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

Comb-brushing profiling wolfberry picking end effector Download PDF

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Publication number
CN107852952B
CN107852952B CN201711099214.9A CN201711099214A CN107852952B CN 107852952 B CN107852952 B CN 107852952B CN 201711099214 A CN201711099214 A CN 201711099214A CN 107852952 B CN107852952 B CN 107852952B
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China
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picking
cam
fingers
groove
main shaft
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CN107852952A (en
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张文强
李召召
谭豫之
李伟
张明明
张俊雄
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China Agricultural University
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China Agricultural University
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    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to a combing profiling wolfberry picking end effector which comprises: the spindle and the groove cams connected with the two ends of the spindle are respectively provided, the middle of the spindle is hinged with a plurality of picking fingers, the picking fingers are combined together and are in a transmission shape from inside to outside, a circle of cam groove is milled in the inner side of the groove cam, a cam driven bearing can freely roll along the cam groove in the cam groove, a pressing plate is arranged between the corresponding cam driven bearings on 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 picking fingers are driven to rotate when the spindle rotates, the pressing plate is driven by the picking fingers to rotate, and the holes in the pressing plate vertically slide at the lower ends of the picking fingers, so that the gaps among the picking fingers are pressed to change. The structure is simple, the cost is low, and mature fruits can be effectively screened and picked; greatly reduces the damage rate of the medlar, increases the friction force between the picking fingers and the medlar, and ensures the picking rate.

Description

Comb-brushing profiling wolfberry picking end effector
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a combing profiling wolfberry picking end effector.
Background
The medlar belongs to an unlimited inflorescence berry plant, the picking period is from the first 6 to the last 10 months, the medlar is picked once every seven days, the water content of the mature medlar is about 80 percent, and the medlar is easy to damage in the picking process. Along with the increasing of market demand, the wolfberry planting area is also enlarged continuously, more and more labor force is needed, but the number of the population of farmers is sharply reduced due to the influence of the urbanization process, and the wolfberries are often not harvested in time due to shortage of labor force, so that serious economic loss is caused. The growth condition of the medlar is complex, Chinese white fruits, flowers and leaves and ripe fruits coexist on the same bearing node, plants are full of thorns, and hands are easily pricked.
In recent years, some combing and brushing type medlar picking machines are developed in China, but the picking effect is not ideal, medlar fruits are easily damaged during picking, and the fruits cannot be stored for a long time. The wolfberry combing and brushing type picking mainly comprises two picking principles, the two picking principles are based on different separating forces at the fruit handles of mature fruits and immature fruits, one is to pick the mature fruits by means of friction force between picking fingers and the fruits, and the picking mode needs to feed partial branches or the whole branches into a picking mechanism, so that the fruits and flowers are extruded and damaged easily, and the yield is influenced. The other method is that the transverse diameter of mature fruit is different from that of immature fruit, the proper space between teeth is adjusted, the immature medlar and flower leaves slide through the space between two fingers, the mature medlar is pulled down, the picking mode has strict requirements on branch pruning, and the fruit growth consistency is good. The Chinese wolfberry picking motor CN201410498476.2 developed by people with high intellectual faculties adopts a shape similar to a human hand, a string is intermittently tensioned and loosened under the control of a cam, so that the extending length of mechanical fingers in the radial direction is changed, the extending angle of the mechanical fingers is fixed, the distance between adjacent mechanical fingers is changed along with the change of the extending length, when the mechanical fingers extend out, the distance is increased, and Chinese wolfberry falls from finger gaps and enters a Chinese wolfberry frame; but the structure is complicated, the processing difficulty is large, the equipment reliability is poor, the picking efficiency is low, and the cost is high.
Disclosure of Invention
In order to solve the problems, the invention provides a combing profiling medlar picking end effector, which comprises: the spindle and the groove cams connected with the two ends of the spindle are respectively provided, the middle of the spindle is hinged with a plurality of picking fingers, the picking fingers are combined together and are in a transmission shape from inside to outside, a circle of cam groove is milled in the inner side of the groove cam, a cam driven bearing can freely roll along the cam groove in the cam groove, a pressing plate is arranged between the corresponding cam driven bearings on 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 picking fingers are driven to rotate when the spindle rotates, the pressing plate is driven by the picking fingers to rotate, and the holes in the pressing plate vertically slide at the lower ends of the picking fingers, so that the gaps among the picking fingers are pressed to change.
The picking finger comprises a lower tooth finger, spring steel and a silica gel sleeve from inside to outside in sequence.
The multi-row plane is milled from top to bottom of the main shaft respectively, rivet holes are drilled in parallel, the lower end of each picking finger is connected with the main shaft through a rivet to form a rotating pair to rotate laterally, and the multi-row picking fingers rotate around the circumference of the main shaft.
The cam groove is formed by four sections of arc tangents, and is respectively a push stroke section, a far pause section, a return stroke section and a near pause section.
One end of the main shaft is connected with an output shaft of the motor through a coupler, the motor is placed in the motor shell, the fixing plate is respectively connected with the motor shell and a motor screw, the shell of the actuator is connected with the flange plate through a bolt, and bearings are mounted on the shell of the actuator and bearing mounting seats on the flange plate and used for supporting the main shaft to rotate.
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 minimum distance between picking fingers is ensured during picking.
And the tail end of the motor shell is provided with a potential speed regulator and a charging end.
The grooved cam is made of nylon materials.
The bottom of the shell of the actuator is connected with the collecting box through a conveying hose.
The invention has the beneficial effects that:
1. the damage rate of the medlar is reduced. The picking finger is divided into the spring steel inner framework and the silica gel outer layer, the picking mechanism is designed by imitating a hand, the structure is simple, the cost is lower, and mature fruits can be effectively screened and picked; when the picking fingers contact with the ripe Chinese wolfberry, most impact force is offset by spring steel, the silica gel layer avoids picking the finger and acts on the Chinese wolfberry directly, the breakage rate of the Chinese wolfberry can be greatly reduced, the friction force between the picking fingers and the Chinese wolfberry is increased, and the picking rate is ensured. The designed cam structure periodically changes the spacing of the picking fingers when in work, and the successfully picked Chinese wolfberry falls to the collecting box;
2. the problem of energy supply in field operation is solved. The output voltage of the electric tricycle is 48v, the voltage is converted into 24v required by the end effector through the voltage stabilizing module, and a plurality of electric tricycles can be charged at the same time.
3. Greatly improving the harvesting efficiency. The electric tricycle can be provided with a plurality of end effectors according to the needs, and meanwhile, the tricycle is used for containing picked Chinese wolfberry, so that heavy carrying work is born, and carrying links are reduced; the hand-held end effector has light weight, and the labor intensity is reduced.
4. The labor force is liberated. The picked medlar can enter the collecting box in time without carrying the battery by a picker, so that the operation weight of the end effector is reduced. The whole structure is simple, safe and reliable, and the continuous working time can meet the normal picking requirement.
Drawings
FIG. 1 is a comb-brushing profiling wolfberry picking machine
FIG. 2 is a comb-brushing profiling wolfberry picking end effector
FIG. 3 is an external view of a comb-brushing profiling wolfberry picking end effector
FIG. 4 is a motor mounting diagram
FIG. 5 is a grooved cam
FIG. 6 is a press plate
FIG. 7 shows a main shaft
FIG. 8 is a schematic view of finger picking
In the figure: 1. pressing a plate; 2. a silica gel sleeve; 3. pointing under the teeth; 4. spring steel; 5. riveting; 6. a main shaft; 7. a cam follower bearing; 8. a bearing; 9. a coupling; 10. a motor; 11. a grooved cam; 12. a housing; 13. a flange plate; 14. a motor housing; 15. a charging terminal; 16. a speed regulator; 17. an end effector; 18. a delivery hose; 19. a collection box; 20. a voltage stabilization module; 21. a carriage; 22. a fixing plate; 23. and (5) Chinese wolfberry.
Detailed Description
The embodiments are described in detail below with reference to the accompanying drawings.
The invention is based on an electric tricycle, as shown in figure 1, a collecting box 19 and a voltage stabilizing module 20 are placed in a tricycle compartment 21, the voltage stabilizing module 20 is used for converting the 48v voltage of the electric tricycle into 24v required by a picking machine, and combed fruits flow out from the lower part of an end effector 17 and enter the collecting box 19 through a conveying hose 18. The wolfberry end effector consists of a transmission mechanism and a picking mechanism, wherein the transmission mechanism consists of a main shaft 6, a bearing 8, a coupler 9, a motor 10, a shell 12, a flange plate 13, a motor shell 14, a charging end 15, a speed regulator 16 and a fixing plate 22. As shown in fig. 4, the eccentric motor 10 is disposed in the motor housing 14, and the fixing plate 22 is screwed to the motor housing 14 and the motor 10, respectively, to fix the motor 10 and the motor housing 14 for power transmission. As shown in fig. 2, the output shaft of the motor 10 is connected with the main shaft 6 through the coupling 9, the housing 12 is connected with the flange plate 13 through bolts, and the bearing 8 is mounted on the bearing mounting seats on the housing 12 and the flange plate 13 and used for supporting the main shaft 6 to rotate. In order to adapt to the personal use habit of a picker and the harvesting of different varieties of medlar, the rotating speed of the combing brush is adjustable, and a potential speed regulator 16 and a charging end 15 are arranged at the tail end of a motor shell 14. The picking mechanism comprises a pressing plate 1, a silica gel sleeve 2, a tooth lower finger 3, spring steel 4, a rivet 5, a main shaft 6, a cam driven bearing 7 and a groove cam 11, and is circumferentially and symmetrically arranged, so that the picking efficiency is multiplied. The groove cam 11 is made of nylon materials, as shown in fig. 5, a cam groove is milled in the inner side, the cam groove is formed by 4 sections of arcs in a tangent mode and is respectively a push stroke section, a far pause section, a return stroke section and a near pause section, the cam driven bearing 7 can freely roll in the groove, and the square hole of the driving pressure plate 1 slides up and down on the outer wall of the finger 3 under the tooth. The inner hole on the groove cam 11 is slightly larger than the bearing mounting seats on the shell 12 and the flange plate 13, so that the problem that the groove cam 11 cannot be mounted in an interference mode with the shell 12 and the flange plate 13 is avoided, the groove cam 11 is provided with a threaded through hole and is fixedly connected with the shell 12 and the flange plate 13 in a threaded mode, the remote stop section of the cam groove is required to be aligned to the inlets of branches on the shell 12 and the flange plate 13 during installation, and the distance between picking fingers is guaranteed to be the minimum when the Chinese wolfberry 23 is picked. As shown in fig. 7, two rows of planes are milled on the main shaft 6 up and down respectively, rivet holes are drilled in parallel, the lower end of each lower tooth finger 3 is connected with the main shaft 6 through a rivet 5 to form a revolute pair to rotate laterally, the upper end of each lower tooth finger 3 penetrates through a square hole in the pressing plate 1 and can slide up and down, and the left and right directions can only slide in the square hole. As shown in fig. 8, the position 1 and the position 2 are vertical cross sections of the square hole of the pressing plate, the dotted line is a motion track of the square hole of the pressing plate 1, and the center of the square hole and the rivet hole correspondingly installed are not on the same vertical plane. When the pressing plate moves upwards, the position 1 is arranged, the lower finger 3 of the tooth is tangent to the upper right corner of the section of the square hole, the picking finger 2 is forced to rotate anticlockwise, and the distance between the two fingers is reduced. When the pressing plate moves downwards, the position 2 is arranged, the lower tooth finger 3 is tangent to the lower left corner of the section of the square hole, the picking finger 2 is forced to rotate clockwise, the distance between the two fingers is increased, and the pressing plate 1 can adjust the distance between the two fingers up and down in a reciprocating mode. Picking indicates including finger 3 under the tooth, spring steel 4 and silica gel cover 2, and can know through the experiment that when picking and to get down the matrimony vine, partly matrimony vine card influences the picking process in indicating and pointing the clearance between. The invention can periodically change the distance between picking fingers, so that the medlar clamped between the fingers can fall into the conveying hose 18 under the action of gravity. Indicate 3 to be used for picking under the tooth and indicate 1 relative slip with the clamp plate, the adhesion between 3 is pointed to spring steel 4 and tooth, picks and indicates 4 absorption most impact forces of spring steel when colliding with the matrimony vine, and silica gel not only plays the effect of buffering, increases moreover and picks the frictional force that indicates and matrimony vine, improves the clean rate of gathering.
The electric tricycle is used as a harvesting platform, power energy is provided for the end effector, and the carriage is used for containing the picked fruits. Before the work of matrimony vine picking machine, drive the tricycle near waiting to pick the plant, a plurality of end effector can be installed according to the demand to the platform of gathering, and according to individual operation custom, adjust suitable rotational speed and comb the brush and pick after the switch on, improve the efficiency of gathering. The mature medlar grows according to clusters and is drooping, when in picking, the tail end of a branch is lifted, the end effector is placed below the branch, the axis of the main shaft is vertical to the axis of the branch, and meanwhile, the end effector is held by hands to move the comb brush from the tail end of the branch. The end effector works as follows, torsion is output from the motor to drive the main shaft to rotate, the pressing plate is driven to rotate around the main shaft, and meanwhile, as the groove cam is fixed, the cam driven bearings on two sides of the pressing plate are driven by the main shaft to roll in the cam groove so as to force the pressing plate to slide up and down along the finger below the tooth. When the pressing plate is in a remote stop position, the distance between the two fingers is the minimum, the pressing plate 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 green fruits and leaves slide through the gap between the two fingers. When the pressing plate is positioned at a short-range rest position, the distance between the two fingers is the largest, and the pulled mature Chinese wolfberry is guaranteed to fall off. The fallen medlar flows out from an opening below the end effector and is guided into a collecting box on the carriage through a conveying hose.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall 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.
CN201711099214.9A 2017-11-09 2017-11-09 Comb-brushing profiling wolfberry picking end effector Active CN107852952B (en)

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Publication number Priority date Publication date Assignee Title
CN108718703B (en) * 2018-04-20 2021-02-26 宁夏大学 Translational multi-point clamping picking device for picking medlar
CN108522002B (en) * 2018-06-08 2023-06-06 浙江理工大学 Variable-spacing carding harvester and harvesting method thereof
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
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
CN112219555B (en) * 2020-10-20 2021-10-15 苏州帅泽信息科技有限公司 Device is picked with big-arch shelter to agricultural production
CN113243201B (en) * 2021-05-06 2022-05-03 北京林业大学 Portable matrimony vine harvesting device

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Publication number Priority date Publication date Assignee Title
RU2080766C1 (en) * 1994-03-15 1997-06-10 Владимир Витальевич Тарасенко Combine for harvesting vegetables, particularly, tomatoes and roots
CN103931344B (en) * 2014-05-14 2016-04-20 山东理工大学 A kind of from walking aspiration comb-tooth-type matrimony vine harvester
CN104255192B (en) * 2014-09-14 2016-08-24 青海林丰农牧机械制造有限公司 A kind of medlar-picking machine
CN104247608B (en) * 2014-09-26 2016-05-04 宁夏中卫市廙园机械装备研发有限公司 Matrimony vine is plucked electric manipulator
CN105960939B (en) * 2016-06-16 2018-09-07 宁夏众邦天地科技文化创意有限公司 Fruit leaf separate type medlar-picking machine

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