CN112262658A - Hierarchical end actuating mechanism is picked to kiwi fruit - Google Patents
Hierarchical end actuating mechanism is picked to kiwi fruit Download PDFInfo
- Publication number
- CN112262658A CN112262658A CN202011387146.8A CN202011387146A CN112262658A CN 112262658 A CN112262658 A CN 112262658A CN 202011387146 A CN202011387146 A CN 202011387146A CN 112262658 A CN112262658 A CN 112262658A
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- screw
- steering
- motor
- bearing
- mechanical arm
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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
- A01D46/30—Robotic devices for individually picking crops
Abstract
The invention provides a kiwi fruit picking and grading tail end executing mechanism which comprises a displacement sensor, a rubber-coated spring piece, a mechanical finger, a connecting rod, a threaded sliding rod, a screw bearing, a screw motor reducer, a screw direct-current motor, an executing mechanism steering bearing, a steering motor reducer, a steering motor, a mechanical arm motor reducer component and a bearing, wherein the mechanical finger is arranged on the tail end of the kiwi fruit picking and grading tail end executing mechanism; when picking, in order to avoid damaging the fruit peel, an elastic manipulator is adopted, and a rubber shell is attached to the outside of the part contacting with the fruit, so that the fruit peel is prevented from being damaged in the picking process, and the purpose of picking the kiwi fruits is achieved.
Description
Technical Field
The invention relates to the field of agricultural robots, in particular to the field of agricultural fruit picking robots.
Background
In the whole process of orchard production, orchard harvesting operation is the most important link and has the characteristics of strong seasonality and labor intensity. China is the country with the largest planting area of the kiwi fruits in the world, but manually picking and sorting are currently used, and the method is one of the most time-consuming and labor-consuming links in the kiwi fruit planting. The existing kiwi fruit picking technology needs manual or machine grading treatment after picking is finished, so that the damage probability of kiwi fruits is increased by the multi-stage process.
Disclosure of Invention
The invention aims to provide an end actuating mechanism for picking and grading kiwi fruits.
In order to achieve the purpose, the invention provides the following technical scheme: a tail end executing mechanism for picking and grading kiwi fruits comprises a displacement sensor, a rubber-coated spring piece, a mechanical finger, a connecting rod, a threaded sliding rod, a screw bearing, a screw motor reducer, a screw direct current motor, an executing mechanism steering bearing, a steering motor reducer, a steering motor, a mechanical arm motor reducer component and a bearing;
the displacement sensor is connected with the rubber-coated spring piece, the displacement sensor is connected with the mechanical finger through threads, the mechanical finger is connected with the threaded sliding rod through a connecting rod, the threaded sliding rod is connected with the screw, a screw bearing is arranged on the screw, the screw bearing is connected with a screw motor reducer, and the screw motor reducer is connected with a screw direct-current motor; the actuating mechanism steering bearing is connected with a steering motor reducer, and the steering motor reducer is connected with a steering motor; the mechanical arm motor reducer assembly is connected with the bearing.
The further improvement is that the tail end executing mechanism also comprises a screw motor fixing cover, a screw shell, a steering mechanism shell, a steering motor fixing cover, a mechanical arm steering mechanism shell and a protective cover, a screw direct current motor is fixed on the screw motor fixing cover, the screw shell is fixed on the steering mechanism shell through a bolt, the screw rod shell is connected with a steering motor reducer, the steering mechanism shell is connected with an actuating mechanism steering bearing, the steering motor fixing cover is fixed on the shell of the mechanical arm steering mechanism through a bolt, the steering motor is fixed on the steering motor fixing cover through a bolt, the mechanical arm motor and the speed reducer assembly are fixed on the shell of the mechanical arm steering mechanism through bolts, the bearing is connected with the mechanical arm steering mechanism shell, and the protective cover is fixed on the mechanical arm steering mechanism shell through bolts.
The further improvement is that the rubber-covered spring piece and the displacement sensor adopt a plug-in connection mode.
In a further development, the steering motor uses a step dc motor.
The invention adopts the elastic manipulator, and the rubber shell is attached outside the part which is in contact with the fruit, so as to avoid damaging the fruit peel in the picking process and achieve the purpose of picking the kiwi fruit.
Drawings
FIG. 1 is a schematic view of the overall structure of an end effector of the present invention;
FIG. 2 is a cross-sectional structural view of an end effector mechanism of the present invention;
FIG. 3 is a schematic structural view of a front end gripping mechanism of the end effector of the present invention;
FIG. 4 is a schematic structural diagram of a rear end mounting mechanism of the end effector of the present invention;
FIG. 5 is a schematic view of the rear end bearing structure of the end effector of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.
Referring to fig. 1-5, an end actuator for picking and grading kiwi fruits is characterized in that: the device comprises a displacement sensor 101, a rubber-covered spring plate 102, a mechanical finger 103, a connecting rod 104, a threaded sliding rod 106, a screw 107, a screw bearing 108, a screw motor reducer 109, a screw direct-current motor 110, an actuating mechanism steering bearing 112, a steering motor reducer 113, a steering motor 114, a mechanical arm motor reducer component 115 and a bearing 116;
the displacement sensor 101 is connected with a rubber-coated spring plate 102, the displacement sensor 101 is connected with a mechanical finger 103 through threads, the mechanical finger 103 is connected with a threaded sliding rod 106 through a connecting rod 104, the threaded sliding rod 106 is connected with a screw 107, a screw bearing 108 is arranged on the screw 107, the screw bearing 108 is connected with a screw motor reducer 109, and the screw motor reducer 109 is connected with a screw direct current motor 110; the actuating mechanism steering bearing 112 is connected with a steering motor reducer 113, and the steering motor reducer 113 is connected with a steering motor 114; the robot arm motor reducer assembly 115 is coupled to a bearing 116.
The end executing mechanism also comprises a screw motor fixing cover 201, a screw shell 202, a steering mechanism shell 203, a steering motor fixing cover 204, a mechanical arm steering mechanism shell 205 and a protective cover 206, the screw motor fixing cover 201 is fixed with a screw direct current motor 110, the screw housing 202 is fixed on a steering mechanism housing 203 through bolts, the screw rod shell 203 is connected with a steering motor reducer 113, the steering mechanism shell 203 is connected with an actuating mechanism steering bearing 112, the steering motor fixing cover 204 is fixed to the mechanical arm steering mechanism housing 205 by bolts, the steering motor 114 is fixed on the steering motor fixing cover 204 through bolts, the mechanical arm motor and speed reducer assembly 115 is fixed on the mechanical arm steering mechanism shell 205 through bolts, the bearing 116 is connected to the mechanical arm steering mechanism housing 205, and the protective cover 206 is fixed to the mechanical arm steering mechanism housing 205 by bolts.
The rubber-covered spring piece 102 and the displacement sensor 101 are connected in a plug-in connection mode.
The steering motor 114 uses a stepping dc motor.
Before the mechanical arm picks, the threaded sliding rod 106 is located at the position, close to the mechanical arm, of the end effector, the mechanical arm is opened at the moment, when the mechanical arm sleeves the kiwi fruit into the mechanical arm, the displacement sensor 105 moves inwards under the action of external force, at the moment, the threaded sliding rod 106 is driven by the screw direct current motor 110 to move linearly to a preset position far away from the position of the mechanical arm, the rubber-covered spring piece is stressed to deform, and the kiwi fruit is covered; at the moment, the mechanical arm tightly grasps the kiwi fruit; the elastic device and the rubber coated spring piece inside the displacement sensor protect the kiwi fruit skin from being damaged due to grabbing actions. After the mechanical arm grasps the kiwi fruit, the steering motor 114 controls the mechanical arm to rotate 360 degrees; the robot arm motor 115 controls the downward movement of the end effector by 5 to 10. The manipulator can be plucked the kiwi fruit down, and when the kiwi fruit under will plucking was placed, can directly carry out artifical hierarchical the placing (artifical contactless, directly place the incasement of placing of artifical regulation), reduce the categorised step of epilogue, reduce the impaired probability of kiwi fruit.
Claims (4)
1. The utility model provides a hierarchical end actuating mechanism is picked to kiwi fruit which characterized in that: the device comprises a displacement sensor (101), a rubber-coated spring leaf (102), a mechanical finger (103), a connecting rod (104), a threaded sliding rod (106), a screw (107), a screw bearing (108), a screw motor reducer (109), a screw direct current motor (110), an actuating mechanism steering bearing (112), a steering motor reducer (113), a steering motor (114), a mechanical arm motor reducer component (115) and a bearing (116);
the displacement sensor (101) is connected with a rubber-coated spring leaf (102), the displacement sensor (101) is in threaded connection with a mechanical finger (103), the mechanical finger (103) is connected with a threaded sliding rod (106) through a connecting rod (104), the threaded sliding rod (106) is connected with a screw (107), a screw bearing (108) is arranged on the screw (107), the screw bearing (108) is connected with a screw motor reducer (109), and the screw motor reducer (109) is connected with a screw direct current motor (110); the actuating mechanism steering bearing (112) is connected with a steering motor reducer (113), and the steering motor reducer (113) is connected with a steering motor (114); the mechanical arm motor reducer assembly (115) is connected with a bearing (116).
2. The kiwi picking and grading end actuator according to claim 1, further comprising a screw motor fixing cover (201), a screw housing (202), a steering mechanism housing (203), a steering motor fixing cover (204), a mechanical arm steering mechanism housing (205) and a protective cover (206), wherein the screw motor fixing cover (201) is fixed with a screw DC motor (110), the screw housing (202) is fixed on the steering mechanism housing (203) through bolts, the screw housing (203) is connected with a steering motor reducer (113), the steering mechanism housing (203) is connected with an actuator steering bearing (112), the steering motor fixing cover (204) is fixed on the mechanical arm steering mechanism housing (205) through bolts, and the steering motor (114) is fixed on the steering motor fixing cover (204) through bolts, the mechanical arm motor and speed reducer assembly (115) is fixed on the mechanical arm steering mechanism shell (205) through bolts, the bearing (116) is connected with the mechanical arm steering mechanism shell (205), and the protective cover (206) is fixed on the mechanical arm steering mechanism shell (205) through bolts.
3. The kiwi picking and grading end actuator according to claim 1, wherein the rubber-covered spring plate (102) and the displacement sensor (101) are connected in a plug-and-pull manner.
4. An end effector for kiwi picking staging according to claim 1 wherein said steering motor (114) uses a step dc motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011387146.8A CN112262658A (en) | 2020-12-02 | 2020-12-02 | Hierarchical end actuating mechanism is picked to kiwi fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011387146.8A CN112262658A (en) | 2020-12-02 | 2020-12-02 | Hierarchical end actuating mechanism is picked to kiwi fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112262658A true CN112262658A (en) | 2021-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011387146.8A Pending CN112262658A (en) | 2020-12-02 | 2020-12-02 | Hierarchical end actuating mechanism is picked to kiwi fruit |
Country Status (1)
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| CN (1) | CN112262658A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
| CN114161436A (en) * | 2021-11-24 | 2022-03-11 | 新疆钵施然智能农机股份有限公司 | Mechanical gripper for picking fruits without damage |
| CN114175922A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Unmanned robot capable of picking fruits without damage |
| CN114175926A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Picking machine gripper capable of adsorbing fruits |
-
2020
- 2020-12-02 CN CN202011387146.8A patent/CN112262658A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
| CN114161436A (en) * | 2021-11-24 | 2022-03-11 | 新疆钵施然智能农机股份有限公司 | Mechanical gripper for picking fruits without damage |
| CN114175922A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Unmanned robot capable of picking fruits without damage |
| CN114175926A (en) * | 2021-11-24 | 2022-03-15 | 新疆钵施然智能农机股份有限公司 | Picking machine gripper capable of adsorbing fruits |
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