CN109328642A - A kind of citrus picking human body auxiliary end effector - Google Patents
A kind of citrus picking human body auxiliary end effector Download PDFInfo
- Publication number
- CN109328642A CN109328642A CN201811254909.4A CN201811254909A CN109328642A CN 109328642 A CN109328642 A CN 109328642A CN 201811254909 A CN201811254909 A CN 201811254909A CN 109328642 A CN109328642 A CN 109328642A
- Authority
- CN
- China
- Prior art keywords
- main shaft
- helical gear
- grabbing claw
- saw blade
- staggeredly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 235000020971 citrus fruits Nutrition 0.000 title claims abstract description 25
- 241000207199 Citrus Species 0.000 title claims abstract description 24
- 239000012636 effector Substances 0.000 title claims abstract description 14
- 210000000078 claw Anatomy 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 abstract description 10
- 230000006872 improvement Effects 0.000 description 5
- 241001672694 Citrus reticulata Species 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 2
- 210000001520 comb Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
Landscapes
- 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 present invention relates to fruits picking mechanical fields, and in particular to a kind of citrus picking human body auxiliary end effector, including transmission mechanism, cutting mechanism and grasping mechanism；The transmission mechanism includes the first main shaft, the second main shaft, spur bevel gear to, staggeredly helical gears pair of third main shaft, the 4th main shaft and 3 pairs, the cutting mechanism includes circular saw blade, the circular saw blade respectively with second the first output shaft that staggeredly helical gear connect the end of, the three the second staggeredly helical gears pair, the rotation connection of the second output shaft；The grasping mechanism includes big grabbing claw, small grabbing claw and clamping plate, and the clamping plate is bolted to connection with big grabbing claw, small grabbing claw；Citrus carpopodium is combed to circular saw blade by three grippers, circular saw blade can be transferred power to by motor as power source by shaft, a pair of of spur bevel gear and three pairs of staggered gears, be cut off citrus carpopodium by the rotation of circular saw blade.
Description
Technical field
The present invention relates to fruits picking mechanical fields, and in particular to a kind of citrus picking human body auxiliary end effector.
Background technique
The larger picking of this kind of fruit per mu yield quantity of Citrus is executed with greater need for huge manpower, picking fruit end is expended
Device is that the critical component of agricultural picking has the superiority and inferiority of picking fruit quality since it directly carries out crawl picking to fruit
It is direct to influence.Since the physical characteristic of fruit itself differs greatly, picking end effector general at present has destructible
The disadvantages such as fruit surface and crawl accuracy rate are low.
Summary of the invention
To solve the above problems, the present invention provides a kind of citrus picking human body auxiliary end effector.Pass through three machinery
Pawl combs citrus carpopodium to circular saw blade, can be by motor as power source, by shaft, a pair of of spur bevel gear and three
Circular saw blade is transferred power to staggered gear, is cut off citrus carpopodium by the rotation of circular saw blade.
A kind of citrus picking human body provided by the invention assists end effector, including transmission mechanism, cutting mechanism and
Grasping mechanism；
The transmission mechanism includes that the first main shaft, the second main shaft, spur bevel gear are staggeredly oblique to, third main shaft, first
Staggeredly helical gear pair and third are interlocked helical gear pair for gear mesh, the 4th main shaft, second, and one end of first main shaft passes through bullet
Property shaft coupling be connected with one end of second main shaft, the spur bevel gear is to including active spur bevel gear and driven
Spur bevel gear, the active spur bevel gear are engaged with the driven spur bevel gear, second main shaft it is another
One end is equipped with the active spur bevel gear, and the driven spur bevel gear is mounted on one end of the third main shaft,
Described first staggeredly helical gear to include actively first staggeredly helical gear with driven first staggeredly helical gear, the active first are handed over
Wrong helical gear with described driven first staggeredly helical gear engage, the other end of the third main shaft is equipped with the active first friendship
Wrong helical gear, described driven second staggeredly helical gear be mounted in the middle part of the 4th main shaft, the 4th main shaft both ends connect respectively
Be connected to described second staggeredly the driving wheel of helical gear pair, the third interlock the driving wheel of helical gear pair, described second is staggeredly oblique
The driven wheel of gear mesh connects one end of the first output shaft, and the interlock driven wheel of helical gear pair of the third connects the second output shaft
One end.
The cutting mechanism includes circular saw blade, the circular saw blade respectively with first output shaft, the second output shaft
One end rotation connection.
The grasping mechanism includes big grabbing claw, small grabbing claw and clamping plate, the big grabbing claw and the small grabbing claw
Upper end is provided with groove, and the clamping plate is inserted into the groove, and passes through bolt with the big grabbing claw, the small grabbing claw
It is fixedly connected.
As an improvement of the present invention, the clamping plate includes upper clamp plate and lower clamp plate, first output shaft, second defeated
Shaft both passes through upper clamp plate, and the circular saw blade is between the upper clamp plate and the lower clamp plate.
As an improvement of the present invention, the quantity of the big grabbing claw is 2, and is set to the two sides of the clamping plate,
The small grabbing claw is set to the middle part of the clamping plate.
As an improvement of the present invention, the circular saw blade is between the big grabbing claw and the small grabbing claw.
As an improvement of the present invention, first main shaft, the second main shaft are fixed on L-type support plate by bearing holder (housing, cover)
On one end face, the third main shaft is fixed on the other end of L-type support plate by bearing holder (housing, cover).
As an improvement of the present invention, described second staggeredly helical gear it is U-shaped to being each attached to, the third helical gear that interlocks
In the groove of support plate, the U-shaped support plate is fixed on an end face of L-type support plate, and is located at together with the third main shaft
In one plane.
Beneficial effects of the present invention: crawl unguiculus separates branch, and big grabbing claw collapses branch in saw blade direction, can mention
It rises crawl accuracy rate and is not easy to break fruit；It secondly can be by motor as power source, by shaft, a pair of of spur bevel gear
Circular saw blade is transferred power to three pairs of staggered gears, is cut off citrus branch by the rotation of circular saw blade, realizes citrus
Picking.
Detailed description of the invention
Fig. 1 is the perspective view of front of the invention:
Fig. 2 is perspective view of the invention；
Fig. 3 is side view of the present invention；
Attached drawing mark: 1- transmission mechanism；The first main shaft of 11-；The second main shaft of 12-；13- spur bevel gear pair；131- master
Dynamic spur bevel gear；The driven spur bevel gear of 132-；14- third main shaft；15- first interlock helical gear pair；151- is actively
First staggeredly helical gear；152- driven first interlock helical gear；The 4th main shaft of 16-；17- second interlock helical gear pair；171-
One output shaft；18- third is interlocked helical gear pair；The second output shaft of 181-；2- cutting mechanism；21- circular saw blade；3- gripper
Structure；The big grabbing claw of 31-；The small grabbing claw of 32-；33- clamping plate；331- upper clamp plate；332- lower clamp plate；4- groove；5-L type support plate；
6-U type support plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
As shown in Figure 1-3, a kind of citrus picking human body of the present invention assists end effector, including transmission mechanism 1, cutting machine
Structure 2 and grasping mechanism 3；The transmission mechanism 1 includes the first main shaft 11, the second main shaft 12, spur bevel gear to 13, third
The helical gear that interlocks of main shaft 14, first interlocks helical gear pair to the 15, the 4th main shaft 16, second helical gear that interlocks to 17 and third
18, one end of first main shaft 11 is connected by yielding coupling with one end of second main shaft 12, the straight bevel
Gear mesh 13 includes active spur bevel gear 131 and driven spur bevel gear 132, the active spur bevel gear 13 with
The driven spur bevel gear 132 engages, and the other end of second main shaft 12 is equipped with the active spur bevel gear
131, the driven spur bevel gear 132 is mounted on one end of the third main shaft 14, and described first interlocks helical gear to 15
Including actively first staggeredly helical gear 151 with driven first staggeredly helical gear 152, the active first interlock helical gear 151 with
The described driven first staggeredly engagement of helical gear 152, it is staggeredly oblique that the other end of the third main shaft 15 is equipped with the active first
Gear 151, described driven second staggeredly helical gear 152 be mounted on 16 middle part of the 4th main shaft, 16 both ends of the 4th main shaft
Be connected separately with described second staggeredly helical gear to 17 driving wheel, the third interlock helical gear to 18 driving wheel, it is described
Second staggeredly helical gear one end of first output shaft 171 connected to 17 driven wheel, the third interlock helical gear to 18 from
Driving wheel connects one end of the second output shaft 181；The cutting mechanism 2 include circular saw blade 21, the circular saw blade 21 respectively with
One end rotation connection of first output shaft 171, the second output shaft 181；The grasping mechanism 3 includes big grabbing claw 31, small
Grabbing claw 32 and clamping plate 33, the big grabbing claw 31 and 32 upper end of small grabbing claw are provided with groove 4, and the clamping plate 33 is inserted
Enter in the groove 4, and is bolted to connection with the big grabbing claw 31, the small grabbing claw 32.It is grabbed by three
Take pawl to grab citrus carpopodium to circular saw blade, can by motor as power source, by shaft, a pair of of spur bevel gear and
Three pairs of staggered gears transfer power to circular saw blade, are cut off citrus carpopodium by the rotation of circular saw blade.
In the present embodiment, the clamping plate 33 includes upper clamp plate 331 and lower clamp plate 332, first output shaft 171, the
Two output shafts 181 both pass through upper clamp plate 331, the circular saw blade 21 be located at the upper clamp plate 331 and the lower clamp plate 332 it
Between.Saw blade is protected by two clamping plates, can only expose the cutting that sub-fraction carries out carpopodium.
In the present embodiment, the quantity of the big grabbing claw 31 is 2, and is set to the two sides of the clamping plate 33, described
Small grabbing claw 32 is set to the middle part of the clamping plate 33.Crawl unguiculus separates branch, and big grabbing claw collapses branch in saw blade
Direction can promote crawl accuracy rate and be not easy to break fruit.
In the present embodiment, the circular saw blade 21 is between the big grabbing claw 31 and the small grabbing claw 32.It is logical
Three grippers are crossed to comb citrus branch to circular saw blade.
In the present embodiment, first main shaft 11, the second main shaft 12 are fixed on the one of L-type support plate 5 by bearing holder (housing, cover)
On end face, the third main shaft 14 is fixed on the other end of L-type support plate 5 by bearing holder (housing, cover).By the first main shaft, the second master
Axis, third main shaft are fixed on actuator, and make the spur bevel gear connecting with the second main shaft, third main shaft to can
Carry out right-angle steering power transmission.
In the present embodiment, described second staggeredly helical gear U-shaped support is each attached to 18 to 17, the third helical gear that interlocks
In the groove of plate 6, the U-shaped support plate 6 is fixed on an end face of L-type support plate 5, and is located at together with the third main shaft 14
In one plane.By second staggeredly helical gear, the third helical gear that interlocks is fixed on actuator.
When specific works, motor is loaded onto as power source in the first main the tip of the axis, motor drives the first main axis, the
One main shaft by power by transmission mechanism be eventually transferred to the first output shaft, second output the tip of the axis, drive the first output shaft,
The circular saw blade rotation that second output shaft is connected；Size grabbing claw combs the branch for having citrusfruit attached to circular saw blade
Closely,, can be sawed-off by branch using the advantage rotated inwards after circular saw blade contacts branch, retain citrus carpopodium, realizes mandarin orange
The picking of tangerine.
Finally, it is stated that above be only described in detail explanation to the specific embodiment of the invention.But the present invention is simultaneously unlimited
It is formed on above description specific embodiment.Those skilled in the art is to the equivalent modifications of the invention carried out and substitution also in this hair
Among bright scope.Therefore, made equal transformation and modification without departing from the spirit and scope of the invention, all covers at this
In invention scope.
Claims (6)
1. a kind of citrus picking human body assists end effector, it is characterised in that:
Including transmission mechanism (1), cutting mechanism (2) and grasping mechanism (3)；
The transmission mechanism (1) includes the first main shaft (11), the second main shaft (12), spur bevel gear to (13), third main shaft
(14), first staggeredly to (15), the 4th main shaft (16), second, staggeredly helical gear interlocks helical gear to (17) and third to helical gear
To (18), one end of first main shaft (11) is connected by yielding coupling with one end of second main shaft (12), described
Spur bevel gear includes active spur bevel gear (131) and driven spur bevel gear (132) to (13), and the active is straight
Tooth conical gear (13) is engaged with the driven spur bevel gear (132), and the other end of second main shaft (12) is equipped with
The active spur bevel gear (131), the driven spur bevel gear (132) are mounted on the one of the third main shaft (14)
End, described first staggeredly helical gear to (15) include actively first staggeredly helical gear (151) with driven first staggeredly helical gear
(152), the active first interlock helical gear (151) with described driven first interlock helical gear (152) engage, the third master
The other end of axis (15) be equipped with the active first interlock helical gear (151), described driven second staggeredly helical gear (152) peace
In the middle part of the 4th main shaft (16), the 4th main shaft (16) both ends are connected separately with the described second staggeredly helical gear pair
(17) driving wheel, the third interlock helical gear to the driving wheel of (18), and described second interlocks helical gear to the driven of (17)
One end of wheel connection the first output shaft (171), the third helical gear that interlocks connect the second output shaft to the driven wheel of (18)
(181) one end.
The cutting mechanism (2) includes circular saw blade (21), the circular saw blade (21) respectively with first output shaft
(171), one end rotation connection of the second output shaft (181).
The grasping mechanism (3) includes big grabbing claw (31), small grabbing claw (32) and clamping plate (33), the big grabbing claw (31)
Be provided with groove (4) with small grabbing claw (32) upper end, the clamping plate (33) is inserted into the groove (4), and with it is described big
Grabbing claw (31), the small grabbing claw (32) are bolted to connection.
2. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
The clamping plate (33) includes upper clamp plate (331) and lower clamp plate (332), first output shaft (171), the second output shaft
(181) both pass through upper clamp plate (331), the circular saw blade (21) be located at the upper clamp plate (331) and the lower clamp plate (332) it
Between.
3. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
The quantity of the big grabbing claw (31) is 2, and is set to the two sides of the clamping plate (33), and the small grabbing claw (32) sets
It is placed in the middle part of the clamping plate (33).
4. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
The circular saw blade (21) is between the big grabbing claw (31) and the small grabbing claw (32).
5. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
First main shaft (11), the second main shaft (12) are fixed on an end face of L-type support plate (5) by bearing holder (housing, cover), described
Third main shaft (14) is fixed on the other end of L-type support plate (5) by bearing holder (housing, cover).
6. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
Described second staggeredly helical gear the grooves of U-shaped support plate (6) is each attached to (18) to (17), the third helical gear that interlocks
Interior, the U-shaped support plate (6) is fixed on an end face of L-type support plate (5), and with the third main shaft (14) positioned at same
In plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254909.4A CN109328642B (en) | 2018-10-26 | 2018-10-26 | Human body auxiliary end effector is picked to oranges and tangerines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254909.4A CN109328642B (en) | 2018-10-26 | 2018-10-26 | Human body auxiliary end effector is picked to oranges and tangerines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109328642A true CN109328642A (en) | 2019-02-15 |
| CN109328642B CN109328642B (en) | 2024-01-02 |
Family
ID=65312494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811254909.4A Active CN109328642B (en) | 2018-10-26 | 2018-10-26 | Human body auxiliary end effector is picked to oranges and tangerines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109328642B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111758808A (en) * | 2020-05-22 | 2020-10-13 | 贵州金三叶机械制造有限公司 | Preparation equipment of orange Pu' er tea |
| CN111958624A (en) * | 2020-08-27 | 2020-11-20 | 上海大学 | Orange picking end effector with multi-connecting-rod structure |
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| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
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| CN104365278A (en) * | 2014-11-03 | 2015-02-25 | 北京林业大学 | Spherical fruit and vegetable picking end effector |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN106472006A (en) * | 2016-12-06 | 2017-03-08 | 南昌大学 | The end effector of fruit and vegetable picking robot |
| CN206932686U (en) * | 2017-04-28 | 2018-01-30 | 赵沭橙 | A kind of new picking paw |
| CN209546341U (en) * | 2018-10-26 | 2019-10-29 | 南昌大学 | A kind of citrus picking human body auxiliary end effector |
-
2018
- 2018-10-26 CN CN201811254909.4A patent/CN109328642B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020078311A (en) * | 2001-04-09 | 2002-10-18 | 학교법인 성균관대학 | An end effector for harvesting fruits and vegetables |
| CN101019484A (en) * | 2007-03-06 | 2007-08-22 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN102523834A (en) * | 2012-01-18 | 2012-07-04 | 农业部南京农业机械化研究所 | Cotton boll sorting device |
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| CN104365278A (en) * | 2014-11-03 | 2015-02-25 | 北京林业大学 | Spherical fruit and vegetable picking end effector |
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| CN206932686U (en) * | 2017-04-28 | 2018-01-30 | 赵沭橙 | A kind of new picking paw |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111758808A (en) * | 2020-05-22 | 2020-10-13 | 贵州金三叶机械制造有限公司 | Preparation equipment of orange Pu' er tea |
| CN111958624A (en) * | 2020-08-27 | 2020-11-20 | 上海大学 | Orange picking end effector with multi-connecting-rod structure |
| CN111958624B (en) * | 2020-08-27 | 2022-11-15 | 上海大学 | Oranges and tangerines of many connecting rod structures pick end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109328642B (en) | 2024-01-02 |
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