CN114793625B - Picking device of intelligent pepper picking robot - Google Patents
Picking device of intelligent pepper picking robot Download PDFInfo
- Publication number
- CN114793625B CN114793625B CN202210549009.2A CN202210549009A CN114793625B CN 114793625 B CN114793625 B CN 114793625B CN 202210549009 A CN202210549009 A CN 202210549009A CN 114793625 B CN114793625 B CN 114793625B
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- CN
- China
- Prior art keywords
- ball screw
- scissors
- main body
- picking
- scissor
- Prior art date
- 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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Links
- 235000002566 Capsicum Nutrition 0.000 title claims abstract description 18
- 239000006002 Pepper Substances 0.000 title claims abstract description 17
- 235000016761 Piper aduncum Nutrition 0.000 title claims abstract description 17
- 235000017804 Piper guineense Nutrition 0.000 title claims abstract description 17
- 235000008184 Piper nigrum Nutrition 0.000 title claims abstract description 17
- 244000203593 Piper nigrum Species 0.000 title claims 2
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 238000010008 shearing Methods 0.000 claims abstract description 20
- 235000007650 Aralia spinosa Nutrition 0.000 claims abstract description 5
- 241000949456 Zanthoxylum Species 0.000 claims abstract description 5
- 241000722363 Piper Species 0.000 abstract description 15
- 235000013399 edible fruits Nutrition 0.000 abstract description 4
- 244000126211 Hericium coralloides Species 0.000 description 2
- 244000089698 Zanthoxylum simulans Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000008496 Drimys aromatica Nutrition 0.000 description 1
- 241000758706 Piperaceae Species 0.000 description 1
- 240000008202 Schinus molle Species 0.000 description 1
- 235000005151 Schinus molle Nutrition 0.000 description 1
- 235000013880 Schinus terebinthifolius var. raddianus Nutrition 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The utility model provides a picking device of intelligence prickly ash picking robot, belongs to agricultural intelligence picking robot field, and its structure includes: the device comprises a shearing mechanism, a ball screw pair, a gear transmission mechanism, a stepping motor unit and a complete machine frame; the device is characterized in that a stepping motor unit is used as power input, power is transmitted to a gear transmission mechanism through a coupler, the rotation of a motor is converted into the rotation of a ball screw pair through the gear transmission mechanism and the ball screw pair, and the ball screw pair is connected with a scissors connecting plate to convert the direct motion of the ball screw into the shearing force of scissors to finish the shearing action; the invention is arranged at the tail end of the mechanical arm of the pepper robot, has small volume, light weight and reliable work, and can realize the rapid nondestructive picking of pepper fruits.
Description
Technical Field
A picking device of an intelligent pepper picking robot belongs to the field of intelligent agricultural picking robots.
Background
With the development of intelligent agriculture and intelligent agricultural robots, the intelligent agricultural robot provides possibility for replacing manpower for the agricultural robot. Traditional pricklyash peel picking can be divided into two types of manual collection and field mechanical equipment collection, and the manual collection relies on knapsack type and handheld equipment more, and this mode is the main mode of pricklyash peel picking at present, wastes time and energy. Although the field mechanical equipment collection can reduce the picking strength of a human body, the picking mode can cause different degrees of damage to fruit trees and fruits.
Due to the limitation of the pepper picking environment, the pepper picking generally has the problems of complex operation, long operation time, higher acquisition requirement and the like, the manual acquisition is time-consuming and labor-consuming, the spine of the pepper tree can cause harm to human bodies, and the tail end picking device is used as the most important actuating mechanism of the intelligent robot, so that the performance of the intelligent robot is directly determined; the existing tail end picking devices are mostly branch comb tooth brush type picking mechanisms and mechanical hand holding stretch breaking type picking mechanisms, although the branch comb tooth brush type picking mechanisms can pick the fruits of the Chinese prickly ash as far as possible, the tender leaves and buds on the branches can be combed off at the same time, the clamping shearing force of the mechanical hand is controlled improperly, so that the Chinese prickly ash branches can be pulled off, and the two picking modes can finish the operation tasks, but can damage the branches and the tender buds; therefore, there is a need for a picking mechanism that has little damage to the shoots, is low cost, and is easy to control.
Disclosure of Invention
The invention provides a picking device of an intelligent pepper picking robot, which is used for realizing efficient, rapid and easy-to-operate pepper picking work of the intelligent robot, and structurally comprises the following components: the device comprises a shearing mechanism (1), a ball screw pair (2), a gear transmission mechanism (3), a stepping motor unit (4) and a complete machine frame (5).
The shearing mechanism (1) consists of a shear main body (1-1), a spring pin (1-2), a guide rod connecting frame (1-3), a shear main body support (1-4), a shear front support (1-5), a pin shaft (1-6), a pressing plate (1-7), a guide rod (1-8), a flange type linear bearing (1-9), a limiting ring (1-10) and a shear fixing frame (1-11). The shearing mechanism (1) is used for fixing the scissors main body (1-1) on the scissors fixing frame (1-11) through a scissors tail pin shaft, the two scissors main bodies (1-1) are connected through a spring pin (1-2) so that the scissors main bodies and the scissors main bodies are separated, the scissors fixing frame (1-11) is connected to the guide rod connecting frame (1-3) through a pin shaft (1-6), and the guide rod connecting frame (1-3) is connected with the scissors main body support (1-4) through two springs. The scissors main body support (1-4) is connected with the scissors connecting plate (2-1) so that the power of the ball screw pair can be transmitted to the shearing mechanism (1), the scissors connecting plate (2-1) is connected with the ball screw connecting plate (2-2) and receives the power transmitted by the ball screw pair (2). When power is transmitted from the ball screw pair (2), the scissor main body bracket (1-4) is pushed to drive the scissor main body (1-1) to complete shearing movement.
The ball screw pair (2) consists of a scissors connecting plate (2-1), a ball screw connecting plate (2-2), a ball screw supporting end (2-3), a nut seat sleeve (2-4), a ball screw nut seat (2-5), a ball screw shaft (2-6), a ball screw fixed end (2-7) and a coupler (2-8). The coupler (2-8) is connected with the ball screw shaft (2-6) and the bevel pinion shaft to complete the power transmission. The ball screw nut seat (2-5) is connected with the nut seat sleeve (2-4), and the nut seat sleeve (2-4) is connected with the ball screw connecting plate (2-2), so that the ball screw moves to drive the scissor body (1-1) to move so as to complete shearing movement.
The gear transmission mechanism (3) consists of a transmission base (3-1), a bearing (3-2), an intermediate shaft (3-3), an upper cover (3-4), a large straight-tooth cylindrical gear (3-5), a large straight-tooth bevel gear (3-6), a gear collar (3-7), a small straight-tooth bevel gear (3-8), a small straight-tooth cylindrical gear (3-9) and a power input shaft (3-10). The gear transmission mechanism (3) converts rotation transmitted by the stepping motor unit (4) into rotation of the ball screw pair (2), and the transmission is completed through the engagement of the large straight-tooth cylindrical gear (3-5) and the small straight-tooth cylindrical gear (3-9) in the gear transmission mechanism (3) and the engagement of the large straight-tooth bevel gear (3-6) and the small straight-tooth bevel gear (3-8). The transmission base (3-1) is connected with the integral base plate (5-1), the bearing is arranged on the transmission base (3-1), and the bearing is fixed with the transmission base (3-1) through the upper cover (3-4).
The stepping motor unit (4) consists of a stepping motor (4-1), a motor support (4-2) and a coupler (4-3), wherein the motor support (4-2) is fixed on the integral base plate (5-1) through bolts, and the stepping motor (4-1) is fixed on the motor support (4-2). The shaft coupling (4-3) is connected with the shaft of the stepping motor (4-1) and the input shaft of the gear transmission mechanism (3) to complete the power transmission.
The whole frame (5) is composed of a whole bottom plate (5-1), a mechanical arm mounting plate (5-2) and a mounting seat (5-3), wherein the mounting seat (5-3) is mounted on the whole bottom plate (5-1) through bolts, and the mechanical arm mounting plate (5-2) is fixed on the mounting seat (5-3) through bolts so as to finish the mounting of the tail end of the mechanical arm.
The invention can be used for picking the peppers, and has the following obvious effects: (1) The tail end picking device is arranged at the tail end of the mechanical arm, has small volume, light weight and reliable operation.
(2) In the invention, the power of the stepping motor (4-1) is transmitted with the gear through the ball screw pair (2), and thicker branches can be cut off.
(3) In the invention, after gear transmission is utilized, the driving force acted on the ball screw can enable the ball screw nut seat (2-5) to rapidly act, so that the shearing time is shortened.
Drawings
Fig. 1: the whole structure schematic diagram of the tail end picking device of the intelligent pepper picking robot;
Fig. 2: top view of the whole structure of the tail end picking device of the intelligent pepper picking robot;
fig. 3: front view of the whole structure of the intelligent pepper picking robot tail end picking device.
Detailed Description
The invention is described in further detail below with reference to examples given in the accompanying drawings.
Referring to fig. 1, an overall structure schematic diagram of a tail end picking device of an intelligent pepper picking robot mainly comprises a shearing mechanism (1), a ball screw pair (2), a gear transmission mechanism (3), a stepping motor unit (4) and a complete machine frame (5); referring to fig. 2, the top view of the whole structure of the end picking device of the intelligent pepper picking robot comprises a large straight bevel gear (3-6), a gear collar (3-7), a small straight bevel gear (3-8), a small straight cylindrical gear (3-9) and a power input shaft (3-10) in addition to the above; referring to fig. 3, the intelligent pepper picking robot is a front view of the whole structure of the end picking device.
The specific working flow of the intelligent pepper picking robot tail end picking device is described below by combining the embodiment of the invention, when a stepping motor (4-1) is opened, a stepping motor shaft is connected with a gear input shaft (3-10) through a coupler (4-3) to carry out power transmission, meanwhile, a large straight-tooth cylindrical gear (3-5) drives a small straight-tooth cylindrical gear (3-8) to rotate, thereby the large straight-tooth bevel gear (3-6) drives the small straight-tooth bevel gear (3-8) to rotate, an output shaft is connected with a ball screw shaft (2-6) through another coupler (2-8), the ball screw shaft (2-6) rotates, a ball screw nut seat (2-5) moves forwards, at the moment, a guide rod (1-8) moves forwards slightly, when the guide rod is limited by a limiting ring (1-10), a guide rod connecting frame (1-3) stops moving, simultaneously, a scissor main body bracket (1-4) moves forwards, simultaneously moves forwards, pushes a scissor main body (1-1) to move sideways, completes the closing of the motor, and moves a scissor pin (1-1) to move backwards, and moves a scissor nut (2-5) to move forwards under the action of the stepping spring seat (2-1), so that the next shearing can be performed.
Claims (2)
1. The utility model provides a picking device of intelligence prickly ash picking robot, its characterized in that, this picking device structure of intelligence prickly ash picking robot includes: the device comprises a shearing mechanism (1), a ball screw pair (2), a gear transmission mechanism (3), a stepping motor unit (4) and a complete machine frame (5); the shearing mechanism (1) consists of a shear main body (1-1), a spring pin (1-2), a guide rod connecting frame (1-3), a shear main body bracket (1-4), a shear front bracket (1-5), a pin shaft (1-6), a pressing plate (1-7), a guide rod (1-8), a flange type linear bearing (1-9), a limiting ring (1-10) and a shear fixing frame (1-11); the shearing mechanism (1) is used for fixing the scissor main bodies (1-1) on the scissor fixing frames (1-11) through the pin shafts at the tail parts of the scissors, the two scissor main bodies (1-1) are connected through a spring pin (1-2) so as to be separated, the scissor fixing frames (1-11) are connected to the guide rod connecting frames (1-3) through the pin shafts (1-6), and the guide rod connecting frames (1-3) are connected with the scissor main body supports (1-4) through two springs; the scissors main body support (1-4) is connected with the scissors connecting plate (2-1) so that the power of the ball screw pair (2) can be transmitted to the shearing mechanism (1), the scissors connecting plate (2-1) is connected with the ball screw connecting plate (2-2) and receives the power transmitted by the ball screw pair (2); when power is transmitted from the ball screw pair (2), the scissor main body bracket (1-4) is pushed to drive the scissor main body (1-1) to complete shearing movement; the ball screw pair (2) consists of a scissor connecting plate (2-1), a ball screw connecting plate (2-2), a ball screw supporting end (2-3), a nut seat sleeve (2-4), a ball screw nut seat (2-5), a ball screw shaft (2-6), a ball screw fixed end (2-7) and a coupler (2-8); the coupler (2-8) is connected with the ball screw shaft (2-6) and the bevel pinion shaft to finish the power transmission; the ball screw nut seat (2-5) is connected with the nut seat sleeve (2-4), the nut seat sleeve (2-4) is connected with the ball screw connecting plate (2-2), and therefore the ball screw moves to drive the scissor main body (1-1) to move so as to complete shearing movement; when the ball screw shaft (2-6) rotates, the ball screw nut seat (2-5) moves forwards, at the moment, the guide rod (1-8) moves forwards slightly, when the guide rod is limited by the limiting ring (1-10), the guide rod connecting frame (1-3) stops moving, meanwhile, the scissors main body support (1-4) moves forwards, the scissors front support (1-5) moves together with the scissors main body support, the side face of the scissors main body (1-1) is pushed, and the scissors are closed to finish shearing movement.
2. The picking device of the intelligent pepper picking robot as claimed in claim 1, characterized in that the gear transmission mechanism (3) is composed of a transmission base (3-1), a bearing (3-2), an intermediate shaft (3-3), an upper cover (3-4), a large straight-tooth cylindrical gear (3-5), a large straight-tooth bevel gear (3-6), a gear collar (3-7), a small straight-tooth bevel gear (3-8), a small straight-tooth cylindrical gear (3-9) and a power input shaft (3-10); the gear transmission mechanism (3) converts rotation transmitted by the stepping motor unit (4) into rotation of the ball screw pair (2), and the transmission is completed through the engagement of the large straight-tooth cylindrical gear (3-5) and the small straight-tooth cylindrical gear (3-9) in the gear transmission mechanism (3) and the engagement of the large straight-tooth bevel gear (3-6) and the small straight-tooth bevel gear (3-8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210549009.2A CN114793625B (en) | 2022-05-20 | 2022-05-20 | Picking device of intelligent pepper picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210549009.2A CN114793625B (en) | 2022-05-20 | 2022-05-20 | Picking device of intelligent pepper picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114793625A CN114793625A (en) | 2022-07-29 |
| CN114793625B true CN114793625B (en) | 2024-04-19 |
Family
ID=82515561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210549009.2A Active CN114793625B (en) | 2022-05-20 | 2022-05-20 | Picking device of intelligent pepper picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN114793625B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200361910Y1 (en) * | 2004-06-29 | 2004-09-14 | 성판원 | the pruning scissors of push-cut type |
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| CN205648433U (en) * | 2016-04-19 | 2016-10-19 | 山东科技大学 | Pepper picking -up device |
| CN106342484A (en) * | 2016-11-07 | 2017-01-25 | 江苏大学 | Clamping rotary cutting type underactuated two-finger grape picking device |
| CN208227735U (en) * | 2018-05-03 | 2018-12-14 | 浙江工贸职业技术学院 | Electric fruit picker |
| CN208338335U (en) * | 2018-05-03 | 2019-01-08 | 浙江工贸职业技术学院 | A kind of fruit picking machine hand |
| CN113084897A (en) * | 2021-03-17 | 2021-07-09 | 三峡大学 | Mask ear band shearing device based on chute mechanism and use method |
| CN213880951U (en) * | 2020-08-31 | 2021-08-06 | 甘肃农业大学 | Pepper harvesting device |
| CN214630238U (en) * | 2021-03-29 | 2021-11-09 | 湖北三峡职业技术学院 | Gauze mask machine ear area is cut device based on cam direction |
| JP6988018B1 (en) * | 2021-09-28 | 2022-01-05 | アルスコーポレーション株式会社 | Industrial scissors |
| CN215530076U (en) * | 2021-09-03 | 2022-01-18 | 谭静 | Plum tree fruit picking equipment |
-
2022
- 2022-05-20 CN CN202210549009.2A patent/CN114793625B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200361910Y1 (en) * | 2004-06-29 | 2004-09-14 | 성판원 | the pruning scissors of push-cut type |
| CN202079617U (en) * | 2011-05-10 | 2011-12-21 | 淮安信息职业技术学院 | Electric scissors |
| CN203831474U (en) * | 2014-05-06 | 2014-09-17 | 常州市宏达机床数控设备有限公司 | Device driven by ball screw pair |
| CN104472106A (en) * | 2014-12-23 | 2015-04-01 | 赵金鱼 | Wild pepper picking machine |
| CN205111899U (en) * | 2015-08-25 | 2016-03-30 | 沈翔 | Multi -functional push -and -pull is cut |
| CN205648433U (en) * | 2016-04-19 | 2016-10-19 | 山东科技大学 | Pepper picking -up device |
| CN106342484A (en) * | 2016-11-07 | 2017-01-25 | 江苏大学 | Clamping rotary cutting type underactuated two-finger grape picking device |
| CN208227735U (en) * | 2018-05-03 | 2018-12-14 | 浙江工贸职业技术学院 | Electric fruit picker |
| CN208338335U (en) * | 2018-05-03 | 2019-01-08 | 浙江工贸职业技术学院 | A kind of fruit picking machine hand |
| CN213880951U (en) * | 2020-08-31 | 2021-08-06 | 甘肃农业大学 | Pepper harvesting device |
| CN113084897A (en) * | 2021-03-17 | 2021-07-09 | 三峡大学 | Mask ear band shearing device based on chute mechanism and use method |
| CN214630238U (en) * | 2021-03-29 | 2021-11-09 | 湖北三峡职业技术学院 | Gauze mask machine ear area is cut device based on cam direction |
| CN215530076U (en) * | 2021-09-03 | 2022-01-18 | 谭静 | Plum tree fruit picking equipment |
| JP6988018B1 (en) * | 2021-09-28 | 2022-01-05 | アルスコーポレーション株式会社 | Industrial scissors |
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| Publication number | Publication date |
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| CN114793625A (en) | 2022-07-29 |
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