CN115280973A - Executor is picked to dragon fruit - Google Patents
Executor is picked to dragon fruit Download PDFInfo
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- CN115280973A CN115280973A CN202211025541.0A CN202211025541A CN115280973A CN 115280973 A CN115280973 A CN 115280973A CN 202211025541 A CN202211025541 A CN 202211025541A CN 115280973 A CN115280973 A CN 115280973A
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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
- A01D46/24—Devices for picking apples or like fruit
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- 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
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Abstract
The invention is suitable for the technical field of picking actuators, and provides a dragon fruit picking actuator which comprises a rack assembly, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism; the rack assembly comprises two opposite supports, and the top ends of the two supports are fixedly connected with a mounting plate fixedly mounted on the mechanical arm. According to the dragon fruit picking actuator, the driving cylinder is used for driving, the driving element acts quickly, and the fruit slides less, so that a clamping mechanism is omitted, and the overall mass of the actuator is reduced; in addition, the end effector has a simple structure, compared with the traditional manual picking, the picking is time-saving and labor-saving, the working efficiency is greatly improved, the labor intensity is reduced, and the automation level is high; the fruit is only required to be fed into the blade enveloping range, accurate positioning is not required, the sensing positioning mechanism is only required to abut against the edges of the dragon fruit leaves, the blades are meshed along the elliptical track, the fruit can be quickly and accurately cut, and the requirement on the position positioning precision of a visual positioning system is lowered.
Description
Technical Field
The invention belongs to the technical field of picking actuators, and particularly relates to a dragon fruit picking actuator.
Background
The dragon fruit is a succulent plant with climbing ability for many years, the plant has no main root, the lateral roots are largely distributed in the superficial soil layer, and simultaneously, a plurality of aerial roots are provided, so that climbing growth can be realized. The rootstock is dark green and thick and has 3 edges. The fruit is long round or oval, the skin is red, the fruit is egg-shaped and has scales with sharp top, the fruit is 10-12 cm long, and the pulp is white or red. When the dragon fruits are picked manually, the fleshy stems are cut off partially to prolong the storage and transportation time of the fruits. The dragon fruit is fleshy in stem and fertile, and the node dent has a thorn, and the dragon fruit is born in the node, and artifical picking operable range is little, and easily produces the damage to the fruit, and mechanized picking has certain degree of difficulty. At present, no mature dragon fruit picking equipment is put into use, various plant bases are mainly picked manually, and the automation level is still low.
The traditional end effector for picking a plurality of fruits only considers clamping and shearing, but does not consider damage to the fruits caused by improper shearing positions, and Chinese patent CN201920412801.7 discloses an artificial dragon fruit picking device. Chinese patent CN201810265669.1 discloses a dragon fruit picking device, the concave arc surface clamping hand can not be attached to fruits with different sizes, the contact surface with the fruits is small, the fruits are easy to be damaged, and when the device is closed, the cutting force of the blade is not necessarily enough to cut thick fleshy stems, and the damage to the fruits and the wrong empty picking caused by insufficient positioning accuracy are not considered.
Disclosure of Invention
The invention provides a dragon fruit picking actuator, and aims to solve the problems that the existing fruit picking actuator is not easy to align, easily damages fruits during shearing, and is easy to produce empty picking.
The invention is realized in this way, a dragon fruit picking actuator, comprising a frame component, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism;
the rack assembly comprises two oppositely arranged brackets, and the top ends of the two brackets are fixedly connected with a mounting plate fixedly mounted on the mechanical arm;
two groups of linear driving mechanisms are respectively and fixedly arranged on the outer sides of the two brackets, and the output ends of the linear driving mechanisms move along the horizontal direction;
the number of the cutter structures is two, the cutter structures are distributed along the horizontal direction, the cutter mechanisms comprise cutter mounting frames and cutters, the cutters are fixedly connected to the cutter mounting frames, the two cutters are respectively positioned above and below the front side of the rack assembly and arranged in a mutual mirror image mode, and the planes of the two cutters form included angles with a vertical plane;
the link mechanism has two sets ofly, every group link mechanism sets up respectively in one the outside of support, link mechanism's initiative end by linear drive mechanism's output drive motion, two the both ends of cutter mounting bracket are fixed connection respectively in a set of link mechanism's driven end, linear drive mechanism drives during link mechanism's initiative end motion, link mechanism's driven end drives two the cutter is along oval arc orbit motion and interlock each other.
Preferably, sensing positioning mechanism includes two mounts, and two mounts are fixed connection respectively in two extend forward on the support, the front end fixedly connected with sensor mounting bracket of mount, the front side fixedly connected with pressure sensor of sensor mounting bracket, pressure sensor is located the front side of cutter.
Preferably, the linear driving mechanism comprises a driving cylinder transversely and fixedly connected to the outer side of the support, the output end of the driving cylinder faces forwards, and the output end of the driving cylinder is fixedly connected with a movable block sliding along the outer side surface of the support.
Preferably, the link mechanism comprises two cutter support frames, the two cutter support frames are distributed at intervals from top to bottom, the front ends of the two cutter support frames extend forwards, and the two ends of the two upper cutter mounting frames and the two lower cutter mounting frames are fixedly connected between the two upper cutter support frames and the two lower cutter support frames in the link mechanisms on the two sides respectively.
Preferably, two the rear end of cutter support frame all rotates and is connected with first branch, two the other end of first branch rotate respectively connect in the upper portion and the lower part of support lateral surface, two the middle section of cutter support frame all rotates and is connected with second branch, two the other end of second branch rotate respectively connect in the upper portion and the lower part of support lateral surface, every first branch is close to the one end of cutter support frame all rotates and is connected with third branch, two the other end of third branch rotate respectively connect in the upper end and the lower extreme on movable block surface, top and below a set of drive mechanism is constituteed respectively to cutter support frame, first branch, second branch and third branch.
Preferably, link mechanism includes two perpendicular grooves, two cross slots, two first dwang and two second dwang, and two perpendicular grooves are vertical respectively to be seted up in one the lateral surface of the medial surface of support, and two it sets up relatively to erect the groove, two the cross slot is transversely seted up in the surface of support just is located erect the front side in groove, two the rear end of first dwang rotates respectively has a first sliding block, two sliding connection respectively in one it erects the inslot, two the surface of first dwang rotates respectively to be connected with the second sliding block, two the second sliding block sliding connection respectively in one the cross slot, two the one end of second dwang rotates respectively to be connected in one the middle section of first dwang, two the other end of second dwang rotates respectively to be connected in the upper end and the lower extreme on movable block surface.
Preferably, the two first rotating rods are respectively positioned at the inner side and the outer side of the support, and the two ends of the two cutter mounting frames are respectively and fixedly connected to the two connecting rod mechanisms at the two sides and positioned between the outer ends of the first rotating rods at the same height.
Preferably, the cutter mounting rack is arc-shaped, and the cutter is arc-shaped and matched with the cutter mounting rack.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a picking actuator for dragon fruit, which comprises the following components: the driving cylinder is used for driving, the driving element acts quickly, and the fruit slides less, so that a clamping mechanism is omitted, and the overall quality of the actuator is reduced; in addition, the end effector has a simple structure, compared with the traditional manual picking, the picking is time-saving and labor-saving, the working efficiency is greatly improved, the labor intensity is reduced, and the automation level is high;
when the two cutters are meshed oppositely, the motion trail is an elliptical trail, the cutters are positioned at the foremost side when fruits are cut immediately, the damage to bearing branches in the meshing process of the cutters is reduced, and the length of leaf edge cuts caused by cutting is reduced;
the fruit can be quickly and accurately cut by only feeding the fruit into the blade enveloping range without accurate positioning, the blade can be occluded to cut the fruit, the requirement on the position positioning precision of a visual positioning system is lowered, the dragon fruit does not need to be held by one hand like a worker, and the scissors with the long edge of the pointed end are inserted into the fleshy stem from the side to cut the fruit stem by one hand, so that the operation is more convenient, the working efficiency is higher, and the economic benefit is improved;
the sensing and positioning device is arranged to accurately position the cutting position of the fruit stem, so that fruits with certain fleshy stems can be cut off, and the storage and transportation time of the fruits is prolonged; in addition, the elliptic motion track of the blade is occluded compared with the common circular arc track, the length of cut mesophyll is reduced, and the risk of infection diseases of the dragon fruit is reduced.
Drawings
FIG. 1 is a schematic perspective view of a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a first embodiment of the present invention;
FIG. 3 is a schematic perspective view of a second embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a second embodiment of the present invention;
fig. 5 is a schematic structural view of the link mechanism in fig. 4.
In the figure: the cutting tool comprises a support 1, a mounting plate 2, a cutter mounting frame 3, a cutter 4, a fixing frame 5, a sensor mounting frame 6, a pressure sensor 7, a driving cylinder 8, a movable block 9, a cutter supporting frame 10, a first supporting rod 11, a second supporting rod 12, a third supporting rod 13, a reinforcing rod 14, a vertical groove 15, a transverse groove 16, a first rotating rod 17, a second rotating rod 18, a first sliding block 19 and a second sliding block 20.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
First embodiment
Referring to fig. 1-2, a dragon fruit picking actuator includes a frame assembly, a linear driving mechanism, a link mechanism, a cutter mechanism and a sensing and positioning mechanism.
The frame subassembly includes two relative supports 1 that set up, and the top fixedly connected with of two supports 1 is a fixed mounting to the mounting panel 2 on the arm.
The mounting plate 2 is provided with a mounting position, and can be mounted on the mechanical arm in a bolt mode and the like, and the fruit picking operation is carried out by the integral movement of the mechanical arm driving device.
A plurality of reinforcing rods 14 are fixedly connected between the two brackets 1 and are respectively positioned at the upper part, the lower part and the rear part between the two brackets 1, and the action of other elements is not influenced by the positions of the reinforcing rods 14.
The hollow grooves are formed in the two supports 1, so that the weight of the device can be reduced.
Two groups of linear driving mechanisms are respectively and fixedly arranged at the outer sides of the two brackets 1, and the output ends of the linear driving mechanisms move along the horizontal direction.
Cutter structure quantity is two and distributes along the horizontal direction, and cutter mechanism includes cutter mounting bracket 3 and cutter 4, and 4 fixed connection of cutter are on cutter mounting bracket 3, and two cutters 4 are located the top and the below of frame subassembly front side respectively and mutual mirror image setting, and two cutters 4 place planes all form the contained angle with vertical plane.
When the two cutters 4 move oppositely and are occluded, a certain range can be covered, fruits within the range formed by the movement track are pulled to the occluded positions of the two cutters 4, and the fruits are cut off when the cutters 4 are occluded and contacted, so that the positioning of the fruits is not particularly accurate, and the fruits only need to be included on the movement routes of the two cutters 4, and the cutting of the fruits can be realized.
The two groups of link mechanisms are arranged, each group of link mechanisms is respectively arranged at the outer side of one support 1, the driving end of each link mechanism is driven to move by the output end of the linear driving mechanism, and the two ends of the two cutter mounting frames 3 are respectively and fixedly connected to the driven ends of the group of link mechanisms.
Each group of link mechanisms is provided with two driving ends and an upper driven end and a lower driven end, the upper cutter mounting frame 3 is fixed between the driven ends above the two groups of link mechanisms, and the lower cutter mounting frame 3 is fixed between the driven ends below the two groups of link mechanisms.
When the sensing positioning mechanism is abutted to stems and leaves, the linear driving mechanism drives the driving end of the connecting rod mechanism to move, and the driven end of the connecting rod mechanism drives the two cutters 4 to move along the elliptical arc-shaped track and to be meshed with each other.
When picking, the picking actuator moves integrally, the front side moves towards the fruit, the stem and the leaf and the like, when the sensing positioning mechanism contacts the stem and the leaf to complete positioning, the fruit is positioned in a semi-elliptical range formed by the movement paths of the two cutters 4, and the driving assembly drives the connecting rod positioning mechanism to move, so that the cutters 4 are driven to be mutually occluded to cut the fruit.
Sensing positioning mechanism includes two mounts 5, and two mounts 5 are fixed connection respectively and extend forward on two supports 1, and the front end fixedly connected with sensor mounting bracket 6 of mount 5, the front side fixedly connected with pressure sensor 7 of sensor mounting bracket 6, pressure sensor 7 are located the front side of cutter 4.
The fixing frame 5 is provided with a plurality of groups of mounting holes, and the position of the fixing frame 5 relative to the bracket 1 can be adjusted forwards and backwards, so that the position of the pressure sensor 7 can be adjusted.
Two mounts 5 all are located the outside of link mechanism and cutter mechanism, and the action of link mechanism and cutter structure is not influenced in the position of mount 5 and sensor mounting bracket 6.
In this embodiment, the sensor mounting frame 6 is a cross bar, and two ends of the cross bar are respectively and fixedly connected to the two fixing frames 5.
Linear actuating mechanism includes that horizontal fixed connection drives actuating cylinder 8 in the outside of support 1, and the output that drives actuating cylinder 8 is preceding, drives actuating cylinder 8's output fixedly connected with along the gliding movable block 9 of support 1 lateral surface.
In this embodiment, the driving cylinder 8 can be supplied with air by the air supply device to extend and contract, thereby moving the movable block 9.
The link mechanism includes two cutter support frames 10, and interval distribution and front end extend forward about two cutter support frames 10, and the both ends of two upper and lower cutter mounting brackets 3 are fixed connection respectively in the link mechanism of both sides lie in between two cutter support frames 10 of top and lie in between two cutter support frames 10 of below.
The rear end of two cutter support frames 10 all rotates and is connected with first branch 11, the other end of two first branch 11 rotates respectively and connects in the upper portion and the lower part of 1 lateral surface of support, the middle section of two cutter support frames 10 all rotates and is connected with second branch 12, the other end of two second branch 12 rotates respectively and connects in the upper portion and the lower part of 1 lateral surface of support, the one end that every first branch 11 is close to cutter support frame 10 all rotates and is connected with third branch 13, the other end of two third branch 13 rotates respectively and connects in the upper end and the lower extreme on movable block 9 surfaces, the cutter support frame 10 of top and below, first branch 11, a set of drive mechanism is constituteed respectively to second branch 12 and third branch 13.
The upper and lower groups of transmission mechanisms are arranged in a mirror image mode.
The upper two groups of transmission mechanisms synchronously act to drive the upper cutter 4 to move, and the lower two groups of transmission mechanisms synchronously act to drive the lower cutter 4 to move.
When the two cutters 4 are in the open state, the cutting edges of the cutters 4 are inclined downward and to the front side, and when the two cutters 4 are engaged with each other, an arc-shaped motion trajectory similar to an elliptical trajectory is formed.
The picking device can be a movable picking vehicle, a driving mechanical arm is arranged on the picking vehicle, a power supply and an air compressor air supply device are further arranged on the picking vehicle, the automatic control equipment can control the mechanical arm to stretch and move, so that the position of the picking device is controlled, a control assembly is further arranged, and data are processed and the matching work of each element on the picking vehicle is controlled.
The power supply provides electric power for the pressure sensor 7, and the air compressor air feeder provides the air supply for driving the cylinder 8.
The picking actuator is arranged at the output end of the mechanical arm, an image recognition system preset with dragon fruit images is further arranged on the mechanical arm, the mechanical arm moves to drive the image recognition system and the picking actuator to move integrally, the image recognition system recognizes the dragon fruit in the picture shot by the camera and performs preliminary positioning, in the process, the front side of the picking actuator is continuously close to the fruit, the fruit is located in the range of the motion tracks of the two groups of cutters 4, when a pressure sensor 7 located at the foremost side of the whole actuator is contacted with stem leaves and detects certain pressure, a driving cylinder 8 is controlled by a control assembly to intake air, an output shaft stretches out to drive a movable block 9 to move towards the front side, a third support rod 13 is pushed to move, under the driving of the third support rod 13, a first support rod 11 rotationally connected with the support 1 rotates by taking the joint with the support 1 as an axis, the cutter support rod 10 is driven to move towards the front side, meanwhile, under the support of the second support rod 12, the cutter support rod 10 moves in a vertical plane, the joint point with the second support rod 12 swings by taking the joint with the upper and the front ends of the upper and lower two support rods 10 are driven to move along the oval blade, and then the upper and the lower blade of the fruit is driven by taking the second support rod 4, the oval blade, and the fruit in the process, and the fruit taking the oval blade. Through predetermineeing the stroke that drives actuating cylinder 8, after cutter 4 interlock each other, drive actuating cylinder 8 and can't continue the extension, subtract down the fruit after, the executor is picked in arm control backset this moment and keep away from the mesophyll, pressure sensor 7's pressure reduces to zero, it drives 8 output shafts of actuating cylinder simultaneously and drives movable block 9 and return and contract, first branch 11, second branch 12 and third branch 13 reset, thereby drive and then drive cutter mounting bracket 3 about driving, two cutter 4 separation, reset to initial condition, prepare to pick next time.
In this embodiment, the end of each link mechanism where the two third support rods 13 are rotatably connected to the movable block 9 is a driving end, and the end of each link mechanism where the cutter support frame 10 is fixedly connected to the cutter mounting frame 3 is a driven end.
In the embodiment, the threshold force set by the pressure sensor 7 is 0.2N (20g × 10n/kg), the force is small, when the pressure applied to the pressure sensor 7 is greater than the set threshold force, the single chip microcomputer sends a high level signal to the switch of the relay, the relay receives the high level signal, the switch is closed, the electromagnetic valve circuit is conducted, the valve port of the electromagnetic valve is conducted, the air conveying pipeline conveys air to the driving cylinder 8 to enable the driving cylinder 8 to ventilate and extend, and the cutter 4 is occluded and closed to complete fruit picking.
This executor is controlled through automation equipment, end effector connects on the arm that possesses visual system, after the spatial position who fixes a position the dragon fruit through two mesh camera visual identification, information transfer to computer control system, computer control system control arm motion, make the picking device move the suitable position to the dragon fruit, avoid shearing the dragon fruit in order to can entangle the dragon fruit, the distance of end effector under the upper and lower cutter 4 state of opening is far greater than the dragon fruit size, cutter 4 movement track is greater than the biggest dragon fruit overall dimension. The position of the pressure sensor 7 can be adjusted back and forth, and larger blades can be prevented from being cut when the position is adjusted to a proper position.
The electric elements are powered by a power source.
In this embodiment, a collecting device may be provided below the picking actuator, and the cut fruit may fall directly downward into the collecting device.
Second embodiment
Referring to fig. 3-5, a dragon fruit picking actuator comprises a frame assembly, a linear driving mechanism, a link mechanism, a cutter mechanism and a sensing and positioning mechanism.
The rack assembly comprises two opposite supports 1, and the top ends of the two supports 1 are fixedly connected with a mounting plate 2 fixedly mounted on the mechanical arm.
The mounting plate 2 is provided with a mounting position, can be mounted on the mechanical arm in a bolt mode and the like, and is integrally moved by the mechanical arm driving device to pick fruits.
A plurality of reinforcing rods 14 are fixedly connected between the two brackets 1 and are respectively positioned at the upper part, the lower part and the rear part between the two brackets 1, and the action of other elements is not influenced by the positions of the reinforcing rods 14.
The hollow grooves are formed in the two supports 1, so that the weight of the device can be reduced.
Two groups of linear driving mechanisms are respectively and fixedly arranged at the outer sides of the two brackets 1, and the output ends of the linear driving mechanisms move along the horizontal direction.
Cutter structure quantity is two and distributes along the horizontal direction, and cutter mechanism includes cutter mounting bracket 3 and cutter 4, and 4 fixed connection of cutter are on cutter mounting bracket 3, and two cutters 4 are located the top and the below of frame subassembly front side respectively and mutual mirror image setting, and two cutters 4 place planes all form the contained angle with vertical plane.
When the two cutters 4 move oppositely and are occluded, a certain range can be covered, fruits within the range formed by the movement track are pulled to the occluded positions of the two cutters 4, and the fruits are cut off when the cutters 4 are occluded and contacted, so that the positioning of the fruits is not particularly accurate, and the fruits only need to be included on the movement routes of the two cutters 4, and the cutting of the fruits can be realized.
The two groups of link mechanisms are arranged, each group of link mechanisms is respectively arranged at the outer side of one support 1, the driving end of each link mechanism is driven to move by the output end of the linear driving mechanism, and the two ends of the two cutter mounting frames 3 are respectively and fixedly connected to the driven ends of the group of link mechanisms.
When the sensing positioning mechanism is abutted to stems and leaves, and the linear driving mechanism drives the driving end of the connecting rod mechanism to move, the driven end of the connecting rod mechanism drives the two cutters 4 to move along the elliptical arc-shaped track and to be engaged with each other.
Each group of link mechanisms is provided with two driving ends and an upper driven end and a lower driven end, the cutter mounting frame 3 above is fixed between the driven ends above the two groups of link mechanisms, and the cutter mounting frame 3 below is fixed between the driven ends below the two groups of link mechanisms.
When picking, the picking actuator moves integrally, the front side moves towards the fruit, the stem and the leaf and the like, when the sensing positioning mechanism contacts the stem and the leaf to complete positioning, the fruit is positioned in a semi-elliptical range formed by the movement paths of the two cutters 4, and the driving assembly drives the connecting rod positioning mechanism to move, so that the cutters 4 are driven to be mutually occluded to cut the fruit.
Further, sensing positioning mechanism includes two mounts 5, and two mounts 5 are fixed connection respectively and extend forward on two supports 1, and the front end fixedly connected with sensor mounting bracket 6 of mount 5, the front side fixedly connected with pressure sensor 7 of sensor mounting bracket 6, pressure sensor 7 are located the front side of cutter 4.
The fixing frame 5 is provided with a plurality of groups of mounting holes, and the position of the fixing frame 5 relative to the bracket 1 can be adjusted forwards and backwards, so that the position of the pressure sensor 7 can be adjusted.
Two mounts 5 all are located the outside of link mechanism and cutter mechanism, and the action of link mechanism and cutter structure is not influenced in the position of mount 5 and sensor mounting bracket 6.
In this embodiment, the sensor mounting bracket 6 is a square frame, and there are two pressure sensors 7 respectively located on the front side of the upper and lower frames of the direction frame.
Further, linear driving mechanism includes that horizontal fixed connection drives actuating cylinder 8 in the support 1 outside, and the output that drives actuating cylinder 8 is forward, drives actuating cylinder 8's output fixedly connected with along the gliding movable block 9 of support 1 lateral surface.
In this embodiment, the driving cylinder 8 can be supplied with air by the air supply device to extend and contract, thereby moving the movable block 9.
The link mechanism comprises two vertical grooves 15, two transverse grooves 16, two first rotating rods 17 and two second rotating rods 18, the two vertical grooves 15 are respectively vertically arranged on the outer side surface of the inner side surface of one support 1, the two vertical grooves 15 are oppositely arranged, the two transverse grooves 16 are transversely arranged on the surface of the support 1 and located on the front side of the vertical grooves 15, the two transverse grooves 16 are vertically arranged at intervals, the rear ends of the two first rotating rods 17 are respectively rotated with a first sliding block 19, the two first sliding blocks 19 are respectively connected in the vertical grooves 15 in a sliding mode, the surfaces of the two first rotating rods 17 are respectively connected with second sliding blocks 20 in a rotating mode, the two second sliding blocks 20 are respectively connected in the transverse grooves 16 in a sliding mode, one ends of the two second rotating rods 18 are respectively connected in the middle section of the one first rotating rod 17 in a rotating mode, and the other ends of the two second rotating rods 18 are respectively connected in the upper end and the lower end of the surface of the movable block 9 in a rotating mode.
When the two cutters 4 are in an open state, the first sliding block 19 at the other end of the first rotating rod 17 rotatably connected with the cutter mounting frame 3 positioned above is positioned at the lower end of the inner cavity of the vertical groove 15, the other end of the second rotating rod 18 rotatably connected with the first rotating rod 17 is rotatably connected with the upper end of the surface of the movable block 9, and the second sliding block 20 on the surface of the second rotating rod 18 is slidably connected in the transverse groove 16 positioned above and positioned at the rear end in the transverse groove 16.
The first sliding block 19 at the other end of the first rotating rod 17 rotatably connected with the cutter mounting frame 3 positioned below is positioned at the upper end of the inner cavity of the other vertical groove 15, the other end of the second rotating rod 18 rotatably connected with the first rotating rod 17 is rotatably connected with the lower end of the surface of the movable block 9, and the second sliding block 20 on the surface of the second rotating rod 18 is slidably connected in the transverse groove 16 positioned below and is positioned at the rear end in the transverse groove 16.
When two cutters 4 are in the state of opening, two first rotation poles 17 are the setting of handing over, and when two cutters 4 were mutually stinged, two first rotation poles 17 all rotated to the horizontality, laminate from top to bottom in vertical plane.
Two first dwang 17 are located the inboard and the outside of a support 1 respectively, rotate the first dwang 17 of being connected with the cutter mounting bracket 3 that is located the top and be located the outside, two second dwang 18 all are located the outside of support 1, and be in same vertical plane, be located and rotate through the pivot between inboard first dwang 17 and the second dwang 18 that corresponds and be connected, the length of pivot satisfies first dwang 17 and second dwang 18 and rotates the needs, make first dwang 17 and second dwang 18 all can not take place to interfere with support 1.
Two ends of the two cutter mounting frames 3 are respectively and fixedly connected between the outer ends of the two first rotating rods 17 at the same height in the two link mechanisms at two sides.
In this embodiment, picking the device and can picking the car for the movable type, picking and being provided with the drive arm on the car, still being equipped with power and air compressor machine air feeder, can be controlled by automated control equipment, control the flexible removal of arm to the position of ware is picked in the control, still be equipped with control assembly, handle data and control the cooperation work of each component on picking the car, the power provides electric power for pressure sensor 7, air compressor machine air feeder is for driving actuating cylinder 8 and providing the air supply.
The picking actuator is arranged at the output end of the mechanical arm, an image recognition system preset with dragon fruit images is further arranged on the mechanical arm, the mechanical arm moves to drive the image recognition system and the picking actuator to move integrally, the image recognition system carries out preliminary positioning by recognizing the dragon fruits in pictures shot by a camera, in the process, the front side of the picking actuator is continuously close to the fruits, the fruits are positioned in the range of the motion tracks of the two groups of cutters 4, when a pressure sensor 7 positioned at the foremost side of the whole actuator is contacted with stems and leaves and detects certain pressure, a control assembly controls a driving air cylinder 8 to intake air, an output shaft extends out to drive a movable block 9 to move towards the front side, a first sliding block 19 positioned at the other end of a first rotating rod 17 rotationally connected with the cutter mounting rack 3 positioned above is positioned to slide upwards along a vertical groove 15, and a second sliding block 20 on a corresponding second rotating rod 18 slides forwards in a transverse groove 16, the first sliding block 19 at the other end of the first rotating rod 17 rotationally connected with the cutter mounting rack 3 positioned below is positioned and slides downwards along the vertical groove 15, the second sliding block 20 on the corresponding second rotating rod 18 slides forwards in the transverse groove 16, the two cutter mounting racks 3 are driven to extend forwards and rotate to approach each other for meshing, so that the two cutters 4 are driven to move and mesh along an elliptical track, the dragon fruit with mesophyll is meshed, after the cutters 4 are meshed with each other, the driving cylinders 8 cannot extend continuously after the cutters 8 pass through the preset stroke of the driving cylinders 8, after the fruits are reduced, the mechanical arm controls the picking actuator to retreat to keep away from the mesophyll, the pressure of the pressure sensor 7 is reduced to zero, meanwhile, the output shafts of the driving cylinders 8 drive the movable blocks 9 to retract, and the first rotating rod 17, the second rotating rod 18, the first sliding block 19 and the second sliding block 20 all move and reset, thereby drive and then drive upper and lower cutter mounting bracket 3, two cutters 4 separation, reset to initial condition, prepare to pick next time.
In the embodiment, the threshold force set by the pressure sensor 7 is 0.2N (20g × 10n/kg), the force is small, when the pressure applied to the pressure sensor 7 is greater than the set threshold force, the single chip microcomputer sends a high level signal to the switch of the relay, the relay receives the high level signal, the switch is closed, the electromagnetic valve circuit is conducted, the valve port of the electromagnetic valve is conducted, the air conveying pipeline conveys air to the driving cylinder 8 to enable the driving cylinder 8 to ventilate and extend, and the cutter 4 is occluded and closed to complete fruit picking.
This executor is controlled through automation equipment, the end effector is connected on the arm that possesses visual system, after the spatial position who fixes a position the dragon fruit through binocular camera visual identification, information transfer to computer control system, the motion of computer control system control arm, make the suitable position that the device moved the dragon fruit of picking, in order to can entangle the dragon fruit and avoid shearing the dragon fruit, the distance of cutter 4 under the state of opening is far greater than the dragon fruit size about the end effector, cutter 4 movement track is greater than the biggest dragon fruit overall dimension. The position of the pressure sensor 7 can be adjusted back and forth, and larger blades can be prevented from being cut when the position is adjusted to a proper position.
The electric elements are powered by a power source.
In this embodiment, a collecting device may be provided below the picking actuator, and the cut fruit may fall directly downward into the collecting device.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a executor is picked to dragon fruit which characterized in that: the device comprises a rack assembly, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism;
the rack assembly comprises two opposite brackets (1), and the top ends of the two brackets (1) are fixedly connected with a mounting plate (2) fixedly mounted on the mechanical arm;
two groups of linear driving mechanisms are respectively and fixedly arranged on the outer sides of the two brackets (1), and the output ends of the linear driving mechanisms move along the horizontal direction;
the number of the cutter structures is two, the cutter structures are distributed along the horizontal direction, the cutter mechanism comprises a cutter mounting frame (3) and cutters (4), the cutters (4) are fixedly connected to the cutter mounting frame (3), the two cutters (4) are respectively positioned above and below the front side of the rack assembly and are arranged in a mirror image mode, and the planes of the two cutters (4) form included angles with the vertical plane;
two groups of link mechanisms are arranged, each group of link mechanisms is arranged on the outer side of one support (1), the driving end of each link mechanism is driven to move by the output end of the linear driving mechanism, and the two ends of the two cutter mounting frames (3) are fixedly connected to the driven ends of one group of link mechanisms respectively;
when the sensing and positioning mechanism is abutted to stem leaves, the linear driving mechanism drives the driving end of the connecting rod mechanism to move, and the driven end of the connecting rod mechanism drives the two cutters (4) to move along the elliptical arc-shaped tracks and to be mutually engaged.
2. The pitaya fruit picking actuator of claim 1, wherein: sensing positioning mechanism includes two mount (5), and two mount (5) are fixed connection respectively in two extend forward on support (1), the front end fixedly connected with sensor mounting bracket (6) of mount (5), the front side fixedly connected with pressure sensor (7) of sensor mounting bracket (6), pressure sensor (7) are located the front side of cutter (4).
3. The pitaya fruit picking actuator of claim 1, wherein: linear drive mechanism include horizontal fixed connection in drive actuating cylinder (8) in support (1) outside, the output that drives actuating cylinder (8) is forward, the output fixedly connected with who drives actuating cylinder (8) is followed support (1) lateral surface gliding movable block (9).
4. The pitaya fruit picking actuator of claim 3, wherein: the connecting rod mechanism comprises two cutter supporting frames (10), the two cutter supporting frames (10) are distributed at intervals from top to bottom, the front ends of the cutter supporting frames extend forwards, and the two ends of the upper cutter mounting frame and the lower cutter mounting frame (3) are respectively fixedly connected between the two cutter supporting frames (10) which are positioned above and between the two cutter supporting frames (10) which are positioned below in the connecting rod mechanisms on the two sides.
5. The pitaya fruit picking actuator of claim 4, wherein: two the rear end of cutter support frame (10) all rotates and is connected with first branch (11), two the other end of first branch (11) rotate respectively connect in the upper portion and the lower part of support (1) lateral surface, two the middle section of cutter support frame (10) all rotates and is connected with second branch (12), two the other end of second branch (12) rotate respectively connect in the upper portion and the lower part of support (1) lateral surface, every first branch (11) are close to the one end of cutter support frame (10) all rotates and is connected with third branch (13), two the other end of third branch (13) rotate respectively connect in the upper end and the lower extreme on movable block (9) surface, top and below a set of drive mechanism is constituteed respectively to cutter support frame (10), first branch (11), second branch (12) and third branch (13).
6. The pitaya fruit picking actuator of claim 3, wherein: link mechanism includes two perpendicular grooves (15), two cross recesses (16), two first dwang (17) and two second dwang (18), and two perpendicular grooves (15) are vertical setover respectively in one the lateral surface of the medial surface of support (1), and two it sets up relatively to erect groove (15), two cross recess (16) are transversely seted up in the surface of support (1) just is located erect the front side of groove (15), two the rear end of first dwang (17) rotates respectively has a first sliding block (19), two first sliding block (19) sliding connection respectively in one erect in groove (15), two the surface of first dwang (17) rotates respectively and is connected with second sliding block (20), two second sliding block (20) sliding connection respectively in one in cross recess (16), two the one end of second dwang (18) rotates respectively and connects in one the middle section of first dwang (17), two the other end of second dwang (18) rotate respectively connect in the upper end and the lower extreme of movable block (9).
7. The pitaya fruit picking actuator of claim 6, wherein: two first rotating rods (17) are respectively positioned at the inner side and the outer side of the support (1), and two ends of the two cutter mounting frames (3) are respectively and fixedly connected to two sides of the connecting rod mechanisms at the same height between the outer ends of the first rotating rods (17).
8. The pitaya fruit picking actuator of claim 7, wherein: the cutter mounting frame (3) is arc-shaped, and the cutter (4) is arc-shaped and matched with the cutter mounting frame (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211025541.0A CN115280973B (en) | 2022-08-25 | 2022-08-25 | Pitaya fruit picking actuator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211025541.0A CN115280973B (en) | 2022-08-25 | 2022-08-25 | Pitaya fruit picking actuator |
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| CN115280973B CN115280973B (en) | 2023-07-18 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080264030A1 (en) * | 2007-04-04 | 2008-10-30 | Picker Technologies Llc | Stem clipper and crusher mechanisms for use with fruit trees and the like |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN206237828U (en) * | 2016-12-09 | 2017-06-13 | 重庆理工大学 | Picking fruit end effector |
| CN209201536U (en) * | 2018-11-22 | 2019-08-06 | 云南农业大学 | It is a kind of for the flat intelligent weeder for making milpa |
| CN212324765U (en) * | 2020-07-29 | 2021-01-12 | 海南大学 | Climbing type betel nut picking machine |
| CN113424705A (en) * | 2021-07-27 | 2021-09-24 | 重庆市农业科学院 | End effector for picking fruits |
-
2022
- 2022-08-25 CN CN202211025541.0A patent/CN115280973B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080264030A1 (en) * | 2007-04-04 | 2008-10-30 | Picker Technologies Llc | Stem clipper and crusher mechanisms for use with fruit trees and the like |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN206237828U (en) * | 2016-12-09 | 2017-06-13 | 重庆理工大学 | Picking fruit end effector |
| CN209201536U (en) * | 2018-11-22 | 2019-08-06 | 云南农业大学 | It is a kind of for the flat intelligent weeder for making milpa |
| CN212324765U (en) * | 2020-07-29 | 2021-01-12 | 海南大学 | Climbing type betel nut picking machine |
| CN113424705A (en) * | 2021-07-27 | 2021-09-24 | 重庆市农业科学院 | End effector for picking fruits |
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| Publication number | Publication date |
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| CN115280973B (en) | 2023-07-18 |
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