CN112005723A

CN112005723A - Hard fruit picking mechanical head device

Info

Publication number: CN112005723A
Application number: CN202010969997.7A
Authority: CN
Inventors: 刘洋; 范世涛; 田太鹏
Original assignee: Liaoning Technical University
Current assignee: Liaoning Technical University
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2020-12-01

Abstract

The invention discloses a hard fruit picking mechanical head device which can solve the technical problems of complex structure, high production cost and the like of the existing hard fruit picking mechanical head on the premise of satisfying the requirements of picking and stably grabbing hard fruits. The picking head is provided with expandable fingers, each finger consists of a picking device and a driven slide rod, the fingers are fixed through the driven slide rods and then are installed on a palm disc, and a transmission rope drives the fingers to work through mechanical holes connected to the driven slide rods. The transmission rope controls the fingers to work through a motor driving device connected with the palm disc. The picking head has the advantages that the fingers are driven to fold through motor driving and rope transmission, picking of hard fruits is completed through the two expandable fingers driven by the relatively small motor, and compared with a common hard fruit picking head, the picking head is simple and convenient, easy to operate and high in picking efficiency.

Description

Hard fruit picking mechanical head device

Technical Field

The invention relates to the field of agricultural robot picking, in particular to a hard fruit picking mechanical head device, and belongs to the technology of agricultural auxiliary picking devices.

Background

The average level of hard fruit planting area and yield in China is in the front of the world, and the hard fruit planting area and the yield are traditional fruit planting products. In the production process of hard fruits, the picking operation is the most time-consuming and labor-consuming step in the whole production process. At present, hard fruit picking operation mainly adopts manual picking as a main mode, a large amount of labor force is needed, along with the development of society and the promotion of industrialized progress, a large amount of rural labor force is lost, and along with the increasing serious aging of China society, the problems of low picking operation efficiency, high cost and large per capita labor amount are caused. However, with the development of information technology, internet of things and 5G technology, the robot starts to be involved in the field of agricultural production. Picking heads are installed in the future where the picking robot manipulator is working directly, and due to the relative fragility of the fruit, the picking heads also become a vital part of the picking work.

Disclosure of Invention

Aiming at the technical problems, the invention provides a picking device which can conveniently and quickly pick hard fruits and can save time and space.

In order to achieve the purpose, the invention provides the following technical scheme:

a hard fruit picking machine head apparatus comprising: the expanding finger comprises a picker (1) for picking hard fruits and a driven slide bar (2). Picking ware (1) and driven slide bar (2) are linked through the screw equipment and are set up at the foremost work area of whole equipment for carry out the stability of hard fruit picking work and go on. The sensor matched with the picking robot is installed at the merging position of the front section of the picking device (1) so as to control the precision and accuracy of picking work, and the integrity of hard fruits is guaranteed and the efficiency is improved even if the picking work is stopped at a specific position.

The linkage device comprises a guide sliding buckle (3), a mechanical hole (4), a hydraulic telescopic rod (5), a motor (6), a transmission rope (9) and a hydraulic cylinder (11). The motor (6) is arranged on the palm disc (10), and the transmission rope (9) is connected with the mechanical hole (4) through the driving action of the motor and the transmission rope (9) to drive the picking device (1) to pick; the guide sliding buckle (3) is a motion guide structure of the driven sliding rod (2), and under the driving action, the normal picking direction of the expandable fingers is ensured, and the abnormal working of equipment is avoided; the hydraulic telescopic rod (5) and the hydraulic cylinder (11) are arranged between the driven sliding rod (2) and the palm disc (10) to ensure that the expandable finger in a compressed state is stretched again, so that the equipment can be ensured to be always in an initial state; the transmission rope (9) is arranged between the motor (6) and the expandable finger and connected with the mechanical hole (4), so that the normal contraction and picking work of the machine is ensured. The mechanical hole (4) is positioned on the driven sliding rod (2) and is connected with the transmission rope (9).

The fixing device comprises a fixing frame (7), a fixing buckle (8) and a palm disc (10). The fixing frame (7) is arranged in the center of the whole device, is connected with the expandable fingers, the fixing buckle (8) and the palm disc (10) and bears the work of main fixing equipment, and the middle groove is used for ensuring that the expandable fingers can continue to work and maintain stability before and after picking work is finished; the fixing buckle (8) is connected with the fixing frame (7), keeps the two inosculated through a screw and is used for maintaining the stability of the whole equipment; the palm disc (10) is arranged at the rear of the whole equipment and connected with a picking arm of the picking robot, and a motor (6) is arranged in the palm disc and used for driving the whole equipment to work. Is linked with the hydraulic cylinder (11) to protect and bear the picking work of the hydraulic telescopic rod (5).

From the above, with the work efficiency of present artifical picking and ordinary picker on a large scale, not only consuming time and difficultly, can not guarantee the fruit integrity moreover, as a special application of agricultural auxiliary machinery, this kind of hard fruit picking machinery head device technically says that this equipment is a embodiment of electromechanical combination, and along with present domestic agricultural auxiliary machinery is using on a large scale, under the prerequisite that domestic picking robot is developing gradually, has stronger representativeness, practicality.

Drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts. In the drawings:

FIG. 1 is a schematic structural view of the present invention as a whole;

in figure 1, a picking device (1), a driven slide bar (2), a guide slide fastener (3), a mechanical hole (4), a hydraulic telescopic rod (5), a motor (6), a fixing frame (7), a fixing fastener (8), a transmission rope (9), a palm disc (10) and a hydraulic cylinder (11).

FIG. 2 is a schematic structural view of a hydraulic telescopic rod (5) of a hydraulic cylinder (11) for maintaining the picking work to be smoothly carried out;

FIG. 3 is a schematic structural diagram of a fixing frame (7) and a fixing buckle (8) for maintaining the stability of the machine body;

fig. 4 is a schematic structural diagram of an expandable finger, and the device comprises a picker (1) and a driven sliding rod (2).

Detailed Description

Referring now to fig. 1, a hard fruit picking machine head assembly according to the present invention will be described in detail. The extensible finger provided by the invention comprises a picking device (1) and a driven sliding rod (2), and is characterized in that the extensible finger can be operated in a small space, so that the space is saved, and a sensor matched with a picking robot is arranged in the picking device (1), so that the picking work is simple and efficient. The use of the driven slide bar (2) reduces some complex interlocking driven mechanical structures, so that the whole device is not complicated. Linkage is including leading thread slipping (3), mechanical hole (4), hydraulic telescoping rod (5), motor (6), driving rope (9), pneumatic cylinder (11), and motor (6) can be connected through driving rope (9), plays the effect of drive to mechanical hole (4), and the work of ware (1), driven slide bar (2) is picked in the control. Meanwhile, a fixing frame (7), a fixing buckle (8) and a palm disc (10) which maintain the stability of the machine body are correspondingly matched with a hydraulic telescopic rod (5) which maintains an expanded hydraulic cylinder (11), so that the smooth work of the machine body is ensured. The working position of the picking device (1) can be controlled by maintaining the distance between the hydraulic telescopic rod (5) of the hydraulic cylinder (11) and the transmission rope (9) for expansion, so that the picking device can work in the correct picking direction conveniently and timely, and the problem of time waste of manual picking is avoided. The invention works as a whole with the combination of the expandable fingers, the linkage and the fixation device.

According to the hydraulic telescopic rod (5) of the hydraulic cylinder (11) for maintaining expansion, the tail end is provided with the damage sensor matched with the tail end, so that problems in the operation process can be known, the working condition of each device can be immediately checked, each working condition of equipment can be well known, and the working efficiency can be correspondingly improved.

The hard fruit picking mechanical head device greatly reduces labor cost, improves picking efficiency, is combined with a picking robot, and solves the problems of time consumption, labor consumption and incapability of guaranteeing the integrity of picked hard fruits in a picking working process at a high degree. Thereby replacing the common picking machine or the manual picking mode.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a hard fruit picking machine head device which characterized in that: the mechanical picking device comprises an expandable finger, a linkage device and a fixing device, wherein the expandable finger comprises a picking device (1) and a driven sliding rod (2); the linkage device comprises a guide sliding buckle (3), a mechanical hole (4), a hydraulic telescopic rod (5), a motor (6), a transmission rope (9) and a hydraulic cylinder (11); the fixing device comprises a fixing frame (7) for maintaining the stability of the equipment, a fixing buckle (8) and a palm disc (10).

2. The palm disc (10) of claim 1, wherein the device is used for fixedly mounting the expandable fingers, the linkage and the fixing device, and is stable when the whole device works, so that the working efficiency of the whole device is guaranteed.

3. The fixing frame (7) and the fixing buckle (8) according to claim 1, wherein the fixing frame (7) and the fixing buckle (8) are combined by mechanical matching of the interface, and the fixing frame (7) and the fixing buckle (8) are connected with the expandable finger, so that the picking width can be adjusted freely by the device and the stability of the machine body can be maintained.

4. The hydraulic telescopic rod (5) and the hydraulic cylinder (11) according to claim 1, wherein the hydraulic telescopic rod (5) and the hydraulic cylinder (11) are installed between the expandable finger and the palm plate (10), and the hydraulic cylinder (11) is fixed on the palm plate (10), so that the whole device is maintained in an initial state during picking and is prevented from being stuck.

5. The slide guiding buckle (3) according to claim 1, wherein the slide guiding buckle (3) is embedded with the slide guiding buckle (3) by using a groove on the outer side of the driven slide bar (2), so that the normal operation of the equipment is ensured, and the equipment is prevented from being damaged and stopped.

6. The picker (1) according to claim 1, wherein the picker (1) is connected with the driven slide bar (2) to form an expandable finger, the expandable finger is driven by the linkage device to work, the device is supported by the fixing device to smoothly pick hard fruits, unnecessary device damage is avoided due to the linkage design, efficiency is improved, and the surface of the picker (1) is covered with soft silica gel, so that damage to the hard fruits in the picking process is reduced.