CN107852952B - Comb-brushing profiling wolfberry picking end effector - Google Patents

Abstract

The invention belongs to the technical field of agricultural machinery, and in particular relates to a comb brush copy-shaped wolfberry picking end effector, comprising: a main shaft and a groove cam connected to both ends of the main shaft; The fingers are combined together in a firing shape from the inside to the outside. The inner side of the groove cam is milled with a circle of cam grooves. There are cam follower bearings in the cam grooves that can roll freely along the cam grooves. The corresponding cam follower bearings on the two groove cams There is a pressure plate in between, and there are many holes on the pressure plate. Each picking finger passes through the middle of each hole. When the main shaft rotates, the picking finger rotates, the picking finger drives the pressure plate to rotate, and the holes on the pressure plate slide up and down at the lower end of the picking finger. , thereby compressing the change of the gap between the picking fingers. The structure is simple and the cost is low, and the ripe fruit can be effectively screened and picked; the breakage rate of the wolfberry is greatly reduced, and the friction between the picking finger and the wolfberry is increased at the same time to ensure the clean rate.

Description

A comb brush profiled wolfberry picking end effector

technical field

The invention belongs to the technical field of agricultural machinery, and in particular relates to a comb brush profiled wolfberry picking end effector.

Background technique

Lycium barbarum is an infinite inflorescence berry plant. The picking period is from early June to late October. It is harvested every seven days. The water content of mature wolfberry is about 80%, and it is easily damaged during the picking process. With the continuous increase in market demand, the planting area of wolfberry is also expanding, and more and more labor is needed. However, due to the impact of urbanization, the number of agricultural population has dropped sharply. Due to the shortage of labor, wolfberry is often not harvested in time, causing serious problems. Economic losses. The growth of Lycium barbarum is complicated. Green fruit, mosaic leaves and ripe fruits coexist on the same fruiting point. The plant is covered with thorns, which is easy to cause hand stab wounds. At present, the picking of Lycium barbarum is mainly manual picking, which has poor working environment and high labor intensity. , the picking efficiency is low and the cost is high, which greatly hinders the development of the wolfberry industry.

In recent years, some comb-type wolfberry picking machines have been developed in my country, but the picking effect is not very ideal, and it is easy to damage the wolfberry fruit during picking, and the fruit cannot be stored for a long time. There are two main picking principles for wolfberry comb picking, both of which are based on the difference in the separation force at the stem of the ripe fruit and the immature fruit. One is to pick off the ripe fruit by the friction between the picking finger and the fruit. The method needs to feed part of the branches or the whole branches into the picking mechanism, which is easy to cause damage to the extrusion of fruits and flowers, affecting the yield. The other is to use the different diameters of mature and immature fruits to adjust the appropriate tooth spacing. The immature wolfberry and mosaic leaves slip between the two fingers, and the mature wolfberry is pulled off. The requirements are strict and the fruit growth consistency is good. The wolfberry picking motor CN201410498476.2 developed by Gao Huaizhi et al. adopts the shape of a human hand, and the string is intermittently tightened and loosened under the control of the cam, so that the extension length of the mechanical finger in the radial direction is changed, and the extension of the mechanical finger is changed. At a certain angle, the spacing between adjacent mechanical fingers changes with different protrusion lengths. When extended, the spacing becomes larger, and the wolfberry falls from the gap between the fingers and enters the wolfberry frame; however, the structure is complex and the processing is difficult. The equipment reliability is poor, the picking efficiency is low, and the cost is high.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention proposes a comb brush copy-shaped wolfberry picking end effector, comprising: a main shaft and a groove cam connected to both ends of the main shaft, a plurality of picking fingers are hinged in the middle of the main shaft, and a plurality of picking fingers are combined Together, it is in a firing shape from the inside to the outside. The inner side of the groove cam is milled with a circle of cam grooves. There is a cam follower bearing in the cam groove that can roll freely along the cam groove. The corresponding cam follower bearings on the two groove cams are between There is a pressing plate, there are a plurality of holes on the pressing plate, each picking finger passes through the middle of each hole, when the main shaft rotates, the picking finger rotates, the picking finger drives the pressing plate to rotate, and the holes on the pressing plate slide up and down on the lower end of the picking finger, so that Compression picking refers to changes in the gap between each other.

The picking fingers sequentially include lower teeth, spring steel and silicone sleeves from the inside to the outside.

Multiple rows of planes are milled up and down the main shaft respectively, and rivet holes are drilled side by side.

The cam groove is composed of four tangent arcs, which are respectively a push section, a distant stop section, a return section, and a near stop section.

One end of the main shaft is connected to the output shaft of the motor through a coupling, the motor is placed in the motor housing, the fixing plate is respectively connected with the motor housing and the motor screw, and the housing of the actuator is connected with the flange plate by bolts. Bearings are installed on the housing and the bearing mount on the flange plate to support the rotation of the main shaft.

The shell and the flange plate of the actuator are provided with a branch entrance at a certain angle, and the far stop section of the cam groove is aligned with the branch entrance, so as to ensure that the distance between the picking fingers is minimized during picking.

The end of the motor casing is equipped with a potential speed regulator and a charging terminal.

The grooved cam is made of nylon material.

The bottom of the housing of the actuator is connected to the collection box through a delivery hose.

Beneficial effects of the present invention:

1. Reduce the damage rate of wolfberry. The picking finger of the invention is divided into a spring steel inner frame and a silica gel outer layer, and the picking mechanism is designed like a human hand. The structure is simple, the cost is low, and the ripe fruit can be effectively screened and picked; Offset by spring steel, the silica gel layer prevents the picking fingers from directly acting on the wolfberry, which can greatly reduce the damage rate of the wolfberry, and at the same time increase the friction between the picking finger and the wolfberry to ensure the clean rate. The designed cam structure periodically changes the spacing of the picking fingers during operation, and the successfully picked wolfberry falls into the collection box;

2. Solve the problem of energy supply in field operations. The output voltage of the electric three-wheel is 48 v, and the voltage is converted into 24 v required by the end effector through the voltage regulator module, which can charge several units at the same time.

3. Greatly improve the harvesting efficiency. The electric tricycle can be installed with several end effectors according to the needs. At the same time, the tricycle is used to hold the harvested wolfberry, and it undertakes heavy handling work and reduces the handling links; the end effector can also be hand-held to be light in weight and reduce labor intensity.

4. Liberate the labor force. Pickers do not have to carry batteries, and the picked wolfberry enters the collection box in time, reducing the operating weight of the end effector. The overall structure is simple, safe and reliable, and the continuous working time can meet the normal picking requirements.

Description of drawings

Figure 1 shows the complete machine for comb-brush profiling wolfberry picking

Figure 2 shows the end effector for comb-brush profiling wolfberry picking

Figure 3 is the appearance of the end effector for comb-brush profiling wolfberry picking

Figure 4 shows the installation diagram of the motor

Figure 5 shows the grooved cam

Figure 6 shows the pressure plate

Figure 7 shows the main shaft

Figure 8 is a schematic diagram of the opening and closing of picking fingers

In the picture: 1. Pressure plate; 2. Silicone sleeve; 3. Lower finger of tooth; 4. Spring steel; 5. Rivet; 6. Main shaft; 7. Cam follower; 8. Bearing; 9. Coupling; 10. Motor; 11. Slot cam; 12. Housing; 13. Flange plate; 14. Motor housing; 15. Charging end; 16. Governor; 17. End effector; 18. Conveying hose; 19. Collection box ; 20, voltage regulator module; 21, carriage; 22, fixed plate; 23, wolfberry.

Detailed ways

The embodiments are described in detail below with reference to the accompanying drawings.

The present invention is based on an electric tricycle. As shown in FIG. 1 , the collection box 19 and the voltage stabilization module 20 are placed in the tricycle compartment 21, and the voltage stabilization module 20 is used to convert the 48v voltage of the electric tricycle into the 24v required by the picking machine. The fallen fruit flows out from under the end effector 17 and enters the collection box 19 through the conveying hose 18 . The wolfberry end effector of the present invention is composed of a transmission mechanism and a picking mechanism, and the transmission mechanism is composed of a main shaft 6, a bearing 8, a coupling 9, a motor 10, a casing 12, a flange plate 13, a motor casing 14, a charging end 15, an adjustment The speed gear 16 and the fixed plate 22 are composed. As shown in FIG. 4 , the eccentric motor 10 is placed in the motor housing 14 , and the fixing plates 22 are respectively connected with the motor housing 14 and the motor 10 by screws, thereby fixing the motor 10 and the motor housing 14 to transmit power. As shown in FIG. 2 , the output shaft of the motor 10 and the main shaft 6 are connected by the coupling 9 , the shell 12 and the flange plate 13 are connected by bolts, and the bearing 8 is installed on the bearing mounts on the shell 12 and the flange plate 13 . , used to support the rotation of the main shaft 6 . In order to adapt to the picker's personal usage habits and the harvest of different varieties of wolfberry, the speed of the brush needs to be adjusted, and a potential speed regulator 16 and a charging terminal 15 are installed at the end of the motor shell 14 . The picking mechanism includes a pressure plate 1, a silicone sleeve 2, a lower tooth finger 3, a spring steel 4, a rivet 5, a main shaft 6, a cam driven bearing 7 and a grooved cam 11. The picking mechanism is arranged symmetrically around the circumference, which doubles the picking efficiency. The grooved cam 11 is made of nylon material. As shown in Figure 5, the inner side of the cam groove is milled. The cam groove is composed of four tangent arcs, namely the push section, the distant stop section, the return section, and the near stop section. The driven bearing 7 can roll freely in the groove, and the square hole of the driving platen 1 slides up and down on the outer wall of the lower finger 3 of the tooth. The inner hole on the grooved cam 11 is slightly larger than the bearing mounting seat on the casing 12 and the flange plate 13, so as to avoid interference with the casing 12 and the flange plate 13 and the grooved cam 11 cannot be installed. The flange plate 13 is fixedly connected with threads. During installation, the far stop section of the cam groove is required to be aligned with the entrance of the branches on the shell 12 and the flange plate 13, so as to ensure that the distance between the picking fingers is the smallest when picking wolfberry 23. As shown in FIG. 7 , two rows of planes are milled from the main shaft 6 up and down respectively, rivet holes are drilled side by side, the lower end of the lower finger 3 of each tooth is connected with the rivet 5 of the main shaft 6 to form a lateral rotation of the rotating pair, and the upper end of the lower finger 3 of the tooth passes through the pressure plate 1 The upper square hole can slide up and down, and the left and right directions can only slide in the square hole. As shown in Figure 8, position 1 and position 2 are the vertical sections of the square hole of the pressure plate, the dotted line is the movement trajectory of the square hole of the pressure plate 1, and the center of the square hole and the corresponding installed rivet hole are not on the same vertical plane. When the pressing plate moves upwards in position 1, the lower finger 3 of the tooth is tangent to the upper right corner of the square hole section, forcing the picking finger 2 to rotate counterclockwise, and the distance between the two fingers becomes smaller. When the pressure plate moves downwards at position 2, the lower finger 3 of the tooth is tangent to the lower left corner of the square hole section, forcing the picking finger 2 to rotate clockwise, the distance between the two fingers becomes larger, and the pressure plate 1 reciprocates up and down to adjust the distance between the two fingers. The picking fingers include sub-tooth fingers 3, spring steel 4 and silicone sleeve 2. It can be seen from experiments that when the picking fingers pull down the wolfberry, a part of the wolfberry is stuck in the gap between the fingers, which affects the picking process. The present invention can periodically change the spacing of the picking fingers, so that the wolfberry stuck between the fingers falls into the conveying hose 18 under the action of gravity. The lower finger 3 of the tooth is used for the relative sliding between the picking finger and the pressing plate 1, and the spring steel 4 and the lower finger 3 of the tooth are glued together. When the picking finger collides with the wolfberry, the spring steel 4 absorbs most of the impact force, and the silica gel not only acts as a buffer, Moreover, the friction between the picking fingers and the wolfberry is increased, and the extraction rate is improved.

The invention uses the electric tricycle as the harvesting platform, which not only provides power energy for the end effector, but also the carriage is used to hold the harvested fruits. Before the wolfberry picking machine works, drive the tricycle to the vicinity of the plants to be picked. The harvesting platform can install several end effectors according to the needs. After turning on the power, adjust the appropriate speed to comb and pick according to personal operating habits to improve the harvesting efficiency. Ripe wolfberry grows in clusters and droops. When picking, lift the end of the branch, place the end effector under the branch, the axis of the main shaft is perpendicular to the axis of the branch, and hold the end effector to move the brush from the end of the branch. The working process of the end effector is as follows. The torque output from the motor drives the main shaft to rotate, and drives the pressure plate to rotate around the main shaft. At the same time, because the groove cam is fixed, the cam follower bearings on both sides of the pressure plate are driven by the main shaft. Force the platen to slide up and down along the lower fingers of the teeth. When the pressing plate is at the remote stop, the distance between the two fingers is the smallest, which is used for brushing wolfberry. The mature fruit is larger than the immature fruit and mosaic. When picking, the mature fruit is pulled by the picking fingers, while the smaller green fruit And the flowers and leaves slipped through the gap between the two fingers. When the pressing plate is at a short-range stop, the distance between the two fingers is the largest, so as to ensure that the mature wolfberry that has been pulled falls off. The fallen wolfberry flows out from the opening under the end effector and is led into the collection box on the carriage through the delivery hose.

This embodiment is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. , all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (4)

1. The utility model provides an end effector is picked to comb profile modeling matrimony vine which characterized in that includes: the picking mechanism comprises a main shaft and groove cams connected with two ends of the main shaft, wherein the middle part of the main shaft is hinged with a plurality of picking fingers, the picking fingers are combined together and are in a launching shape from inside to outside, a circle of cam groove is milled in the inner side of the groove cam, a cam driven bearing is arranged in the cam groove and can freely roll along the cam groove, a pressing plate is arranged between the cam driven bearings corresponding to the two groove cams, a plurality of holes are formed in the pressing plate, each picking finger penetrates through the middle of each hole, the main shaft drives the picking finger to rotate when rotating, the pressing plate is driven by the picking finger to rotate, and the holes in the pressing plate vertically slide at the lower end of the picking finger, so that the gaps among the picking fingers are pressed to change; the lower end of each picking finger is connected with the main shaft through a rivet to form a rotating pair to rotate laterally, so that a plurality of rows of picking fingers rotate around the circumference of the main shaft; the cam groove is formed by tangency of four sections of circular arcs and is respectively a push stroke section, a far pause section, a return stroke section and a near pause section; the shell of the actuator and the flange plate are provided with branch inlets with certain angles, and the distant rest section of the cam groove is aligned with the branch inlets, so that the distance between the picking fingers is ensured to be minimum during picking, the cam groove is used for combing and brushing the medlar, the ripe fruits are larger than the unripe fruits and leaves, the ripe fruits are pulled down by the picking fingers during picking, and the smaller fruits and leaves slide through the gap between the two fingers; when the cam groove is in a close pause section, the distance between the picking fingers is the largest, so that the pulled mature medlar can fall off, and the fallen medlar flows out of an opening below the end effector and is guided into a collection box on a carriage through a conveying hose; pick and indicate from inside to outside in proper order including under the tooth indicate, spring steel and silica gel cover, indicate under the tooth to be used for pick indicate with clamp plate relative slip, the spring steel with the adhesion between indicating under the tooth, when picking indicates and the matrimony vine collision the spring steel absorbs most impact force, silica gel not only plays the effect of buffering, increases moreover pick the frictional force that indicates and the matrimony vine, improves the clean rate of collection.

2. The actuator of claim 1, wherein one end of the main shaft is connected to the output shaft of the motor through a coupling, the motor is disposed in the motor housing, the fixing plate is connected to the motor housing and the motor screw, the housing of the actuator is connected to the flange plate through a bolt, and bearings are mounted on the housing of the actuator and the bearing mounting seat on the flange plate for supporting the main shaft to rotate.

3. The actuator of claim 1, wherein the motor housing terminates in a potential governor and a charging terminal.

4. The actuator of claim 1, wherein the slot cam is formed of a nylon material.

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