CN112970525A

CN112970525A - Harmless electronic flexible hand claw of picking

Info

Publication number: CN112970525A
Application number: CN202110391706.5A
Authority: CN
Inventors: 卢伟; 叶俊良; 施浩楠; 李璋浔; 李源; 秦欢欢; 纪伟茜; 华文博; 邹坤洁
Original assignee: Nanjing Agricultural University
Current assignee: Nanjing Agricultural University
Priority date: 2021-04-12
Filing date: 2021-04-12
Publication date: 2021-06-18

Abstract

The invention discloses an electric flexible paw for nondestructive picking, which comprises a lifting mechanism and a four-finger paw structure and is characterized in that the structure is simple and exquisite, and the lifting mechanism can adjust the paw in the vertical direction according to the height of mushrooms; the four-finger gripper structure can not be in rigid contact with a grabbed object in the expanding and contracting processes, and the nondestructive picking of mushrooms is realized. The mushroom picking machine can effectively meet the requirements of precise and nondestructive picking of mushrooms of different sizes, and solves the problems of low manual picking efficiency, high cost, high breakage rate and the like.

Description

Harmless electronic flexible hand claw of picking

Technical Field

The invention belongs to the field of agricultural mechanization, particularly relates to agricultural intelligent equipment, and particularly relates to a lossless picking electric flexible paw.

Background

The Agaricus bisporus is a green food with high nutrition, low calorie and health promotion effect. The agaricus bisporus mycelium is silvery white, is easy to cultivate, is not easy to form a fungus quilt, has thick, straight and short stipe, white flesh and firm tissue, has semimembranous rings on the stipe, and has silver brown spores, thereby being one of the most common edible fungi with thick flesh. The agaricus bisporus powder is rich in nutritional value, 35% -38% of agaricus bisporus protein, 6 amino acids necessary for a human body, vitamin B1, vitamin B2, vitamin PP, vitamin D and the like, is 4-12 times of that of vegetables and fruits, has the reputation of 'healthy food', 'vegetarian king' and 'vegetable meat' and the like, and is popular with consumers.

Meanwhile, the agaricus bisporus also has medicinal value, and the mushroom polysaccharide and the foreign protein contained in the agaricus bisporus can inhibit the generation of tumors; the contained tyrosinase has certain blood pressure lowering effect; trypsin, maltase, etc. contained in Agaricus bisporus are all helpful for digestion of food. Regular consumption of Agaricus bisporus can prevent scurvy, prevent swelling and cancer, promote wound healing, relieve poisoning of lead, arsenic, mercury and other poisons, prevent pernicious anemia, improve nerve function, and reduce blood lipid. The agaricus bisporus is one of edible fungus varieties with delicious taste and comprehensive nutrition, and is also a health-care food with a health-care function.

The domestic edible fungus yield is increased year by year, according to the statistics of the China edible fungus Association, the domestic edible fungus yield is 5.8 ten thousand tons in 1978, the domestic edible fungus yield is increased to more than 100 ten thousand tons in 1990, 350 ten thousand tons in 1996, and 1000 ten thousand tons in 2003 are broken through. The yield reaches 2000 ten thousand tons by 2009, the yield increases to 2828 ten thousand tons in 2012, 3476 ten thousand tons in 2015, 3712 ten thousand tons in 2018, and 4117.5 ten thousand tons in 2020. The yield reaches 3291.1 billion yuan. Wherein the yield of the agaricus bisporus is nearly 219 ten thousand tons in 2020, and the yield is synchronously increased by 68 percent. The data can visually show that the edible agaricus bisporus industry in China has huge market potential, and the market scale of the edible agaricus bisporus is accelerated more and more quickly.

The consumption at home and abroad is increased year by year, the price of the agaricus bisporus is continuously increased due to strong market demand, the agaricus bisporus has huge market potential and wide prospect, and the research and the development of the automatic picking technology are more and more urgent, wherein one of the most key components is an end effector, namely a picking paw. The current rigid end effector is easy to damage the surface of the mushroom, thereby influencing the market value of the mushroom; most of the existing flexible claws are pneumatically controlled, and the pneumatic flexible claws are limited by the problems of large volume, high cost and the like of an air pump. Therefore, the low-cost electric flexible paw capable of being produced in quantity is urgently needed to be researched and developed for crop picking, so that the mushroom picking efficiency is improved, and the mushroom picking cost is reduced.

Disclosure of Invention

In order to solve the problems that the existing robot paw is insufficient in mushroom flexibility, low in picking efficiency and the like, the invention designs the nondestructive picking electric flexible paw, the paw can telescopically adjust the height of the paw according to the height of mushrooms, and the nondestructive picking of the mushrooms can be realized.

In order to achieve the purpose, the technical scheme of the electric flexible paw for nondestructive picking provided by the invention is as follows: it is characterized by comprising: the lifting mechanism (1) and the flexible paw structure (2);

the lifting mechanism (1) is characterized by comprising an upper cylindrical barrel (11), wherein lifting slide rails (12) are symmetrically arranged on the inner side of the upper cylindrical barrel (11), the outer sides of the lifting slide rails (12) are fixedly tangent to the inner circle of the upper cylindrical barrel (11), the inner sides of the lifting slide rails (12) are slidably connected with a T-shaped surface on the outer side of a sliding connector (19), the sliding connector (19) is fixedly connected with a vertical surface of an L-shaped lifting clamp shaft (13), a lifting rack (14) is fixedly arranged on the vertical surface of the L-shaped lifting clamp shaft (13), and a connecting clamp ring (18) is fixedly arranged in a groove formed in the horizontal surface of the L-shaped lifting clamp shaft (13); the lower cylindrical barrel (16) is fixedly arranged at the lower side of the upper cylindrical barrel (11), the upper plane part of the lower cylindrical barrel (16) is closed, the lifting motor (15) is fixedly arranged above the closed plane, the output shaft of the lifting motor (15) is fixedly provided with a lifting gear (17), and the lifting gear (17) is meshed with the lifting rack (14).

The four-finger paw structure (2) is characterized by comprising a paw connecting ring (21), wherein the paw connecting ring (21) is fixedly installed with a telescopic finger (22) through a palm connector (24) of a crown-shaped structure, the telescopic finger (22) is fixedly installed with a fixed buckle (23), and the fixed buckle (23) is fixedly installed in four symmetrical fixed clamping grooves (110) of a lower cylindrical barrel (16); the horizontal planes of the paw connecting circular ring (21) and the L-shaped lifting clamp shaft (13) are fixedly arranged in the connecting clamp ring (18), and the telescopic finger (22), the fixed buckle (23), the palm connector (24) and the paw connecting circular ring (21) are integrated.

Compared with the prior art, the invention has the following beneficial effects:

(1) the electric flexible paw for nondestructive picking, which is disclosed by the invention, has the characteristics of simple structure, accurate control and high picking efficiency; (2) the invention adopts the lifting mechanism, can adjust the height of the paw according to the difference of the height of the mushrooms, and ensures accurate picking; (3) according to the invention, the mushroom is held by the flexible silica gel palm, so that nondestructive picking is ensured, the problem that the mushroom is damaged when the existing mechanical paw is used for picking in the market can be effectively solved, and the maximum commercial value of the mushroom is realized.

Detailed Description

[ example 1 ]

This example relates to a harmless electronic flexible hand claw of picking, includes: the lifting mechanism 1 is characterized by comprising an upper cylindrical barrel 11, wherein lifting slide rails 12 are symmetrically arranged on the inner side of the upper cylindrical barrel 11, the outer sides of the lifting slide rails 12 are fixedly tangent to the inner circle of the upper cylindrical barrel 11, the inner sides of the lifting slide rails 12 are slidably connected with the T-shaped surface on the outer side of a sliding connector 19, the sliding connector 19 is fixedly connected with the vertical surface of an L-shaped lifting clamp shaft 13, a lifting rack 14 is fixedly arranged on the vertical surface of the L-shaped lifting clamp shaft 13, and a connecting clamp ring 18 is fixedly arranged in a groove arranged on the horizontal surface of the L-shaped lifting clamp shaft 13; the lower cylindrical barrel 16 is fixedly arranged at the lower side of the upper cylindrical barrel 11, the upper plane part of the lower cylindrical barrel 16 is closed, the lifting motor 15 is fixedly arranged above the closed plane, the lifting gear 17 is fixedly arranged on the output shaft of the lifting motor 15, and the lifting gear 17 is meshed with the lifting rack 14; the lifting motor 15 rotates to drive the lifting gear 17 to rotate, the lifting rack 14 is driven to lift, the height of the paw is adjusted, and mushrooms with different heights are accurately picked.

[ example 2 ]

This example relates to a harmless electronic flexible hand claw of picking, includes: the four-finger paw structure 2 is characterized by comprising a paw connecting circular ring 21, wherein the paw connecting circular ring 21 is fixedly installed with telescopic fingers 22 through a palm connector 24 with a crown-shaped structure, the telescopic fingers 22 are fixedly installed with fixed buckles 23, and the fixed buckles 23 are fixedly installed in four symmetrical fixed clamping grooves 110 of the lower cylindrical barrel 16; the horizontal planes of the paw connecting circular ring 21 and the L-shaped lifting clamp shaft 13 are fixedly arranged in the connecting clamp ring 18, and the telescopic fingers 22, the fixed clamp 23, the palm connector 24 and the paw connecting circular ring 21 are integrated; wherein the lifting of the lifting rack 14 drives the telescopic fingers 22 to open or close, so as to realize the accurate picking of mushrooms with different diameters.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic diagram of the whole module division of the electric flexible gripper for nondestructive picking.

Fig. 2 is a detailed part schematic diagram of an electric flexible paw for nondestructive picking.

Fig. 3 is a schematic view of a gripper lifting mechanism.

Fig. 4 is a schematic view of the internal structure of the cylinder on the gripper.

Fig. 5 is a schematic view of the internal structure of the cylinder under the paw.

FIG. 6 is a schematic view of a four-finger gripper and a connector.

Fig. 7 is a schematic structural view of a four-finger paw coronal palm connector.

Claims

1. A lossless picking electric flexible paw is characterized by comprising a lifting mechanism (1) and a four-finger paw structure (2);

2. The four-finger gripper structure (2) according to claim 1, comprising a gripper connecting ring (21), wherein the gripper connecting ring (21) is fixedly mounted with a telescopic finger (22) through a palm connector (24) of a crown structure, the telescopic finger (22) is fixedly mounted with a fixed buckle (23), and the fixed buckle (23) is fixedly mounted in four symmetrical fixed clamping grooves (110) of the lower cylindrical tube (16); the horizontal planes of the paw connecting circular ring (21) and the L-shaped lifting clamp shaft (13) are fixedly arranged in the connecting clamp ring (18), and the telescopic finger (22), the fixed buckle (23), the palm connector (24) and the paw connecting circular ring (21) are integrated.

3. The electric flexible gripper for nondestructive picking according to claim 1, characterized in that the lifting gear (17) vertically lifts by driving a lifting rack (14), the lifting rack (14) respectively drives an L-shaped lifting clamp shaft (13) and a connecting clamping ring (18) to lift, the connecting clamping ring (18) is fixedly installed with a gripper connecting ring (21), and the expansion and contraction of the telescopic fingers (22) are realized by the gripper connecting ring (21); the palm connector (24) is of a crown structure, and the telescopic fingers (22) are made of flexible silica gel and do not rigidly contact with a grasped object in the expansion and contraction processes.