CN114633275A - Grabbing disc type end effector for agricultural automatic picking - Google Patents
Grabbing disc type end effector for agricultural automatic picking Download PDFInfo
- Publication number
- CN114633275A CN114633275A CN202210377175.9A CN202210377175A CN114633275A CN 114633275 A CN114633275 A CN 114633275A CN 202210377175 A CN202210377175 A CN 202210377175A CN 114633275 A CN114633275 A CN 114633275A
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- CN
- China
- Prior art keywords
- module
- support
- blades
- sliding
- driving motor
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a grabbing disc type end effector for agricultural automatic picking, which comprises a sliding module, a lifting module, a rotating module and a grabbing disc module, wherein the lifting module is arranged on the sliding module through a first support, the rotating module is arranged at the output end of the lifting module through a second support, the grabbing disc module is fixedly arranged on the rotating module through a fourth support, the grabbing disc module comprises a grabbing disc cover plate, two groups of blades and a driving assembly are arranged on the grabbing disc cover plate, and the grabbing disc cover plate is in transmission connection with the blades through the driving assembly and drives the two groups of blades which are oppositely arranged to cut inwards until the two groups of blades are mutually abutted. The cutting and picking mechanism suitable for multiple crops is completed, and the cutting and picking mechanism can be used for carrying out short-time storage and feeding after the crops are cut, and has the characteristics of convenience and safety in use, high working efficiency, good stability and low production cost.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a grabbing disc type end effector for automatic agricultural picking.
Background
Along with the development of the times, the demand of people for vegetables and fruits is improved year by year, and every person must not leave vegetables and fruits after three meals a day, at present, in China, the average age of people working in rural areas is increased year by year due to the fact that individuals and households are more and the times change and population inflection points come, most farmers still adopt traditional manual picking, the traditional manual picking is very tedious, a series of actions such as walking, stooping and picking are required to be completed by people independently, a great burden is generated on the working of the farmers, at present, the research on the automatic picking technology of agricultural products planted on the land is less at home, so that a gripping disk type end effector mechanism for agricultural automatic picking needs to be designed, the fruit integrity of the vegetables and fruits is effectively ensured, the picking efficiency is high, the structure is simple, picking cost is low, thereby liberating manual labor and accelerating production efficiency.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides the technical scheme of the agricultural automatic picking tray type end effector which saves manual strength and has high picking efficiency.
Automatic grabbing dish formula end effector of picking of agricultural, including the slip module, lifting module, rotate the module and grab a set module, lifting module passes through first support setting on the slip module, it passes through the output of second support setting at lifting module to rotate the module, grab a set module and pass through fourth support fixed mounting on rotating the module, grab a set module and lap including grabbing a set, it is provided with two sets of blades and drive assembly on the dish apron to grab, be connected with the blade transmission through drive assembly, the blade of two sets of relative settings of drive is inwards cut, until the mutual butt of two sets of blades.
Further, the driving assembly comprises a gear and a rack, a stroke groove is formed in the side edge of the grabbing plate cover plate, the rack can be slidably arranged in the stroke groove, the gear is sleeved on the driving shaft, a steering wheel is arranged at the end of the driving shaft, the gear is fixed on the driving shaft through the steering wheel, and the rack is meshed with the gear.
Further, the blades are fixedly arranged at the bottom of the rack through a fifth support, the blades move along with the rack, one group of blades are of a convex structure, the other group of blades are of a concave structure, and cutting edges of the two groups of blades are mutually attached when the blades are abutted;
the fifth support is an L-shaped support, one side of the fifth support is fixedly connected with the rack, and the other side of the fifth support is fixedly connected with the blade.
Furthermore, a cutting driving motor is arranged on the upper end face of the grabbing plate cover plate, the cutting driving motor is in transmission connection with a driving shaft through a coupler, and the cutting driving motor is fixedly installed on the rotating module through a fourth support.
Furthermore, the rotating module comprises a rotating driving motor, a flange rod and a reversing turntable, the rotating driving motor is fixedly installed on the second support, one end of the flange rod is in transmission connection with an output shaft of the rotating driving motor, the other end of the flange rod is fixedly connected with the reversing turntable, and the reversing turntable is driven to rotate by the rotating driving motor.
Furthermore, a plurality of groups of connecting ends are uniformly distributed on the edge of the reversing turntable, and a fourth support is fixedly connected to the connecting ends;
the connecting end is also provided with a third support, and the third support is fixedly provided with a camera.
Furthermore, the lifting module is an electric cylinder, a second support is fixedly arranged at the output end of the electric cylinder, the electric cylinder is fixedly arranged on the sliding module through a first support, the first support is an L-shaped support, one mounting surface of the first support is fixedly connected with the electric cylinder, and the other mounting surface of the first support is fixedly connected with the sliding module.
Furthermore, the sliding module comprises a sliding table, a sliding rail is arranged on the sliding table, and a sliding block is arranged on the sliding rail.
Furthermore, the side of the sliding table is provided with a sliding driving motor, an output shaft of the sliding driving motor is provided with a transmission lead screw, the sliding block is sleeved on the transmission lead screw, and the motor drives the sliding block to reciprocate along the sliding rail.
Furthermore, the first support is fixedly connected with the sliding block.
Compared with the prior art, the invention has the following advantages:
the mechanism utilizes a mechanical mechanism to conveniently and effectively realize the utilization of a small amount of actuating mechanisms, finishes the cutting and picking mechanism suitable for multiple crops, can carry out short-time storage and feeding after cutting the crops, and has the characteristics of convenient and safe use, high working efficiency, good stability and low production cost.
Drawings
FIG. 1 is a schematic structural view of a gripping disk type end effector of the present invention;
FIG. 2 is a schematic left side view of the overall structure of the present invention;
FIG. 3 is a schematic structural view of the upper half of the gripping disk module of the present invention on the axial side;
FIG. 4 is a schematic bottom view axial view of the present invention;
FIG. 5 is a schematic top view of the present invention;
fig. 6 is an enlarged structural view of the disk module of the present invention.
In the figure: 1, a sliding table; 101, a slide rail; 102 a slide drive motor; 103 a transmission screw rod; 2, a sliding block; 3 a first support; 4, an electric cylinder; 5 a second bracket; 6 rotating the driving motor; 7, a flange rod; 8, reversing the rotating disc; 801 connecting ends; 9 a third bracket; 10 a camera; 11 a fourth support; 12 cutting driving motor; 13, a coupler; 14 a disk-grasping module; 1401 a drive shaft; 1402, grabbing a disk cover plate; 1403 fifth scaffold; 1404 blades; 1405 rack of teeth; 1406 a rudder disk; 1404 gear wheels; 1408 a travel slot.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1-6, the grasping disc type end effector for agricultural automatic picking comprises a sliding module, a lifting module, a rotating module and a grasping disc module 14, wherein the lifting module is arranged on the sliding module through a first support 3, the rotating module is arranged at the output end of the lifting module through a second support 5, the grasping disc module 14 is fixedly mounted on the rotating module through a fourth support 11, the grasping disc module 14 comprises a grasping disc cover plate 1402, two sets of blades 1404 and a driving assembly are arranged on the grasping disc cover plate 1402, and are in transmission connection with the blades 1404 through the driving assembly to drive the two sets of blades 1404 arranged oppositely to cut inwards until the two sets of blades 1404 abut against each other.
The driving assembly comprises a gear 1407 and a rack 1405, a stroke groove 1408 is formed in the side edge of the disk grabbing cover plate 1402, and the rack 1405 is slidably arranged in the stroke groove 1405, so that the gap should be as small as possible while the smoothness of the movement of the rack is ensured, and the vertical displacement of the rack cannot occur to influence the movement and the cutting effect. The gear 1407 is sleeved on the driving walking 1401, a steering wheel 1406 is arranged at the end part of the driving shaft 1401, the gear 1407 is fixed on the driving shaft 1401 through the steering wheel 1406, and the rack 1405 is meshed with the gear 1407. The blades 1404 are fixedly arranged at the bottom of the rack 1405 through a fifth bracket 1403, the blades 1404 move along with the rack 1405, one group of blades are in a convex structure, the other group of blades are in a concave structure, and the cutting edges of the two groups of blades are attached to each other when the blades are abutted; the fifth support 1403 is an L-shaped support, one side of the fifth support 1403 is fixedly connected with the rack 1405, and the other side of the fifth support 1403 is fixedly connected with the blade 1404. The upper end face of the grabbing plate cover plate 1402 is provided with a cutting driving motor 12, the cutting driving motor 12 is in transmission connection with a driving shaft 1401 through a coupler 13, and the cutting driving motor 12 is fixedly installed on the rotating module through a fourth support 11. The bottom of the rudder plate 1406 is provided with a strain gauge, which may also be a sensor, for sending out signals contacting the fruits and vegetables.
The rotating module comprises a rotating driving motor 6, a flange rod 7 and a reversing rotary table 8, the rotating driving motor 6 is fixedly installed on the second support 5, one end of the flange rod 7 is in transmission connection with an output shaft of the rotating driving motor 6, the other end of the flange rod 7 is fixedly connected with the reversing rotary table 8, and the reversing rotary table 8 is driven to rotate by the rotating driving motor 6. A plurality of groups of connecting ends 801 are uniformly distributed on the edge of the reversing turntable 8, and the fourth support 11 is fixedly connected to the connecting ends 801. The connecting end 801 is further provided with a third support 9, and the third support 9 is fixedly provided with a camera 10.
The lifting module is an electric cylinder 4, a second support 5 is fixedly arranged on the output end of the electric cylinder 4, the electric cylinder 4 is fixedly arranged on the sliding module through a first support 3, the first support 3 is an L-shaped support, one mounting surface of the first support 3 is fixedly connected with the electric cylinder 4, and the other mounting surface is fixedly connected with the sliding module.
The sliding module comprises a sliding table 1, a sliding rail 101 is arranged on the sliding table 1, and a sliding block 2 is arranged on the sliding rail 101. A sliding driving motor 102 is arranged on the side edge of the sliding table 1, a transmission screw rod 103 is arranged on an output shaft of the sliding driving motor 102, the sliding block 2 is sleeved on the transmission screw rod 103, and the motor 102 drives the sliding block 2 to reciprocate along the sliding rail 101. The first bracket 3 is fixedly connected with the sliding block 2.
Specifically, the mechanism is an end effector mechanism for picking, and therefore, it is originally designed to attach the slide table 1 to the main frame to fix and position the fruit and to pick it.
Fix the position with slip table 1, make the vertical back downwards of the whole direction of camera 10, slider 2 can the side-to-side movement, drives and removes about first support 3 of connecting on slider 2 through bolt and nut. When the rotary driving motor 6 drives the flange rod 7 to concentrically rotate, the reversing turntable 8 also rotates, and the camera 10 and the disk grabbing module 14 are switched. The camera 10 is responsible for locating and collecting the position of the corresponding fruit, and the catch tray module 14 is responsible for picking automatically. The lower part of the fourth bracket 11 is connected with a cutting driving motor 12 through a bolt, the lower part of the cutting driving motor 12 is connected with a driving shaft 1401 through a coupling 13, the driving shaft 1401 penetrates through the center of a gear 1407, and is connected with the gear 1407 through a key, the gear 1407 is connected with a grabbing disk cover plate 1402 through a rudder disk 1406, when the gear 1407 rotates, two racks are driven to move simultaneously in opposite directions, the fifth bracket 1403 is respectively connected with the upper part of the racks through bolts and nuts, and the blade 1404 is connected with the lower part through the bolts and the nuts.
The general working principle of the invention is as follows: the initial position is the position that slip table 1 fixed well, makes the whole direction of camera 10 vertical downwards. When the camera 10 detects that the position nearby has corresponding effect, slip table drive slider 2 carries out the seesaw and reaches corresponding position to first support 3 that links to each other with slider 2 also can carry out the seesaw, treat to remove to corresponding position after, rotate driving motor 6 and begin the forward rotation 90 degrees, flange pole 7 and rotation driving motor 6 carry out concentric rotation, the switching-over carousel 8 has just also forward rotation 90 degrees, make the opening of grabbing dish module 14 openly down, reach the spatial orientation as shown in fig. 1. After that, the electric cylinder 4 starts to extend, so that the whole grab disk module 14 starts to descend, and since the bottom end of the rudder disk 1406 is stuck with a strain gauge, when the whole grab disk cover plate 1402 descends continuously and the strain gauge meets the effect firstly, a signal is fed back to the control system, and the electric cylinder 4 stops extending. At the moment, the cutting driving motor 12 starts to drive, the front end of the cutting driving motor 12 is connected with a driving shaft 1401 through a coupler 13, the driving shaft 1401 penetrates through the center of the grabbing disk cover plate 1402 and is connected with the gear 1407 in a key connection mode, and therefore the effect that when the cutting driving motor 12 starts to drive, the gear 1407 rotates concentrically with the cutting driving motor is achieved.
As shown in fig. 4, the rotation of the gear 1407 drives the upper and lower racks 1409 and 1406 of No. 1 to rotate in opposite directions, the ends of the two racks have a vertical plate connected to the racks, and the two vertical plates are connected to the fifth support 1403 and the blade 1404 through a bolt and a nut respectively. Therefore, as the two racks move toward each other, the two sets of blades 1404 start to close, and finally the operation of cutting and picking and temporarily storing the picked fruit is completed.
Subsequently, the electric cylinder 4 is retracted, the fruit is sent to the corresponding position for feeding, the cutting drive motor 12 is reversed, the blade 1404 is moved away in the opposite direction, and the fruit falls from the catch tray module 14 to the corresponding position. Finally, the rotation driving motor 6 starts to rotate reversely by 90 degrees, so that the camera 10 faces downwards again, and the next fruit position data needing to be picked is detected.
The mechanism utilizes a mechanical mechanism to conveniently and effectively realize the utilization of a small amount of actuating mechanisms, finishes the cutting and picking mechanism suitable for multiple crops, can carry out short-time storage and feeding after cutting the crops, and has the characteristics of convenient and safe use, high working efficiency, good stability and low production cost.
Claims (10)
1. Agricultural automatic picking grabs dish formula end effector, including slip module, lift module, rotation module and grabs dish module (14), the lift module sets up through first support (3) on the slip module, the rotation module passes through second support (5) and sets up the output of lift module, grab dish module (14) through fourth support (11) fixed mounting in rotate on the module, its characterized in that grab dish module (14) including grabbing a dish apron (1402), it is provided with two sets of blades (1404) and drive assembly to grab dish apron (1402), through drive assembly with blade (1404) transmission is connected, drives two sets of blades (1404) that set up relatively inwards to cut, until two sets of blades (1404) butt each other.
2. The agricultural automatic picking gripping disk type end effector as claimed in claim 1, wherein the driving assembly comprises a gear (1407) and a rack (1405), a side edge of the gripping disk cover plate (1402) is provided with a stroke groove (1408), the rack (1405) is slidably arranged in the stroke groove (1405), the gear (1407) is sleeved on a driving walking shaft (1401), the end of the driving shaft (1401) is provided with a steering wheel (1406), the gear (1407) is fixed on the driving shaft (1401) through the steering wheel (1406), and the rack (1405) is in meshed connection with the gear (1407).
3. The agricultural automatic picking gripper disc type end effector according to claim 2, characterized in that the blades (1404) are fixedly mounted at the bottom of the rack (1405) through a fifth bracket (1403), the blades (1404) move along with the rack (1405), one set of blades are in a convex structure, the other set of blades are in a concave structure, and the cutting edges of the two sets of blades are attached to each other when in abutting joint;
the fifth support (1403) is an L-shaped support, one side of the fifth support (1403) is fixedly connected with the rack (1405), and the other side of the fifth support is fixedly connected with the blade (1404).
4. The agricultural automatic picking gripping disk type end effector as claimed in claim 2, characterized in that a cutting driving motor (12) is arranged on the upper end face of the gripping disk cover plate (1402), the cutting driving motor (12) is in transmission connection with the driving shaft (1401) through a coupling (13), and the cutting driving motor (12) is fixedly mounted on the rotating module through the fourth bracket (11).
5. The agricultural automatic picking gripper disc type end effector according to claim 1, wherein the rotating module comprises a rotating driving motor (6), a flange rod (7) and a reversing turntable (8), the rotating driving motor (6) is fixedly installed on the second support (5), one end of the flange rod (7) is in transmission connection with an output shaft of the rotating driving motor (6), the other end of the flange rod is fixedly connected with the reversing turntable (8), and the reversing turntable (8) is driven to rotate by the rotating driving motor (6).
6. The agricultural automatic picking disk grasping type end effector according to claim 5, characterized in that a plurality of groups of connecting ends (801) are uniformly distributed on the edge of the reversing rotating disk (8), and the fourth bracket (11) is fixedly connected to the connecting ends (801);
the connecting end (801) is further provided with a third support (9), and a camera (10) is fixedly arranged on the third support (9).
7. The agricultural automatic picking gripping disk type end effector according to claim 1, characterized in that the lifting module is an electric cylinder (4), the second bracket (5) is fixedly arranged on the output end of the electric cylinder (4), the electric cylinder (4) is fixedly arranged on the sliding module through the first bracket (3), the first bracket (3) is an L-shaped bracket, one mounting surface of the first bracket (3) is fixedly connected with the electric cylinder (4), and the other mounting surface is fixedly connected with the sliding module.
8. The agricultural automatic picking disk grasping type end effector according to claim 1, wherein the sliding module comprises a sliding table (1), a sliding rail (101) is arranged on the sliding table (1), and a sliding block (2) is arranged on the sliding rail (101).
9. The agricultural automatic picking disk grasping type end effector according to claim 8, wherein a sliding driving motor (102) is arranged on the side of the sliding table (1), a transmission screw rod (103) is arranged on the output shaft of the sliding driving motor (102), the sliding block (2) is sleeved on the transmission screw rod (103), and the motor (102) drives the sliding block (2) to reciprocate along the sliding rail (101).
10. Agricultural automatic picking puck end-effector according to claim 8 or 9, characterized in that the first bracket (3) is fixedly connected with the slide (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210377175.9A CN114633275A (en) | 2022-04-12 | 2022-04-12 | Grabbing disc type end effector for agricultural automatic picking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210377175.9A CN114633275A (en) | 2022-04-12 | 2022-04-12 | Grabbing disc type end effector for agricultural automatic picking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114633275A true CN114633275A (en) | 2022-06-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210377175.9A Pending CN114633275A (en) | 2022-04-12 | 2022-04-12 | Grabbing disc type end effector for agricultural automatic picking |
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| Country | Link |
|---|---|
| CN (1) | CN114633275A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150173297A1 (en) * | 2013-12-20 | 2015-06-25 | Harvest Croo, Llc | Automated selective harvesting of crops |
| CN107750119A (en) * | 2017-11-15 | 2018-03-02 | 惠州市创客家电子科技有限公司 | A kind of electronic product manipulator for assembling |
| CN207578428U (en) * | 2017-11-30 | 2018-07-06 | 安徽佩吉智能科技有限公司 | The robot gripper that a kind of multistation can be switched |
| CN111802078A (en) * | 2020-08-19 | 2020-10-23 | 山西大同大学 | Rope type daylily picking machine |
| CN113228866A (en) * | 2021-05-18 | 2021-08-10 | 华南农业大学 | Track suspension type multifunctional orchard mechanical device |
| CN114248282A (en) * | 2021-12-20 | 2022-03-29 | 中国计量大学 | Picking end effector for spheroidal fruits and picking end effector method |
-
2022
- 2022-04-12 CN CN202210377175.9A patent/CN114633275A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150173297A1 (en) * | 2013-12-20 | 2015-06-25 | Harvest Croo, Llc | Automated selective harvesting of crops |
| CN107750119A (en) * | 2017-11-15 | 2018-03-02 | 惠州市创客家电子科技有限公司 | A kind of electronic product manipulator for assembling |
| CN207578428U (en) * | 2017-11-30 | 2018-07-06 | 安徽佩吉智能科技有限公司 | The robot gripper that a kind of multistation can be switched |
| CN111802078A (en) * | 2020-08-19 | 2020-10-23 | 山西大同大学 | Rope type daylily picking machine |
| CN113228866A (en) * | 2021-05-18 | 2021-08-10 | 华南农业大学 | Track suspension type multifunctional orchard mechanical device |
| CN114248282A (en) * | 2021-12-20 | 2022-03-29 | 中国计量大学 | Picking end effector for spheroidal fruits and picking end effector method |
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