engaged in agriculture drastically declines, Chinese holly
Qi is often nervous because of recruitment, fails to harvest in time, causes serious financial consequences.And matrimony vine growing state is complicated, same node of bearing fruit
Upper Chinese olive, floral leaf, ripe fruit are simultaneously deposited, and plant is covered with quil, easily causes hand and stabs, and at present, matrimony vine harvesting is main or manually adopts
Pluck, artificial harvesting operating environment is poor, work intensity is big, and picking efficiency is low and costly, hinders the development of wolfberry industry significantly.
China have developed some and curry formula medlar-picking machine in recent years, but it is less desirable to pluck effect, easy during harvesting
Chinese wolfberry fruit is caused to damage, fruit can not be deposited for a long time.Matrimony vine, which curries formula harvesting, mainly two kinds of harvesting principles, is based on into
Ripe fruit and separating force at immature fruit carpopodium are of different sizes, it is a kind of be refer to frictional force between fruit by harvesting will be into
Under ripe fruit, this Softening need will part branch or whole branch feeding picking mechanism in, easily cause fruit and
Colored extruding is damaged, and influences yield.Another kind is of different sizes with immature fruit transverse diameter using maturation, adjusts suitable between cog
Away from immature matrimony vine and floral leaf slipped between two fingers, and ripe matrimony vine is seized down, and this Softening will to branch trimming
Ask strict, fruit growth uniformity is preferable.The matrimony vine harvesting motor CN201410498476.2 that Gao Huaizhi et al. is developed is used
Imitative human hand shape, cord batch (-type) under the control of cam is tensed and unclamped, and then mechanical finger is stretched out length in radial directions
Degree changes, and the stretching angle of mechanical finger is certain, and the spacing between adjacent machine refers under different extension elongations changes therewith
Become, when extended, spacing becomes big, and matrimony vine falls through into matrimony vine frame from webs；But complicated, difficulty of processing is big, and equipment can
Poor by property, picking efficiency is low, and cost is high.
The content of the invention
In view of the above-mentioned problems, the present invention, which proposes one kind, curries profiling matrimony vine picking end effector, including：A piece main shaft
And each one of the grooved cam of main shaft both ends connection, main shaft middle part are hinged with some harvestings and referred to, some harvestings, which refer to, to be combined to
It is in together emitting shape from the inside to surface, a circle cam path is milled with the inner side of grooved cam, has cam driven bearing can edge in cam path
Cam path is freely rolled, and pressing plate is housed on two grooved cams between corresponding cam driven bearing, multiple holes are provided with pressing plate,
Every harvesting, which refers to, to be passed through among each hole, drives during main axis harvesting to refer to rotation, and harvesting refers to band dynamic pressure plate rotation, on pressing plate
Hole refer to lower end in harvesting and slide up and down, refer to gap change from each other so as to oppress harvesting.
The harvesting refers to includes finger, spring steel and silica gel sheath under tooth successively from the inside to surface.
The main shaft mills out multiple row plane, and gang drill rivet hole respectively up and down, and every harvesting refers to lower end and passes through rivet and master
Axis connection forms revolute pair lateral rotation, forms multiple row harvesting and refers to around main shaft circle rotation.
The cam path is formed by four arcses are tangent, respectively actuating travel section, rest at a distance section, reverse-running section, nearby rest
Section.
One end of the main shaft is connected by shaft coupling with motor output shaft, and motor is placed in motor casing, fixed plate point
It is not connected with motor casing and motor screw, bolt connection between the shell and flanged plate of actuator, in the shell and method of actuator
Bearing mounting base on blue plate is assembled with bearing, is rotated for supports main shaft.
It is provided with the entrance of the branch of certain angle on the shell and flanged plate of the actuator, section is rested in the distant place of cam path
Be aligned branch entrance, ensure harvesting when harvesting refer between spacing be in minimum.
The end of the motor casing is equipped with current potential speed regulator and charging end.
The grooved cam selects nylon material.
The bottom of the shell of the actuator connects collecting box by delivery hose.
Beneficial effects of the present invention：
1st, matrimony vine breakage rate is reduced.Present invention harvesting, which refers to, is divided into spring steel inner frame and silica gel outer layer, and the design of apery hand is adopted
Off-hook structure, simple in construction, cost is relatively low, can effectively screen the fruit with harvesting ripe；When plucking abutment to ripe matrimony vine,
Most of impulsive force is offset by spring steel, and layer of silica gel avoids harvesting from referring to directly effect matrimony vine, can greatly reduce the breakage rate of matrimony vine,
Increase the frictional force plucked and referred to matrimony vine simultaneously, ensure net picking rate.The cam structure of design at work pluck by periodically-varied
The spacing of finger, successfully seize the matrimony vine to get off and fall to collecting box；
2nd, solves farm work energy resource supply problem.The output voltage of electric three-wheel is 48 v, by Voltage stabilizing module by electricity
Pressure is converted into 24 v of end effector needs, can be simultaneously to some chargings.
3rd, harvest efficiency is greatly improved.Electro-tricycle can install some end effectors, while tricycle as needed
For holding the matrimony vine after harvesting, heavy carrying work is undertaken, reduces and carries link；Also hand-holdable end effector is in light weight
It is full of, reduces labor intensity.
4th, labour is liberated.Picker need not bear battery, and the matrimony vine after harvesting timely enters collecting box, reduce end and hold
Row device Operating Weight.Overall structure is simple, safe and reliable, and stream time can meet that normal harvesting requires.
Brief description of the drawings
Fig. 1 plucks complete machine to curry profiling matrimony vine
Fig. 2 is to curry profiling matrimony vine picking end effector
Fig. 3 is to curry profiling matrimony vine picking end effector outside drawing
Fig. 4 is motor installation diagram
Fig. 5 is grooved cam
Fig. 6 is pressing plate
Fig. 7 is main shaft
Fig. 8 is that harvesting refers to division schematic diagram
In figure：1st, pressing plate；2nd, silica gel sheath；3rd, refer under tooth；4th, spring steel；5th, rivet；6th, main shaft；7th, cam driven bearing；
8th, bearing；9th, shaft coupling；10th, motor；11st, grooved cam；12nd, shell；13rd, flanged plate；14th, motor casing；15th, charging end；16th, adjust
Fast device；17th, end effector；18th, delivery hose；19th, collecting box；20th, Voltage stabilizing module；21st, compartment；22nd, fixed plate；23rd, Chinese holly
Qi.
Embodiment
Below in conjunction with the accompanying drawings, embodiment is elaborated.
The present invention is based on electro-tricycle, as shown in figure 1, collecting box 19 and Voltage stabilizing module 20 are placed on Platform for tricycle
In 21, using Voltage stabilizing module 20 by the 48v voltage conversions of electro-tricycle into the 24v needed for picking machine, the fruit curried from
The lower section of end effector 17 is flowed out, and is entered through delivery hose 18 in collecting box 19.The matrimony vine end effector of the present invention is by being driven
Mechanism and picking mechanism composition, transmission mechanism is by main shaft 6, bearing 8, shaft coupling 9, motor 10, shell 12, flanged plate 13, motor
Shell 14, charging end 15, speed regulator 16 and fixed plate 22 form.As shown in figure 4, eccentric motor 10 is placed in motor casing 14, Gu
Fixed board 22 respectively with motor casing 14 and the mode connects for screw of motor 10, with this by motor 10 and the fixed delivery power of motor casing 14.Such as Fig. 2
Shown, the output shaft of motor 10 is connected with main shaft 6 by shaft coupling 9, bolt connection between shell 12 and flanged plate 13, in shell 12
Bearing 8 is assembled with the bearing mounting base on flanged plate 13, is rotated for supports main shaft 6.To adapt to picker's personal use
The matrimony vine of custom and different cultivars harvest is equipped with the He of current potential speed regulator 16, it is necessary to the rotating speed curried is adjustable in the end of motor casing 14
Charging end 15.Picking mechanism includes referring to 3, spring steel 4, rivet 5, main shaft 6, cam driven bearing 7 under pressing plate 1, silica gel sheath 2, tooth
With grooved cam 11, picking mechanism is arranged symmetrically for circumference, and be multiplied picking efficiency.Grooved cam 11 selects nylon material, such as Fig. 5
Shown, milling cam path in inner side, cam path is formed by 4 sections of circular arcs are tangent, respectively actuating travel section, the section, reverse-running section, near of resting at a distance
Section is rested at place, and cam driven bearing 7 can be rolled freely in groove, and the driving square hole of pressing plate 1 refers to 3 outer walls under tooth and slided up and down.
Endoporus avoids interfering with shell 12 and flanged plate 13 slightly larger than the bearing mounting base on shell 12 and flanged plate 13 on grooved cam 11
Grooved cam 11 can not be installed, have tapped through hole on grooved cam 11, be screwed and be connected with shell 12 and flanged plate 13, will during installation
Ask the distant place of cam path to rest the entrance of branch on section alignment housings 12 and flanged plate 13, ensure to pluck when plucking matrimony vine 23 and refer to
Between spacing be in minimum.As shown in fig. 7, main shaft mills out two row planes, and gang drill rivet hole respectively about 6, refer to 3 under each tooth
Lower end is connected to form revolute pair lateral rotation with the rivet 5 of main shaft 6, refers to 3 upper ends under tooth through the square hole on pressing plate 1, can be upper and lower
Slide, left and right directions can only slide in square hole.As shown in figure 8, position 1 and position 2 are pressing plate square hole vertical section, dotted line is
The square hole movement locus of pressing plate 1, square hole center is with the rivet hole of corresponding installation not in same vertical plane.The position when pressing plate moves upwards
1 is put, finger 3 is tangent with the upper right corner in square hole section under tooth, forces harvesting to refer to 2 and rotates counterclockwise, and spacing diminishes between two fingers.Work as pressure
Position 2 when plate moves downward, refer under tooth 3 tangent with the square hole section lower left corner, force harvesting to refer to 2 and rotate clockwise, between two fingers
Spacing becomes big, and pressing plate 1 so up and down reciprocatingly adjusts spacing between two fingers.Harvesting refers to including referring to 3, spring steel 4 and silica gel sheath under tooth
2, by experiment, when harvesting, which refers to, seizes lower matrimony vine, a part of matrimony vine is stuck in the gap between referring to and referring to, and influences to pluck
Journey.The present invention can pluck the spacing referred to periodically-varied, and the matrimony vine for making to be stuck between referring to falls to conveying under gravity
In flexible pipe 18.Refer to 3 under tooth and refer to the relative slip with pressing plate 1 for harvesting, adhesion between referring to 3 under spring steel 4 and tooth, harvesting refers to and Chinese holly
Spring steel 4 absorbs most impulsive force when Qi is collided, and silica gel not only acts as the effect of buffering, and increase harvesting refers to and matrimony vine
Frictional force, improve net picking rate.
The present invention is using electro-tricycle as harvesting platform, and only end effector does not provide power source, and compartment is used
Fruit after harvesting is held.Before medlar-picking machine work, tricycle is opened to plant pluck, harvesting platform can be with
Some end effectors are installed according to demand, according to personal operating habit after switching on power, suitable rotating speed is adjusted and is curried
Harvesting, improve harvest efficiency.Ripe matrimony vine is long by fasciation and is in sagging type, during harvesting, has carried the end of branch, end effector
It is placed in below branch, the axis of main shaft is vertical with branch axis, while hand-held end effector from branch end, curry by movement.End
Hold the actuator course of work as follows, torsion rotates from motor output driving main shaft, and band dynamic pressure plate rotates around the spindle, simultaneously as
Grooved cam is fixed, and the cam driven bearing of pressing plate both sides is rolled to force pressing plate under the driving of main shaft in cam path
Refer under along tooth and slide up and down.When pressing plate is remotely resting place, spacing is minimum between two fingers, for currying matrimony vine, mellow fruit
Reality is more larger than green fruit and floral leaf, and ripening fruits, which is plucked to refer to, during harvesting seizes down, and less Chinese olive and floral leaf from
Slipped in gap between two fingers.When pressing plate be in short range rest place when, two refer between distance it is maximum, ensure to make the maturation under seizing
Matrimony vine drops.The matrimony vine to drop is led into the collecting box on compartment from the opening outflow below end effector through delivery hose.
This embodiment is only the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (9)
1. one kind curries profiling matrimony vine picking end effector, it is characterised in that including：A piece main shaft and the connection of main shaft both ends
Each one of grooved cam, be hinged with some harvestings in the middle part of main shaft and refer to, some harvestings, which refer to, to be grouped together from the inside to surface in sending out
Shape is penetrated, a circle cam path is milled with the inner side of grooved cam, has cam driven bearing freely to be rolled along cam path in cam path, two
Pressing plate is housed on individual grooved cam between corresponding cam driven bearing, multiple holes are provided with pressing plate, every harvesting refers to from each
Pass through among hole, drive during main axis harvesting to refer to rotation, harvesting refers to band dynamic pressure plate rotation, and the hole on pressing plate refers to lower end in harvesting
Slide up and down, the gap referred to from each other so as to oppress harvesting changes.
2. actuator according to claim 1, it is characterised in that the harvesting refers to includes finger, bullet under tooth successively from the inside to surface
Spring steel and silica gel sheath.
3. actuator according to claim 1 or claim 2, it is characterised in that the main shaft mills out multiple row plane respectively up and down, side by side
Bore rivet hole, every harvesting refers to lower end and is connected to form revolute pair lateral rotation with main shaft by rivet, formed multiple row pluck refer to around
Main shaft circle rotation.
4. actuator according to claim 3, it is characterised in that the cam path is formed by four arcses are tangent, is respectively
Actuating travel section, rest section, reverse-running section, section of nearby resting at a distance.
5. actuator according to claim 4, it is characterised in that one end of the main shaft passes through shaft coupling and motor output shaft
It is connected, motor is placed in motor casing, and fixed plate is connected with motor casing and motor screw respectively, the shell and flanged plate of actuator
Between bolt connection, the bearing mounting base on the shell and flanged plate of actuator is assembled with bearing, turns for supports main shaft
It is dynamic.
6. actuator according to claim 5, it is characterised in that be provided with certain angle on the shell and flanged plate of the actuator
The entrance of the branch of degree, rest the entrance of section alignment branch for the distant place of cam path, ensures between in harvesting, harvesting refers at spacing
In minimum.
7. actuator according to claim 6, it is characterised in that the end of the motor casing is equipped with current potential speed regulator and charging
End.
8. actuator according to claim 7, it is characterised in that the grooved cam selects nylon material.
9. actuator according to claim 8, it is characterised in that the bottom of the shell of the actuator is connected by delivery hose
Receive header.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099214.9A CN107852952B (en) | 2017-11-09 | 2017-11-09 | Comb-brushing profiling wolfberry picking end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711099214.9A CN107852952B (en) | 2017-11-09 | 2017-11-09 | Comb-brushing profiling wolfberry picking end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107852952A true CN107852952A (en) | 2018-03-30 |
| CN107852952B CN107852952B (en) | 2020-10-30 |
Family
ID=61700097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711099214.9A Active CN107852952B (en) | 2017-11-09 | 2017-11-09 | Comb-brushing profiling wolfberry picking end effector |
Country Status (1)
| Country | Link |
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| CN (1) | CN107852952B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108522002A (en) * | 2018-06-08 | 2018-09-14 | 浙江理工大学 | Become spacing and curries harvester and its collecting method |
| CN108718703A (en) * | 2018-04-20 | 2018-11-02 | 宁夏大学 | A kind of flatly moving type multipoint clamping picker for matrimony vine picking |
| CN108901358A (en) * | 2018-07-11 | 2018-11-30 | 杭州电子科技大学 | Easily adjust the serrated knife cherry auxiliary picker and its picking method of comb structure |
| CN109451978A (en) * | 2018-11-28 | 2019-03-12 | 安徽农业大学 | Medlar-picking machine |
| CN110402681A (en) * | 2019-07-09 | 2019-11-05 | 浙江理工大学 | One kind currying formula woods fruit picking machine |
| CN111066482A (en) * | 2019-12-04 | 2020-04-28 | 山东科技大学 | Rolling type mechanical picking device for hooking blueberries and application thereof |
| CN112219555A (en) * | 2020-10-20 | 2021-01-15 | 程焱文 | Device is picked with big-arch shelter to agricultural production |
| CN113243201A (en) * | 2021-05-06 | 2021-08-13 | 北京林业大学 | Portable matrimony vine harvesting device |
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| RU94009030A (en) * | 1994-03-15 | 1997-05-10 | В.В. Тарасенко | Vegetable harvester |
| CN103931344A (en) * | 2014-05-14 | 2014-07-23 | 山东理工大学 | Self-propelled air suction comb tooth type lycium barbarum picking harvester |
| CN104247608A (en) * | 2014-09-26 | 2014-12-31 | 宁夏中卫市廙园机械装备研发有限公司 | Electric mechanical arm for picking wolfberry |
| CN104255192A (en) * | 2014-09-14 | 2015-01-07 | 青海林丰农牧机械制造有限公司 | Wolfberry picking machine |
| CN105960939A (en) * | 2016-06-16 | 2016-09-28 | 耿峻 | Fruit and leaf separating medlar picker |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| RU94009030A (en) * | 1994-03-15 | 1997-05-10 | В.В. Тарасенко | Vegetable harvester |
| CN103931344A (en) * | 2014-05-14 | 2014-07-23 | 山东理工大学 | Self-propelled air suction comb tooth type lycium barbarum picking harvester |
| CN104255192A (en) * | 2014-09-14 | 2015-01-07 | 青海林丰农牧机械制造有限公司 | Wolfberry picking machine |
| CN104247608A (en) * | 2014-09-26 | 2014-12-31 | 宁夏中卫市廙园机械装备研发有限公司 | Electric mechanical arm for picking wolfberry |
| CN105960939A (en) * | 2016-06-16 | 2016-09-28 | 耿峻 | Fruit and leaf separating medlar picker |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718703A (en) * | 2018-04-20 | 2018-11-02 | 宁夏大学 | A kind of flatly moving type multipoint clamping picker for matrimony vine picking |
| CN108522002A (en) * | 2018-06-08 | 2018-09-14 | 浙江理工大学 | Become spacing and curries harvester and its collecting method |
| CN108901358A (en) * | 2018-07-11 | 2018-11-30 | 杭州电子科技大学 | Easily adjust the serrated knife cherry auxiliary picker and its picking method of comb structure |
| CN108901358B (en) * | 2018-07-11 | 2019-12-24 | 杭州电子科技大学 | Serrated knife cherry auxiliary picking device with easily-adjusted comb structure and picking method thereof |
| CN109451978A (en) * | 2018-11-28 | 2019-03-12 | 安徽农业大学 | Medlar-picking machine |
| CN110402681A (en) * | 2019-07-09 | 2019-11-05 | 浙江理工大学 | One kind currying formula woods fruit picking machine |
| CN110402681B (en) * | 2019-07-09 | 2024-02-09 | 浙江理工大学 | Comb brush type fruit picking machine |
| CN111066482A (en) * | 2019-12-04 | 2020-04-28 | 山东科技大学 | Rolling type mechanical picking device for hooking blueberries and application thereof |
| CN112219555A (en) * | 2020-10-20 | 2021-01-15 | 程焱文 | Device is picked with big-arch shelter to agricultural production |
| CN113243201A (en) * | 2021-05-06 | 2021-08-13 | 北京林业大学 | Portable matrimony vine harvesting device |
| CN113243201B (en) * | 2021-05-06 | 2022-05-03 | 北京林业大学 | Portable matrimony vine harvesting device |
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