CN115280973B - Pitaya fruit picking actuator - Google Patents
Pitaya fruit picking actuator Download PDFInfo
- Publication number
- CN115280973B CN115280973B CN202211025541.0A CN202211025541A CN115280973B CN 115280973 B CN115280973 B CN 115280973B CN 202211025541 A CN202211025541 A CN 202211025541A CN 115280973 B CN115280973 B CN 115280973B
- Authority
- CN
- China
- Prior art keywords
- cutter
- frames
- supporting
- connecting rod
- fixedly connected
- 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.)
- Active
Links
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
- A01D46/24—Devices for picking apples or like fruit
-
- 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)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention is suitable for the technical field of picking executors, and provides a dragon fruit picking executor which comprises a frame component, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism; the rack assembly comprises two opposite brackets, and the top ends of the two brackets 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 fast, and the slippage generated by fruits is less, so that a clamping mechanism is omitted, and the overall quality of the actuator is reduced; in addition, the end effector has 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 can be cut quickly and accurately by only feeding the fruit into the enveloping range of the blade without accurate positioning and only abutting the sensing positioning mechanism on the dragon fruit She Leng, and the blade is meshed along the elliptical track, so that the requirement on the position positioning precision of the visual positioning system is reduced.
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 perennial climbing property, the plant has no main roots, side roots are distributed in a large amount on a shallow soil layer, and meanwhile, a large number of aerial roots exist, so that climbing growth can be realized. The rootstock is dark green, thick and strong, and has 3 edges. The fruit is oblong or oval, the epidermis is red, the fruit has oval scales with sharp tops, the fruit length is 10-12 cm, and the pulp is white or red. When the dragon fruits are manually picked, part of fleshy stems are generally required to be cut off, so that the storage and transportation time of the fruits is prolonged. The pitaya fleshy stem is fat, the stem node is provided with a small thorn in a concave position, the pitaya is planted in the stem node, the manual picking operation range is small, the fruits are easy to damage, and the mechanical picking has a certain difficulty. At present, no mature dragon fruit picking equipment is put into use, various plant bases are still mainly manually picked, and the automation level is still low.
The existing most fruit picking end effectors only consider clamping and shearing, and damage to fruits caused by improper shearing positions is not considered, chinese patent CN201920412801.7 discloses an artificial dragon fruit picking device, and during action, motors are used for providing power sources through gear transmission, so that the quality of the effectors is heavy, the action is slow, the efficiency is low, and the fruit damage caused by alignment and cutting of fleshy stems is not easy. Chinese patent CN201810265669.1 discloses a dragon fruit picking device, and concave cambered surface centre gripping hand can not laminate with the fruit of equidimension not, and the contact surface with the fruit is little easily causes the fruit to be damaged, and when closed, the blade cutting force is not necessarily enough to cut off the fleshy stem of robustness, also does not consider the damage to the fruit that the positioning accuracy is not high enough and the mistake plucks the empty plucking of producing yet.
Disclosure of Invention
The invention provides a dragon fruit picking actuator, which aims to solve the problems that the existing fruit picking actuator is not easy to align, is easy to damage fruits during shearing and is easy to produce empty picking.
The invention is realized in such a way that the dragon fruit picking actuator comprises a frame component, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism;
the rack assembly comprises two opposite brackets, and the top ends of the two brackets are fixedly connected with a mounting plate fixedly mounted on the mechanical arm;
the 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 and the cutter structures are distributed along the horizontal direction, the cutter mechanism comprises a cutter mounting frame and cutters, the cutters are fixedly connected to the cutter mounting frame, the two cutters are respectively positioned above and below the front side of the frame assembly and are arranged in a mirror image mode, and the planes where the two cutters are positioned form an included angle with the vertical plane;
the connecting rod mechanisms are provided with two groups, each group of connecting rod mechanism is respectively arranged at the outer side of one bracket, the driving end of the connecting rod mechanism is driven to move by the output end of the linear driving mechanism, the two ends of the cutter mounting frame are respectively and fixedly connected with driven ends of a group of connecting rod mechanisms, and when the linear driving mechanism drives the driving ends of the connecting rod mechanisms to move, the driven ends of the connecting rod mechanisms drive the two cutters to move along an elliptical arc track and mutually engage.
Preferably, the sensing positioning mechanism comprises two fixing frames, the two fixing frames are respectively and fixedly connected to the two brackets and extend forwards, the front ends of the fixing frames are fixedly connected with sensor mounting frames, the front sides of the sensor mounting frames are fixedly connected with pressure sensors, and the pressure sensors are located on the front sides of the cutters.
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 face of the support.
Preferably, the link mechanism comprises two cutter supporting frames, the two cutter supporting frames are distributed at intervals up and down, the front end of each cutter supporting frame extends forwards, and the two ends of each cutter supporting frame are respectively and fixedly connected with the link mechanisms at two sides, wherein the link mechanisms are positioned between the two cutter supporting frames at the upper part and between the two cutter supporting frames at the lower part.
Preferably, the rear ends of the two cutter supporting frames are respectively connected with a first supporting rod in a rotating mode, the other ends of the two first supporting rods are respectively connected with the upper portion and the lower portion of the outer side face of the support in a rotating mode, the middle sections of the two cutter supporting frames are respectively connected with a second supporting rod in a rotating mode, the other ends of the two second supporting rods are respectively connected with the upper portion and the lower portion of the outer side face of the support in a rotating mode, one end, close to the cutter supporting frames, of each first supporting rod is respectively connected with a third supporting rod in a rotating mode, the other ends of the two third supporting rods are respectively connected with the upper end and the lower end of the surface of the movable block in a rotating mode, and a group of transmission mechanisms are formed by the cutter supporting frames, the first supporting rods, the second supporting rods and the third supporting rods in the upper portion and the lower portion.
Preferably, the link mechanism comprises two vertical grooves, two horizontal grooves, two first rotating rods and two second rotating rods, wherein the two vertical grooves are respectively vertically formed in the outer side face of the inner side face of the support, the two vertical grooves are oppositely formed, the two horizontal grooves are transversely formed in the surface of the support and located on the front side of the vertical grooves, the two rear ends of the first rotating rods are respectively rotated to form a first sliding block, the two first sliding blocks are respectively and slidably connected in one vertical groove, the two surfaces of the first rotating rods are respectively and rotatably connected with a second sliding block, the two second sliding blocks are respectively and slidably connected in one horizontal groove, one ends of the two second rotating rods are respectively and rotatably connected to the middle section of the first rotating rods, and the other ends of the two second rotating rods are respectively and rotatably connected to the upper ends and the lower ends of the surfaces of the movable blocks.
Preferably, the two first rotating rods are respectively located at the inner side and the outer side of the bracket, and two ends of the two cutter mounting frames are respectively and fixedly connected between the outer ends of the two first rotating rods which are located at the same height in the two connecting rod mechanisms at two sides.
Preferably, the cutter mounting frame is arc-shaped, and the cutter is arc-shaped matched with the cutter mounting frame.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a dragon fruit picking actuator which comprises the following components: the driving cylinder is used for driving, the driving element acts fast, and the slippage generated by fruits is less, so that a clamping mechanism is omitted, and the overall quality of the actuator is reduced; in addition, the end effector has 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 moving track is an elliptical track when the two cutters are engaged in opposite directions, and the cutter is positioned at the forefront side in real time when the fruit is cut, so that damage to fruit branches in the engaging process of the cutters is reduced, and the length of a blade edge notch caused by cutting is reduced;
the fruits are fed into the enveloping range of the blade, the accurate positioning is not needed, the blade is meshed, the fruits can be sheared quickly and accurately, the requirement on the position positioning precision of a visual positioning system is reduced, the dragon fruits are not required to be held by one hand like manual work, and the scissors with long edges of the handheld tips are inserted into the fleshy stems from the side surfaces to shear the fruit stalks, 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 shearing position of the fruit stalks, so that fruits with certain fleshy stems can be sheared, and the storage and transportation time of the fruits can be prolonged; in addition, compared with the common arc track, the elliptical motion track of the blade is meshed, so that the length of the mesophyll cut is reduced, and the risk of infection diseases of the dragon fruits is reduced.
Drawings
Fig. 1 is a schematic perspective view of a first embodiment of the present invention;
FIG. 2 is a schematic 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 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: 1-support, 2-mounting plate, 3-cutter mounting frame, 4-cutter, 5-mount, 6-sensor mounting frame, 7-pressure sensor, 8-driving cylinder, 9-movable block, 10-cutter support frame, 11-first branch, 12-second branch, 13-third branch, 14-reinforcing rod, 15-vertical slot, 16-horizontal slot, 17-first rotating rod, 18-second rotating rod, 19-first sliding block, 20-second sliding block.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
First embodiment
Referring to fig. 1-2, a dragon fruit picking actuator comprises a frame assembly, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism.
The frame 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.
The mounting plate 2 is provided with a mounting position, can be mounted on the mechanical arm by means of bolts and the like, and is integrally moved by the mechanical arm driving device to carry out fruit picking operation.
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 positions of the reinforcing rods 14 do not influence the actions of other elements.
The two brackets 1 are provided with hollow grooves, so that the weight of the device can be reduced.
The linear driving mechanism is provided with two groups, is fixedly arranged on the outer sides of the two brackets 1 respectively, and the output end of the linear driving mechanism moves along the horizontal direction.
The cutter structure quantity is two and distributes along the horizontal direction, and cutter mechanism includes cutter mounting bracket 3 and cutter 4, and cutter 4 fixed connection is on cutter mounting bracket 3, and two cutters 4 are located the top and the below of frame subassembly front side respectively and mirror image setting each other, and two planes at cutter 4 place all form the contained angle with vertical plane.
When the two cutters 4 are in opposite movement and bite, a certain range can be covered, fruits within the range formed by the movement track are pulled to the biting positions of the two cutters 4, and the fruits are cut off when the cutters 4 are in biting contact, so that the fruits are positioned without being particularly accurate, and the fruits can be sheared only by covering the fruits on the movement tracks of the two cutters 4.
The two groups of the connecting rod mechanisms are respectively arranged at the outer side of one bracket 1, the driving end of each connecting rod 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 with the driven ends of one group of the connecting rod mechanisms.
Each group of linkage mechanism has two driving ends and two driven ends, and the cutter mounting frame 3 of top is fixed between the driven ends of the top of two groups of linkage mechanisms, and the cutter mounting frame 3 of below is fixed between the driven ends of the below of two groups of linkage mechanisms.
When the sensing and positioning mechanism is abutted against the 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 an elliptical arc track and mutually engage.
When picking, the picking actuator integrally moves, the front side moves towards the directions of fruits, stems and leaves, and the like, when the sensing positioning mechanism contacts the stems and leaves to finish positioning, the fruits are located 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 meshed, and the fruits are cut off.
The sensing and positioning mechanism comprises two fixing frames 5, the two fixing frames 5 are respectively fixedly connected to the two brackets 1 and extend forwards, the front ends of the fixing frames 5 are fixedly connected with a sensor mounting frame 6, the front sides of the sensor mounting frames 6 are fixedly connected with pressure sensors 7, and the pressure sensors 7 are located on the front sides of the cutters 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 back and forth, so that the position of the pressure sensor 7 is adjusted.
The two fixing frames 5 are positioned on the outer sides of the connecting rod mechanism and the cutter mechanism, and the positions of the fixing frames 5 and the sensor mounting frame 6 do not influence the actions of the connecting rod mechanism and the cutter mechanism.
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.
The linear driving mechanism comprises a driving cylinder 8 which is transversely and fixedly connected to the outer side of the bracket 1, the output end of the driving cylinder 8 is forwards, and the output end of the driving cylinder 8 is fixedly connected with a movable block 9 which slides along the outer side surface of the bracket 1.
In the present embodiment, the driving cylinder 8 may be supplied with air by the air supply device to extend and retract, thereby driving the movable block 9 to move.
The connecting rod mechanism comprises two cutter supporting frames 10, the two cutter supporting frames 10 are distributed at intervals up and down, the front ends of the two cutter supporting frames extend forwards, and two ends of the upper cutter mounting frame 3 and the lower cutter mounting frame 3 are respectively and fixedly connected between the two cutter supporting frames 10 positioned above and between the two cutter supporting frames 10 positioned below in the connecting rod mechanisms on two sides.
The rear ends of the two cutter supporting frames 10 are respectively and rotatably connected with a first supporting rod 11, the other ends of the two first supporting rods 11 are respectively and rotatably connected with the upper part and the lower part of the outer side face of the support 1, the middle sections of the two cutter supporting frames 10 are respectively and rotatably connected with a second supporting rod 12, the other ends of the two second supporting rods 12 are respectively and rotatably connected with the upper part and the lower part of the outer side face of the support 1, one end of each first supporting rod 11, which is close to the cutter supporting frame 10, is respectively and rotatably connected with a third supporting rod 13, the other ends of the two third supporting rods 13 are respectively and rotatably connected with the upper end and the lower end of the surface of the movable block 9, and the cutter supporting frames 10, the first supporting rods 11, the second supporting rods 12 and the third supporting rods 13 above and below respectively form a group of transmission mechanisms.
The upper and lower sets of transmission mechanisms are arranged in a mirror image mode.
The two groups of transmission mechanisms above synchronously act to drive the cutters 4 above to move, and the two groups of transmission mechanisms below synchronously act to drive the cutters 4 below to move.
When the two cutters 4 are in an open state, the cutting edges of the cutters 4 are inclined downward and forward, and when the two cutters 4 bite each other, an arc-shaped movement track resembling an elliptical track 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, the automatic control device can control the telescopic movement of the mechanical arm, so that the position of the picking device is controlled, a control component is further arranged, and the data are processed and the cooperation of all elements on the picking vehicle is controlled.
The power supply provides power for the pressure sensor 7, and the air compressor air supply device provides an air source for the driving cylinder 8.
The picking actuator is mounted at the output end of the mechanical arm, an image recognition system with a preset dragon fruit image is mounted on the mechanical arm, the mechanical arm moves to drive the image recognition system and the picking actuator to integrally move, the image recognition system is used for recognizing dragon fruits in pictures shot by a camera to perform preliminary positioning, in the process, the front sides of the picking actuator are continuously close to fruits, the fruits are located in the range of motion tracks of two groups of cutters 4, when a pressure sensor 7 located at the forefront side of the whole actuator contacts stem leaves and detects certain pressure, the control assembly is used for controlling the driving cylinder 8 to feed air, the output shaft stretches out to drive the movable block 9 to move towards the front side to push the third supporting rod 13 to move, the first supporting rod 11 rotationally connected with the support frame 1 is driven to rotate by taking the joint of the support frame 1 as an axis, meanwhile, the cutter supporting frame 10 is driven to move towards the front side direction by the support of the second supporting rod 12, the connection point of the second supporting rod 12 is used for swinging by the axis, and therefore the front biting ends of the upper supporting rod 10 and the lower supporting rod 10 are driven to stretch forwards and mutually close to each other in the position of the front biting end of the second supporting rod 12, the front biting end of the two supporting frames 4 is driven to move along the cutter blades 4, and the front end of the cutter blades are further changed along the moving along the direction of the upper and lower elliptic blade 4 of the moving tracks of the blades (the lower blade is driven to move along the lower blade 4). Through the stroke of predetermineeing actuating cylinder 8, after cutter 4 interlock each other, actuating cylinder 8 can't continue to extend, after the fruit is subtracted, and the arm control is picked the executor and is moved back and keep away from mesophyll this moment, and pressure sensor 7's pressure reduces to zero, and actuating cylinder 8 output shaft drives movable block 9 simultaneously and is retracted, and first branch 11, second branch 12 and third branch 13 reset to 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 this embodiment, one end of the two third struts 13 in each link mechanism, which is rotationally connected to the movable block 9, is a driving end, and one end of the cutter supporting frame 10, which is fixedly connected to the cutter mounting frame 3, is a driven end.
In this embodiment, the threshold force set by the pressure sensor 7 is 0.2N (20 g×10n/kg), the force is small, when the pressure received by the pressure sensor 7 is greater than the threshold force, the singlechip 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, so that the electromagnetic valve port is conducted, the gas transmission pipeline transmits gas to the driving cylinder 8 to enable the driving cylinder 8 to be ventilated and stretched, and the cutter 4 is meshed and closed to complete fruit picking action.
The end effector is connected to the mechanical arm with the vision system through automatic equipment, after the space position of the dragon fruit is located through binocular camera vision recognition, information is transmitted to the computer control system, the computer control system controls the mechanical arm to move, the picking device moves to the proper position of the dragon fruit, the dragon fruit can be sleeved to avoid shearing the dragon fruit, the distance between the end effector and the upper cutter 4 in the open state is far greater than the size of the dragon fruit, and the movement track of the cutter 4 is greater than the outline size of the maximum dragon fruit. The position of the pressure sensor 7 can be adjusted back and forth, and when the pressure sensor is adjusted to a proper position, the blades with larger shearing can be avoided.
Each of the power consuming elements is powered by a power source.
In this embodiment, a collection device may be provided below the picking actuator, with the sheared fruit falling directly into the collection device.
Second embodiment
Referring to fig. 3-5, a dragon fruit picking actuator comprises a frame assembly, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing positioning mechanism.
The frame 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.
The mounting plate 2 is provided with a mounting position, can be mounted on the mechanical arm by means of bolts and the like, and is integrally moved by the mechanical arm driving device to carry out fruit picking operation.
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 positions of the reinforcing rods 14 do not influence the actions of other elements.
The two brackets 1 are provided with hollow grooves, so that the weight of the device can be reduced.
The linear driving mechanism is provided with two groups, is fixedly arranged on the outer sides of the two brackets 1 respectively, and the output end of the linear driving mechanism moves along the horizontal direction.
The cutter structure quantity is two and distributes along the horizontal direction, and cutter mechanism includes cutter mounting bracket 3 and cutter 4, and cutter 4 fixed connection is on cutter mounting bracket 3, and two cutters 4 are located the top and the below of frame subassembly front side respectively and mirror image setting each other, and two planes at cutter 4 place all form the contained angle with vertical plane.
When the two cutters 4 are in opposite movement and bite, a certain range can be covered, fruits within the range formed by the movement track are pulled to the biting positions of the two cutters 4, and the fruits are cut off when the cutters 4 are in biting contact, so that the fruits are positioned without being particularly accurate, and the fruits can be sheared only by covering the fruits on the movement tracks of the two cutters 4.
The two groups of the connecting rod mechanisms are respectively arranged at the outer side of one bracket 1, the driving end of each connecting rod 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 with the driven ends of one group of the connecting rod mechanisms.
When the sensing and positioning mechanism is abutted against the 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 an elliptical arc track and mutually engage.
Each group of linkage mechanism has two driving ends and two driven ends, and the cutter mounting frame 3 of top is fixed between the driven ends of the top of two groups of linkage mechanisms, and the cutter mounting frame 3 of below is fixed between the driven ends of the below of two groups of linkage mechanisms.
When picking, the picking actuator integrally moves, the front side moves towards the directions of fruits, stems and leaves, and the like, when the sensing positioning mechanism contacts the stems and leaves to finish positioning, the fruits are located 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 meshed, and the fruits are cut off.
Further, the sensing positioning mechanism comprises two fixing frames 5, the two fixing frames 5 are fixedly connected to the two brackets 1 respectively and extend forwards, the front ends of the fixing frames 5 are fixedly connected with a sensor mounting frame 6, the front sides of the sensor mounting frames 6 are fixedly connected with a pressure sensor 7, and the pressure sensor 7 is located on the front sides of the cutters 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 back and forth, so that the position of the pressure sensor 7 is adjusted.
The two fixing frames 5 are positioned on the outer sides of the connecting rod mechanism and the cutter mechanism, and the positions of the fixing frames 5 and the sensor mounting frame 6 do not influence the actions of the connecting rod mechanism and the cutter mechanism.
In this embodiment, the sensor mounting frame 6 is a square frame, and two pressure sensors 7 are respectively located on the front sides of the upper and lower frames of the square frame.
Further, the linear driving mechanism comprises a driving cylinder 8 which is transversely and fixedly connected to the outer side of the bracket 1, the output end of the driving cylinder 8 is forwards, and the output end of the driving cylinder 8 is fixedly connected with a movable block 9 which slides along the outer side surface of the bracket 1.
In the present embodiment, the driving cylinder 8 may be supplied with air by the air supply device to extend and retract, thereby driving the movable block 9 to move.
The linkage mechanism comprises two vertical grooves 15, two horizontal grooves 16, two first rotating rods 17 and two second rotating rods 18, wherein the two vertical grooves 15 are respectively vertically arranged on the outer side face of the inner side face of the bracket 1, the two vertical grooves 15 are oppositely arranged, the two horizontal grooves 16 are transversely arranged on the surface of the bracket 1 and are positioned on the front side of the vertical grooves 15, the two horizontal grooves 16 are arranged at intervals up and down, the rear ends of the two first rotating rods 17 are respectively rotated to form a first sliding block 19, the two first sliding blocks 19 are respectively connected in one vertical groove 15 in a sliding mode, the surfaces of the two first rotating rods 17 are respectively rotated to form a second sliding block 20, the two second sliding blocks 20 are respectively connected in one horizontal groove 16 in a sliding mode, one ends of the two second rotating rods 18 are respectively connected to the middle section of one first rotating rod 17 in a rotating mode, and the other ends of the two second rotating rods 18 are respectively connected to the upper ends and the lower ends of the surfaces of the movable blocks 9 in a rotating mode.
When the two cutters 4 are in an open state, a first sliding block 19 at the other end of a first rotating rod 17 which is rotationally 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 a second rotating rod 18 which is rotationally connected with the first rotating rod 17 is rotationally connected with the upper end of the surface of the movable block 9, and a second sliding block 20 on the surface of the second rotating rod 18 is slidingly 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 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 below and positioned at the rear end in the transverse groove 16.
When the two cutters 4 are in an open state, the two first rotating rods 17 are arranged in a crossed mode, and when the two cutters 4 are mutually meshed, the two first rotating rods 17 are rotated to be in a horizontal state and are vertically jointed in a vertical plane.
The two first rotating rods 17 are respectively located on the inner side and the outer side of one bracket 1, the first rotating rods 17 which are rotationally connected with the cutter mounting frame 3 located above are located on the outer side, the two second rotating rods 18 are located on the outer side of the bracket 1 and located in the same vertical plane, the first rotating rods 17 located on the inner side are rotationally connected with the corresponding second rotating rods 18 through rotating shafts, the rotating shafts meet the rotating requirements of the first rotating rods 17 and the second rotating rods 18, and the first rotating rods 17 and the second rotating rods 18 cannot interfere with the bracket 1.
Two ends of the two cutter mounting frames 3 are respectively and fixedly connected between the outer ends of two first rotating rods 17 which are positioned at the same height in two connecting rod mechanisms at two sides.
The cutter mounting frame 3 is the arc, and cutter 4 is the arc with cutter mounting frame 3 looks adaptation, and cutter mounting frame 3 inwards bends certain length in the position of leaning on the front, prevents that pressure sensor 7 and cutter 4 from touching adjacent branch, and blade 4 is in under the open state, and the cutting edge is downwards and the incline of front side, when two cutters 4 mutually bite, forms the arc motion track of similar oval orbit.
In this embodiment, the picking device can be a mobile 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, the picking vehicle can be controlled by automatic control equipment, the telescopic movement of the mechanical arm is controlled, the position of the picking device is controlled, a control component is further arranged, the data are processed, the cooperation of each element on the picking vehicle is controlled, the power supply provides power for the pressure sensor 7, and the air compressor air supply device provides an air source for the driving air cylinder 8.
The picking actuator is arranged at the output end of the mechanical arm, an image recognition system with a preset dragon fruit image is also arranged on the mechanical arm, the mechanical arm moves to drive the image recognition system and the picking actuator to integrally move, the image recognition system performs preliminary positioning by recognizing the dragon fruit in a picture shot by a camera, in the process, the front side of the picking actuator is continuously close to fruits, the fruits are positioned in the movement track range of two groups of cutters 4, when a pressure sensor 7 positioned at the forefront side of the whole actuator contacts stems and leaves and detects certain pressure, a control component controls a driving cylinder 8 to feed air, the output shaft stretches 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 which is rotationally connected with a cutter mounting frame 3 positioned above is positioned to slide upwards along a vertical groove 15, a second sliding block 20 positioned 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 which is rotatably connected with the cutter mounting frame 3 below is positioned at the position of sliding 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 frames 3 are driven to extend forwards and rotate to be close to each other for engagement, so that the two cutters 4 are driven to move and engage along an elliptical track, the dragon fruit with mesophyll is engaged, after the cutters 4 are engaged with each other through the stroke of the preset driving cylinder 8, the driving cylinder 8 cannot extend continuously, after the fruit is reduced, the mechanical arm controls the picking actuator to retract away from the mesophyll, the pressure of the pressure sensor 7 is reduced to zero, the driving cylinder 8 output shaft drives the movable block 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 move and reset, thereby driving the upper cutter mounting frame 3, the lower cutter mounting frame 3 and the two cutters 4 to separate, resetting to an initial state and preparing for picking next time.
In this embodiment, the threshold force set by the pressure sensor 7 is 0.2N (20 g×10n/kg), the force is small, when the pressure received by the pressure sensor 7 is greater than the threshold force, the singlechip 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, so that the electromagnetic valve port is conducted, the gas transmission pipeline transmits gas to the driving cylinder 8 to enable the driving cylinder 8 to be ventilated and stretched, and the cutter 4 is meshed and closed to complete fruit picking action.
The end effector is connected to the mechanical arm with the vision system through automatic equipment, after the space position of the dragon fruit is located through binocular camera vision recognition, information is transmitted to the computer control system, the computer control system controls the mechanical arm to move, the picking device moves to the proper position of the dragon fruit, the dragon fruit can be sleeved to avoid shearing the dragon fruit, the distance between the end effector and the upper cutter 4 in the open state is far greater than the size of the dragon fruit, and the movement track of the cutter 4 is greater than the outline size of the maximum dragon fruit. The position of the pressure sensor 7 can be adjusted back and forth, and when the pressure sensor is adjusted to a proper position, the blades with larger shearing can be avoided.
Each of the power consuming elements is powered by a power source.
In this embodiment, a collection device may be provided below the picking actuator, with the sheared fruit falling directly into the collection device.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. An actuator is picked to dragon fruit, its characterized in that: comprises a frame component, a linear driving mechanism, a connecting rod mechanism, a cutter mechanism and a sensing and positioning mechanism;
the frame 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;
the 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 mechanisms is two and the cutter mechanisms are distributed along the horizontal direction, the cutter mechanisms comprise cutter mounting frames (3) and cutters (4), the cutters (4) are fixedly connected to the cutter mounting frames (3), the two cutters (4) are respectively positioned above and below the front side of the frame assembly and are arranged in a mirror image mode, the planes of the two cutters (4) form included angles with the vertical plane, the cutter mounting frames (3) are arc-shaped, and the cutters (4) are arc-shaped matched with the cutter mounting frames (3);
the two groups of the connecting rod mechanisms are respectively arranged at the outer side of one bracket (1), the driving end of each connecting rod 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 with the driven ends of one group of the connecting rod mechanisms;
when the sensing positioning mechanism is abutted against the 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 an elliptical arc track and mutually engage;
the connecting rod mechanism comprises two cutter supporting frames (10), the two cutter supporting frames (10) are vertically distributed at intervals, the front ends of the two cutter supporting frames extend forwards, and the two ends of the upper cutter supporting frame (3) and the lower cutter supporting frame (3) are respectively and fixedly connected between the two cutter supporting frames (10) positioned above and between the two cutter supporting frames (10) positioned below in the connecting rod mechanisms on the two sides;
the rear ends of the two cutter supporting frames (10) are respectively connected with a first supporting rod (11) in a rotating mode, the other ends of the two first supporting rods (11) are respectively connected to the upper portion and the lower portion of the outer side face of the support (1) in a rotating mode, the middle sections of the two cutter supporting frames (10) are respectively connected with a second supporting rod (12) in a rotating mode, the other ends of the two second supporting rods (12) are respectively connected to the upper portion and the lower portion of the outer side face of the support (1) in a rotating mode, one end, close to the cutter supporting frames (10), of each first supporting rod (11) is respectively connected with a third supporting rod (13), and a group of transmission mechanisms are respectively formed by the cutter supporting frames (10), the first supporting rods (11), the second supporting rods (12) and the third supporting rods (13).
2. A dragon fruit picking actuator as defined in claim 1, wherein: the sensing positioning mechanism comprises two fixing frames (5), the two fixing frames (5) are respectively and fixedly connected to the two supports (1) and extend forwards, the front ends of the fixing frames (5) are fixedly connected with sensor mounting frames (6), the front sides of the sensor mounting frames (6) are fixedly connected with pressure sensors (7), and the pressure sensors (7) are located on the front sides of the cutters (4).
3. A dragon fruit picking actuator as defined in claim 1, wherein: the linear driving mechanism comprises a driving cylinder (8) which is transversely and fixedly connected to the outer side of the support (1), the output end of the driving cylinder (8) is forwards, and the output end of the driving cylinder (8) is fixedly connected with a movable block (9) which slides along the outer side surface of the support (1).
4. A dragon fruit picking actuator as defined in claim 3, wherein: the other ends of the two third supporting rods (13) are respectively connected with the upper end and the lower end of the surface of the movable block (9) in a rotating way.
5. A dragon fruit picking actuator as defined in claim 3, wherein: the connecting rod mechanism comprises two vertical grooves (15), two transverse grooves (16), two first rotating rods (17) and two second rotating rods (18), wherein the two vertical grooves (15) are respectively vertically formed in the outer side faces of the inner side faces of the support (1), the two vertical grooves (15) are oppositely formed, the two transverse grooves (16) are transversely formed in the surface of the support (1) and located on the front side of the vertical grooves (15), the rear ends of the two first rotating rods (17) are respectively provided with a first sliding block (19) in a rotating mode, 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 with the upper ends of the first rotating rods (17) and the other ends of the two second rotating rods (9) in a sliding mode.
6. A dragon fruit picking actuator as defined in claim 5, wherein: the two first rotating rods (17) are respectively positioned at the inner side and the outer side of one bracket (1), and the 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) which are positioned at the same height in the two connecting rod mechanisms at the two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211025541.0A CN115280973B (en) | 2022-08-25 | 2022-08-25 | Pitaya fruit picking actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211025541.0A CN115280973B (en) | 2022-08-25 | 2022-08-25 | Pitaya fruit picking actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115280973A CN115280973A (en) | 2022-11-04 |
| CN115280973B true CN115280973B (en) | 2023-07-18 |
Family
ID=83833029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211025541.0A Active CN115280973B (en) | 2022-08-25 | 2022-08-25 | Pitaya fruit picking actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115280973B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008124419A1 (en) * | 2007-04-04 | 2008-10-16 | Picker Technologies Llc | Stem clipper and crusher mechanisms for use with fruit trees and the like |
| CN106717546B (en) * | 2016-11-22 | 2019-05-24 | 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN115280973A (en) | 2022-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111742709B (en) | Banana picking device and method based on depth vision | |
| CN111758397B (en) | Intelligent pepper picking device based on visual identification | |
| CN101485263B (en) | Tray automatic seedling-feeding device | |
| CN105103795B (en) | Cherry picking robot end actuator | |
| CN108406887A (en) | A kind of strip garden stuff processing device and processing method based on image vision technology | |
| CN203492394U (en) | Intelligent tea leaf picking machine | |
| CN114431025B (en) | Plant trimming means for landscape | |
| CN115176596A (en) | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea | |
| CN112025778A (en) | Closed-loop control sugarcane seed cutting device capable of automatically identifying sugarcane knots | |
| CN115280973B (en) | Pitaya fruit picking actuator | |
| CN114303644A (en) | Robot for nondestructive picking, grading, packaging and collecting of fresh grapes and use method thereof | |
| CN115256503A (en) | Automatic sugarcane bud picking device based on machine vision | |
| CN203691956U (en) | Automatic mechanical young garlic shoot harvesting device | |
| CN114793633A (en) | Multi-working-condition greenhouse strawberry accurate picking robot and method suitable for multi-layer overhead planting agriculture | |
| CN108834556B (en) | Strawberry automatic identification picking machine | |
| CN113039936B (en) | Automatic profiling tea picking device with ultrasonic ranging function and tea picking method thereof | |
| CN201365424Y (en) | Disk automatic seedling supply device | |
| CN109845482B (en) | Garlic sprout harvesting intelligent robot and working method thereof | |
| CN109258092A (en) | A kind of reserved carpopodium formula pineapple picking auxiliary device | |
| CN115316114B (en) | Water planting leaf dish harvesting robot based on binocular three-dimensional vision location | |
| CN115623915A (en) | Wisdom big-arch shelter tomato harvesting equipment | |
| CN213818947U (en) | Pepper picking device | |
| CN212381707U (en) | Pepper picking device | |
| CN112602459B (en) | Pepper picking device | |
| CN212287750U (en) | Closed-loop control sugarcane seed cutting device capable of automatically identifying sugarcane knots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |