CN112690092A

CN112690092A - Shearing mechanical arm for picking

Info

Publication number: CN112690092A
Application number: CN202011571921.5A
Authority: CN
Inventors: 周俊妩; 于海洋; 唐学良; 杨元
Original assignee: Shanghai Dianji University
Current assignee: Shanghai Dianji University
Priority date: 2020-12-27
Filing date: 2020-12-27
Publication date: 2021-04-23
Anticipated expiration: 2040-12-27
Also published as: CN112690092B

Abstract

The invention relates to a shearing mechanical arm for picking, which comprises a mounting bracket, wherein a shearing storage mechanism and a driving mechanism are mounted on the mounting bracket, the cutting storage mechanism is connected with the driving mechanism, the driving mechanism is connected with a controller, and the driving mechanism is used for driving the shearing storage mechanism to open and close according to an instruction output by the controller so as to complete shearing action; the shearing and accommodating mechanism is used for shearing the to-be-picked objects and collecting the picked objects after the shearing falls. Compared with the prior art, the invention can accurately pick smaller crops and can simultaneously cut and store the picked object, thereby reducing picking loss and improving picking efficiency.

Description

Shearing mechanical arm for picking

Technical Field

The invention relates to the technical field of automatic mechanical picking, in particular to a shearing manipulator for picking.

Background

With the development of agricultural automation, numerous automatic mechanical picking devices have been developed at present, most of the harvesting parts of the existing mechanical picking devices adopt large-area cutting structures to improve the harvesting efficiency, but the existing mechanical picking devices are difficult to accurately pick small crops (such as tea leaves, economic flowers and other high-price crops) when picking the small crops, and on the other hand, the picking objects are easy to fall off when picking the small crops, so that the picking loss is large.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a shearing manipulator for picking, which can realize accurate picking and collection of picked objects aiming at picking of smaller crops, thereby reducing the picking loss.

The purpose of the invention can be realized by the following technical scheme: a shearing mechanical arm for picking comprises a mounting bracket, wherein a shearing storage mechanism and a driving mechanism are mounted on the mounting bracket, the cutting storage mechanism is connected with the driving mechanism, the driving mechanism is connected with a controller, and the driving mechanism is used for driving the shearing storage mechanism to open and close according to an instruction output by the controller so as to complete shearing action;

the shearing and accommodating mechanism is used for shearing the to-be-picked objects and collecting the picked objects after shearing and falling.

Further, actuating mechanism includes operating cylinder, install the guide arm connector on operating cylinder's the push rod, the guide arm connector is connected with two and rotates the connecting rod, and two rotate the connecting rod and be connected with shearing receiving mechanism through the hinge, and when operating cylinder work released the push rod downwards or upwards withdrawed, the guide arm connector drove two and rotates the connecting rod downwards or upward movement to the action is cuted in the drive completion of receiving mechanism.

Furthermore, the guide rod connector is movably connected with the rotating connecting rod.

Furthermore, the working cylinder is connected with the controller through the electromagnetic valve, and the controller outputs instructions to control the working state of the electromagnetic valve, so that the working cylinder is controlled to act.

Further, the shearing and accommodating mechanism comprises two execution arms which are movably connected in a cross mode, the top ends of the two execution arms are respectively connected with the driving mechanism, the bottom ends of the two execution arms are respectively and fixedly connected with an accommodating grab bucket, the two accommodating grab buckets are arranged oppositely, and a cutting blade is installed on the edge of the lower portion of each accommodating grab bucket.

Further, the two rotating connecting rods are respectively connected to the top ends of the two executing arms through hinges.

Further, the mounting support is specifically a rectangular frame, the mounting support comprises a base, four manipulator supports and two track supports, the four manipulator supports are symmetrically mounted at two ends of the base by taking two manipulator supports as a group, and the two manipulator supports are connected through the two track supports.

Further, the hinge is movably mounted on the rail bracket.

Furthermore, a limiting pin used for limiting the crossing angle between the two executing arms is arranged on the hinge.

Furthermore, a waist-shaped groove is formed in the rail support, and the limiting pin is movably arranged in the waist-shaped groove.

Compared with the prior art, the invention has the following advantages:

according to the invention, the shearing and accommodating mechanism and the driving mechanism which are mutually connected are arranged on the mounting bracket, and the driving mechanism is connected with the controller, so that the driving mechanism can drive the shearing and accommodating mechanism to complete shearing action according to the instruction of the controller, meanwhile, the shearing and accommodating mechanism can complete accommodating of the sheared picked objects, and the uniform design of the shearing mechanism and the accommodating mechanism is adopted, so that the picking and the collecting of crops are simplified into one step to be executed, the picking efficiency can be effectively improved, and the picking loss is reduced.

The driving mechanism is provided with the working cylinder and the rotating connecting rod, the shearing and accommodating mechanism is provided with the executing arm connected with the rotating connecting rod through the hinge, and in addition, the hinge is installed on the track support through the limiting pin, so that the executing arm can be accurately and controllably opened and closed, the cutting blade of the shearing and accommodating mechanism can be ensured to accurately cut smaller crops, and the purpose of accurate picking is realized.

The collecting grab bucket is arranged at the tail end of the executing arm in a relative mode, and the cutting blade is arranged at the edge of the lower portion of the collecting grab bucket, so that the cut and picked crops can be directly collected in the collecting grab bucket, the phenomenon that picked objects fall off after cutting is avoided, and picking loss is reduced.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic structural view of the cutting and storing mechanism of the present invention when closed;

FIG. 3 is a schematic structural view of the shear receiving mechanism of the present invention when it is open;

the notation in the figure is: 1. a grab bucket is stored; 2. a cutting blade; 3. an executing arm; 4. a rail bracket; 5. rotating the connecting rod; 6. a guide rod connector; 7. a working cylinder; 8. a manipulator support; 9. a base.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

Examples

As shown in fig. 1, a shearing manipulator for picking includes a mounting bracket, a shearing storage mechanism and a driving mechanism are mounted on the mounting bracket, the cutting storage mechanism is connected with the driving mechanism, the driving mechanism is connected with a controller, and the driving mechanism is used for driving the shearing storage mechanism to open and close according to an instruction output by the controller so as to complete a shearing action; the shearing and accommodating mechanism is used for shearing the to-be-picked objects and collecting the picked objects after the shearing falls.

The shearing and accommodating mechanism comprises two execution arms 3 which are in cross movable connection with each other, the top ends of the two execution arms 3 are respectively connected with the driving mechanism, the bottom ends of the two execution arms 3 are respectively and fixedly connected with accommodating grab buckets 1, the two accommodating grab buckets 1 are oppositely arranged, and the lower edges of the accommodating grab buckets 1 are provided with cutting blades 2;

the driving mechanism comprises a working cylinder 7, a guide rod connector 6 is mounted on a push rod of the working cylinder 7, the guide rod connector 6 is movably connected with two rotating connecting rods 5, the two rotating connecting rods 5 are connected with the shearing and accommodating mechanism through hinges, namely the two rotating connecting rods 5 are respectively connected to the top ends of two execution arms 3 through hinges, when the working cylinder 7 works to push the push rod downwards or retract upwards, the guide rod connector 6 drives the two rotating connecting rods 5 to move downwards or upwards so as to drive the shearing and accommodating mechanism to complete shearing action, in order to realize accurate opening and closing control of the shearing and accommodating mechanism, the working cylinder 7 is connected with a controller through an electromagnetic valve, and the controller outputs an instruction to control the working state of the electromagnetic valve so as to control the working cylinder to act;

the installing support specifically is rectangular frame, the installing support includes base 9, four manipulator support 8 and two track support 4, four manipulator support 8 use two as a set of, install at the both ends of base 9 symmetrically, be connected through two track support 4 between two sets of manipulator support 8, for injecing the angle that opens and shuts of cuting receiving mechanism, be provided with the spacer pin that is used for injecing two executive arms 3 between the cross angle on the hinge, and then waist type groove has been seted up on the track support 4, the movably installation of spacer pin is in waist type inslot.

When the push rod of the working cylinder 7 is not pushed out, in the initial position, the two sets of actuation arms 3 with the storage grapple 1 and the cutting blade 2 are in the closed state (as shown in fig. 2). When crops need to be picked, the work of the working cylinder 7 is controlled by the controller, the push rod is pushed out, under the transmission work of the two groups of rotating connecting rods 5 and the execution arm 3, the two groups of cutting blades 2 arranged below the storage grab bucket 1 are opened (as shown in fig. 3), the whole device descends towards the crops needing to be cut, after the required position is reached, the working cylinder 7 is controlled by the controller to work again, the push rod is retracted, under the transmission work of the two groups of rotating connecting rods 5 and the execution arm 3, the two groups of cutting blades 2 arranged below the storage grab bucket 1 are folded, the crops are cut off, and meanwhile the picked crops fall into the folded storage grab bucket 1.

In practical application, for further guaranteeing the reliable collection of picking thing, still can improve the appearance of accomodating the grab bucket, the gap is littleer when making to accomodate the grab bucket and fold to avoid the crops of picking to spill from the gap.

In conclusion, the shearing manipulator with the grab bucket is designed for accurately picking and collecting crops such as tea leaves, economic flowers and the like, and the collecting grab bucket is arranged below the execution arm and used for collecting the cut picked objects, so that the work loss is reduced. This technical scheme relies on comparatively simple and easy mechanical structure, comparatively cheap manufacturing cost and use cost, is favorable to the popularization of the automatic equipment of picking that needs the accurate harvesting, has reduced the cost of labor, will cut the mechanism and combine as an organic whole with the structure of accomodating, is favorable to reducing and picks the loss, improves economic benefits.

Claims

1. A shearing mechanical arm for picking is characterized by comprising a mounting bracket, wherein a shearing storage mechanism and a driving mechanism are mounted on the mounting bracket, the cutting storage mechanism is connected with the driving mechanism, the driving mechanism is connected with a controller, and the driving mechanism is used for driving the shearing storage mechanism to open and close according to an instruction output by the controller so as to complete shearing action;

2. A shearing mechanical arm for picking according to claim 1, wherein the driving mechanism comprises a working cylinder (7), a guide rod connector (6) is mounted on a push rod of the working cylinder (7), the guide rod connector (6) is connected with two rotating connecting rods (5), the two rotating connecting rods (5) are connected with the shearing receiving mechanism through hinges, and when the working cylinder (7) works to push the push rod out downwards or retract upwards, the guide rod connector (6) drives the two rotating connecting rods (5) to move downwards or upwards so as to drive the shearing receiving mechanism to complete shearing action.

3. A shear manipulator for harvesting according to claim 2, wherein the guide rod connectors (6) are movably connected with the turning links (5).

4. A shear manipulator for picking according to claim 2, characterised in that the working cylinders (7) are connected to a controller via solenoid valves, the controller outputting commands to control the operating state of the solenoid valves and thus the action of the working cylinders (7).

5. A shearing mechanical arm for picking according to claim 2, wherein the shearing receiving mechanism comprises two executing arms (3) which are movably connected in a cross manner, the top ends of the two executing arms (3) are respectively connected with the driving mechanism, the bottom ends of the two executing arms (3) are respectively fixedly connected with a receiving grab bucket (1), the two receiving grab buckets (1) are oppositely arranged, and the lower edge of the receiving grab bucket (1) is provided with a cutting blade (2).

6. A shear manipulator for harvesting according to claim 5, characterized in that the two turning links (5) are connected to the top ends of the two execution arms (3) by hinges, respectively.

7. A shear manipulator for picking according to claim 6, characterised in that the mounting bracket is embodied as a rectangular frame, the mounting bracket comprises a base (9), four manipulator brackets (8) and two rail brackets (4), the four manipulator brackets (8) are symmetrically mounted at two ends of the base (9) in groups of two, and the two groups of manipulator brackets (8) are connected through the two rail brackets (4).

8. A shear manipulator for harvesting according to claim 7, wherein the hinge is movably mounted on a rail bracket (4).

9. A shear manipulator for harvesting according to claim 8, characterized in that the hinge is provided with a limit pin for defining the crossing angle between the two actuating arms (3).

10. A shear manipulator for harvesting according to claim 9, wherein the rail holder (4) is provided with a kidney-shaped groove, and the limit pin is movably mounted in the kidney-shaped groove.