CN203369124U - Full-automatic kiwi berry picking end actuator - Google Patents
Full-automatic kiwi berry picking end actuator Download PDFInfo
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- CN203369124U CN203369124U CN201320477908.2U CN201320477908U CN203369124U CN 203369124 U CN203369124 U CN 203369124U CN 201320477908 U CN201320477908 U CN 201320477908U CN 203369124 U CN203369124 U CN 203369124U
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- speed reducer
- picking
- connecting rod
- winding mechanism
- kiwi
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Abstract
The utility model provides a full-automatic kiwi berry picking end actuator which is mainly formed by a clamping device, a cutting device, a detecting device and a case body. The clamping device comprises a horizontal reducer driving motor, a lifting mechanism belt pulley, a lifting mechanism reducer assembly, a threaded rod, a lifting nut, a connecting rod and picking fingers, and is used for driving the picking fingers to move back and forth to achieve clamping and separating to kiwi berries. The cutting device comprises a vertical type reducer driving motor, winding mechanism belt pulleys, winding mechanism reducer assemblies, winders, torsion springs, electromagnets and blades, and is used for cutting fruit stems of the kiwi berries. The detecting device comprises picking pressure sensors, a limiting pressure sensor and a revolution sensor, and is used for detecting all position information in the picking process of the kiwi berries and providing control information for a controller. The full-automatic kiwi berry picking end actuator is easy to control and reliable in operation, achieves automation and intellectualization of picking of the kiwi berries through the detecting device, the clamping device and the cutting device, liberates workforce, improves working efficiency and reduces labor cost.
Description
One, technical field: the utility model relates to the orchard picking Robotics, and particularly a kind of full-automatic Kiwi picking end effector, belong to agricultural mechanical field.
Two, background technology:
Shaanxi Province is the major production areas of China's kiwi fruit, and along with continuing to increase of kiwi fruit market demand and output, traditional manpower Softening can not meet the requirement of producing for picking efficiency.Realize that the Mechaniaed harvest of kiwi fruit not only can enhance productivity, and can liberate rural productivity.
The research range of external fruit picking machine device robot end actuator covers wider, and the picking end effector development of the crops such as apple, oranges and tangerines, tomato, cucumber, tomato and mushroom is comparatively ripe, and picking mechanical equalization degree is higher.But the external fruit picking machine tool equipment also do not had at present for kiwi fruit, even higher New Zealand at the kiwi fruit mechanization of operation, what adopt is that the operating personnel is sitting in the mode that on picking vehicle, even walking is plucked, and its mechanization and intellectuality are embodied in the links such as fruit sorting more.
Domestic, the research of fruit and vegetable picking robot is at the early-stage, and large-scale business application is almost nil, is more theoretical research and the experiment simulation of each subsystem of picking robot.Strawberry picking robot, Agricultural University Of Nanjing and the Jiangsu University of forest cone picking robot, Shanghai Communications University that comparatively typical achievement has Northeast Forestry University's research is about the research of the cucumber picking robot of the research of apple-picking end effector, China Agricultural University etc.Still there is no a relatively ripe achievement in research for the research of Kiwi picking end effector is domestic.
Three, summary of the invention:
1, goal of the invention: the problem and shortage existed in order to overcome existing picking robot, realize automation and intellectuality that kiwi fruit is plucked, meet the requirement of the efficient standard harvesting in orchard technology, the utility model provides a kind of full-automatic Kiwi picking end effector, its objective is by simple detection, clamping, shear and realize the automation and intellectuality that kiwi fruit is plucked, fundamentally substitute artificial Softening, improve the operating efficiency that kiwi fruit is plucked, the liberation labour.
2, technical scheme: the utility model is implemented according to following technical scheme: a kind of full-automatic Kiwi picking end effector comprises clamping device, shear, checkout gear, the cabinet housing, described clamping device comprises left support frame 1, horizontal speed reducer drive motors 2, elevating mechanism belt wheel 3, Rack Body 13, short connecting rod 15, picking hands frame 22, pluck finger 23, outside long connecting rod 25, inner long connecting rod 26, guide post 28, screw rod 29, diagonal control arm 30, lifting nut 33, elevating mechanism speed reducer assembly 40, shaft coupling 41, described horizontal speed reducer drive motors 2 is arranged on left support frame 1, horizontal speed reducer drive motors 2 by elevating mechanism belt wheel 3 by the band elevating mechanism speed reducer assembly 40 that is in transmission connection, elevating mechanism speed reducer assembly 40 is by shaft coupling 41 connecting screw rods 29, on screw rod 29, cover has lifting nut 33, lifting nut 33 is connected with diagonal control arm 30 by diagonal control arm axle 31, diagonal control arm 30 is connected with inner long connecting rod 26 by long connecting rod axle 27, inner long connecting rod 26 is connected with Rack Body 13, Rack Body 13 is connected with outside long connecting rod 25 with short connecting rod 15 by needle bearing 14, short connecting rod 15 is connected with picking hands frame 22 with outside long connecting rod 25, described guide post 28 lower ends are fixed on right support frame 38, upper end is fixed on upper cover plate 12, described shear comprises winding mechanism speed reducer assembly 4, bobbin winoler 6, freewheel clutch 7, solidus frame 8, guide wheel frame 10, guide wheel 11, electromagnet 17, cutter spindle 18, cutter spindle fixed mount 19, blade 20, torsionspring 21, reel 24, winding mechanism upper belt-wheel 32, driving belt 34, under winding mechanism, belt wheel 36, vertical speed reducer drive motors 37, right support frame 38, lifting speed reducer assembly 40, described vertical speed reducer drive motors 37 is arranged on right support frame 38, and vertical speed reducer drive motors 37 is by winding mechanism upper belt-wheel 32, driving belt 34, belt wheel 36 and winding mechanism speed reducer assembly 4 under winding mechanism, the inner worm-and-wheel gear that adopts of winding mechanism speed reducer assembly 4, freewheel clutch 7 is arranged on the output shaft of winding mechanism speed reducer assembly 4, and bobbin winoler 6 is installed on freewheel clutch 7, and bobbin winoler 6 is by solidus frame 8, guide wheel 11, reel 24 is connected with torsionspring 21, guide wheel 11 is arranged on guide wheel frame 10, torsionspring 21 is socketed on cutter spindle 18, blade 20 is installed on cutter spindle 18, cutter spindle 18 is arranged on cutter spindle fixed mount 19, be provided with electromagnet 17 on cutter spindle 18, the moment of torsion produced for overcoming torsionspring 21 on blade 20, described checkout gear comprises tachometer generator 5, spacing pressure sensor 9, plucks pressure sensor 16, described tachometer generator 5 is arranged on the turbine wheel shaft axle head in winding mechanism speed reducer assembly 4, for gathering the motion state of bobbin winoler 6, spacing pressure sensor 9 is arranged on the platform of screw rod 29 screw tips, for controlling the down position of elevating mechanism, pluck pressure sensor 16 and be arranged on harvesting finger 23 central authorities, for controlling the strength size that captures kiwi fruit, described cabinet housing comprises upper cover plate 12, radiator fan 35, middle casing 39, fan hub 43, back casing 44, procapsid 45, described upper cover plate 12 is arranged on middle casing 39, radiator fan 35 is arranged on middle casing 39 inside, fan hub 43 is arranged on back casing 44, and the effect of cabinet housing is that transmission system etc. is wrapped up, and plays dustproof, thermolysis.
3, advantage and effect: the utility model passes through sensor detecting device, for the picking robot controller provides control information, can effectively control the motion state of plucking finger and blade, under the effect of clamping device and shear, can effectively complete separating fully of kiwi fruit and fruit tree, automation and intellectuality that kiwi fruit is plucked have been realized, avoided staff to pluck labour intensity large, expense of labor is high, the drawback that plucking cycle is long, fundamentally improved the international competitiveness that China's fruit is sold.
Four, accompanying drawing explanation;
The front view that Fig. 1 is the full-automatic Kiwi picking end effector of the utility model.
The end view that Fig. 2 is the full-automatic Kiwi picking end effector of the utility model.
The packing figure that Fig. 3 is the full-automatic Kiwi picking end effector of the utility model.
The harvesting control flow chart that Fig. 4 is the full-automatic Kiwi picking end effector of the utility model.
Mark: 1-left support frame; 2-horizontal speed reducer drive motors; 3-elevating mechanism belt wheel; 4-winding mechanism speed reducer assembly; The 5-tachometer generator; The 6-bobbin winoler; The 7-freewheel clutch; 8-solidus frame; The spacing pressure sensor of 9-; The 10-guide wheel frame; The 11-guide wheel; The 12-upper cover plate; The 13-Rack Body; The 14-needle bearing; The 15-short connecting rod; 16-plucks pressure sensor; The 17-electromagnet; The 18-cutter spindle; 19-cutter spindle fixed mount; The 20-blade; The 21-torsionspring; 22-picking hands frame; 23-plucks finger; The 24-reel; The outside long connecting rod of 25-; The inner long connecting rod of 26-; 27-long connecting rod axle; The 28-guide post; The 29-screw rod; The 30-diagonal control arm; 31-diagonal control arm axle; 32-winding mechanism upper belt-wheel; The 33-lifting nut; The 34-driving belt; The 35-radiator fan; Belt wheel under the 36-winding mechanism; 37-vertical speed reducer drive motors; 38-right support frame; The 39-middle casing; 40-lifting speed reducer assembly; The 41-shaft coupling; The 42-connecting plate; The 43-fan hub; The 44-back casing; The 45-procapsid.
Five, embodiment:
Below in conjunction with accompanying drawing, the utility model is done to further description:
As depicted in figs. 1 and 2, a kind of full-automatic Kiwi picking end effector structure diagram, comprise clamping device, shear, checkout gear, the cabinet housing, described clamping device comprises left support frame 1, horizontal speed reducer drive motors 2, elevating mechanism belt wheel 3, Rack Body 13, short connecting rod 15, outside long connecting rod 25, inner long connecting rod 26, diagonal control arm 30, picking hands frame 22, pluck finger 23, guide post 28, screw rod 29, lifting nut 33, elevating mechanism speed reducer assembly 40, shaft coupling 41, described horizontal speed reducer drive motors 2 is arranged on left support frame 1, horizontal speed reducer drive motors 2 by elevating mechanism belt wheel 3 by the band elevating mechanism speed reducer assembly 40 that is in transmission connection, elevating mechanism speed reducer assembly 40 is by shaft coupling 41 connecting screw rods 29, on screw rod 29, cover has lifting nut 33, lifting nut 33 is connected with diagonal control arm 30 by diagonal control arm axle 31, diagonal control arm 30 is connected with inner long connecting rod 26 by long connecting rod axle 27, inner long connecting rod 26 is connected with Rack Body 13, Rack Body 13 is connected with outside long connecting rod 25 with short connecting rod 15 by needle bearing 14, short connecting rod 15 is connected with picking hands frame 22 with outside long connecting rod 25, described guide post 28 lower ends are fixed on right support frame 38, upper end is fixed on upper cover plate 12, for controlling the linearity of elevating mechanism operation, described shear comprises winding mechanism speed reducer assembly 4, bobbin winoler 6, freewheel clutch 7, solidus frame 8, guide wheel frame 10, guide wheel 11, electromagnet 17, cutter spindle 18, cutter spindle fixed mount 19, blade 20, torsionspring 21, reel 24, winding mechanism upper belt-wheel 32, driving belt 34, under winding mechanism, belt wheel 36, vertical speed reducer drive motors 37, right support frame 38, lifting speed reducer assembly 40, described vertical speed reducer drive motors 37 is arranged on right support frame 38, and vertical speed reducer drive motors 37 is by winding mechanism upper belt-wheel 32, driving belt 34, belt wheel 36 and winding mechanism speed reducer assembly 4 under winding mechanism, freewheel clutch 7 is arranged on the output shaft of winding mechanism speed reducer assembly 4, and bobbin winoler 6 is installed on freewheel clutch 7, and bobbin winoler 6 is by solidus frame 8, guide wheel 11, reel 24 is connected with torsionspring 21, guide wheel 11 is arranged on guide wheel frame 10, torsionspring 21 is socketed on cutter spindle 18, blade 20 is installed on cutter spindle 18, cutter spindle 18 is arranged on cutter spindle fixed mount 19, be provided with electromagnet 17 on cutter spindle 18, the moment of torsion produced for overcoming torsionspring 21 on blade 20, described checkout gear comprises tachometer generator 5, spacing pressure sensor 9, plucks pressure sensor 16, described tachometer generator 5 is arranged on the turbine wheel shaft axle head in winding mechanism speed reducer assembly 4, for gathering the motion state of bobbin winoler 6, spacing pressure sensor 9 is arranged on the platform of screw rod 29 screw tips, for controlling the down position of elevating mechanism, pluck pressure sensor 16 and be arranged on harvesting finger 23 central authorities, for controlling the strength size that captures kiwi fruit, described cabinet housing comprises upper cover plate 12, radiator fan 35, middle casing 39, fan hub 43, back casing 44, procapsid 45, described upper cover plate 12 is arranged on middle casing 39, radiator fan 35 is arranged on middle casing 39 inside, and fan hub 43 is arranged on back casing 44, support on 1 and 38 and be separately installed with connecting plate 42 in left and right, connecting plate 42 can be connected with the Picker arm of kiwi fruit picking robot by bolt.
As shown in Figure 3, the packing figure of the full-automatic Kiwi picking end effector of the utility model, the installation of cabinet housing can effectively wrap up transmission system etc., plays dustproof, thermolysis.
As shown in Figure 4, the harvesting control flow chart of the full-automatic Kiwi picking end effector of the utility model, harvesting process concrete steps are as follows:
1. the vision system arranged on the kiwi fruit picking robot is to initialize signal of end effector, horizontal speed reducer drive motors 2 forwards, drive screw 29 rotates and drives lifting nut 33 risings, lifting nut 33 drives four-bar mechanism and starts to clamp kiwi fruit from initial position, when the pressure signal that the harvesting pressure sensor of above installing when the harvesting finger collects reaches predetermined threshold value, 2 brakings of horizontal speed reducer drive motors, keep this holding action, at this moment electromagnet outage, electromagnet 17 is decontroled blade 20, drive bottom knife 20 ejections at torsionspring 21 are sheared carpopodium.
2. after having sheared, horizontal speed reducer drive motors 2 reversion, drive the four-bar mechanism return, and when the force value collected when spacing pressure sensor 9 reaches predetermined value, horizontal speed reducer drive motors 2 stops operating, and plucks finger and opens, and gets back to initial position; Subsequently, vertical speed reducer drive motors 37 reversion, bobbin winoler 6 starts bracing wires, when the revolution value gathered when tachometer generator 5 reaches predetermined threshold value, 37 brakings of vertical speed reducer drive motors, electromagnet 17 energisings, blade 20 is fixing, completes once and plucks.
Claims (5)
1. a full-automatic Kiwi picking end effector, comprise clamping device, shear, checkout gear, cabinet housing, it is characterized in that: described clamping device comprises left support frame (1), horizontal speed reducer drive motors (2), elevating mechanism belt wheel (3), Rack Body (13), four-bar mechanism, picking hands frame (22), plucks finger (23), guide post (28), screw rod (29), lifting nut (33), elevating mechanism speed reducer assembly (40), shaft coupling (41); Described horizontal speed reducer drive motors (2) is arranged on left support frame (1), described elevating mechanism belt wheel (3) one ends connect horizontal speed reducer drive motors (2), one end is by the band elevating mechanism speed reducer assembly (40) that is in transmission connection, described guide post (28) lower end is fixed on right support frame (38), it is upper that upper end is fixed on upper cover plate (12), and described screw rod (29) is arranged on the output shaft of elevating mechanism speed reducer assembly (40) by means of shaft coupling (41); Described lifting nut (33) is enclosed within on screw rod (29), described Rack Body (13) one ends are fixed on lifting nut (33), one end connects four-bar mechanism, described picking hands frame (22) connects four-bar mechanism, and described harvesting finger (23) is arranged on picking hands frame (22);
Described shear comprises winding mechanism speed reducer assembly (4), bobbin winoler (6), solidus frame (8), guide wheel frame (10), guide wheel (11), electromagnet (17), cutter spindle (18), cutter spindle fixed mount (19), blade (20), torsionspring (21), reel (24), winding mechanism upper belt-wheel (32), driving belt (34), belt wheel under winding mechanism (36), vertical speed reducer drive motors (37), right support frame (38), lifting speed reducer assembly (40), it is upper that described vertical speed reducer drive motors (37) is arranged on right support frame (38), and described winding mechanism speed reducer assembly (4) is by winding mechanism upper belt-wheel (32), driving belt (34), belt wheel under winding mechanism (36) is connected with vertical speed reducer drive motors (37), described blade (20) is arranged on cutter spindle (18), described cutter spindle (18) is arranged on cutter spindle fixed mount (19), it is upper that described torsionspring (21) is enclosed within cutter spindle (18), by solidus frame (8), guide wheel (11), reel (24) is connected with bobbin winoler (6), and it is upper that described guide wheel (11) is arranged on guide wheel frame (10), and described electromagnet (17) is arranged on cutter spindle fixed mount (19),
Described checkout gear comprises tachometer generator (5), spacing pressure sensor (9), plucks pressure sensor (16), described tachometer generator (5) is arranged on the turbine wheel shaft axle head in winding mechanism speed reducer assembly (4), described spacing pressure sensor (9) is arranged on the platform of screw rod (29) screw tip, and described harvesting pressure sensor (16) is arranged on plucks finger (23) central authorities;
Described cabinet housing comprises upper cover plate (12), middle casing (39), fan hub (43), back casing (44), procapsid (45), it is upper that described upper cover plate (12) is arranged on middle casing (39), and described fan hub (43) is arranged on back casing (44).
2. according to the described full-automatic Kiwi picking end effector of claims 1, it is characterized in that: described four-bar mechanism comprises short connecting rod (15), outside long connecting rod (25), inner long connecting rod (26), diagonal control arm (30), described diagonal control arm (30) one ends are connected with lifting nut (33) by diagonal control arm axle (31), one end is connected with inner long connecting rod (26) by long connecting rod axle (27), described inner long connecting rod (26) other end is connected with Rack Body (13), described short connecting rod (15) is connected with Rack Body (13) by needle bearing (14) with outside long connecting rod (25) one ends, the other end is connected with picking hands frame (22).
3. according to the described full-automatic Kiwi picking end effector of claims 1, it is characterized in that: described bobbin winoler (6) is connected with freewheel clutch (7), and described freewheel clutch (7) is arranged on the output shaft of winding mechanism speed reducer assembly (4).
4. according to the described full-automatic Kiwi picking end effector of claims 1, it is characterized in that: described cabinet housing also comprises radiator fan (35), and described radiator fan (35) is arranged between two winding mechanism speed reducer assemblies (4).
5. according to the described full-automatic Kiwi picking end effector of claims 1, it is characterized in that: described shear distributes in middle casing (39) left-right symmetry, and in shear history, left and right blade (20) ejects simultaneously, cross-shear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320477908.2U CN203369124U (en) | 2013-07-30 | 2013-07-30 | Full-automatic kiwi berry picking end actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320477908.2U CN203369124U (en) | 2013-07-30 | 2013-07-30 | Full-automatic kiwi berry picking end actuator |
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| Publication Number | Publication Date |
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| CN203369124U true CN203369124U (en) | 2014-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320477908.2U Expired - Fee Related CN203369124U (en) | 2013-07-30 | 2013-07-30 | Full-automatic kiwi berry picking end actuator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103404307A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Fully-automatic kiwi fruit picking end effector |
| CN104303709A (en) * | 2014-11-03 | 2015-01-28 | 东北农业大学 | Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables |
| CN105500394A (en) * | 2015-12-31 | 2016-04-20 | 佛山市禾才科技服务有限公司 | Robot fingertip |
| CN105940863A (en) * | 2016-06-23 | 2016-09-21 | 海南大学 | Solar mango picking machine |
| CN106961922A (en) * | 2016-11-09 | 2017-07-21 | 西北农林科技大学 | A kind of automatic picking end effector of fixed Kiwi berry of carpopodium |
| CN107950200A (en) * | 2017-11-28 | 2018-04-24 | 深圳润丰投资咨询有限公司 | A kind of picking fruit mechanical clamping device |
-
2013
- 2013-07-30 CN CN201320477908.2U patent/CN203369124U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103404307A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Fully-automatic kiwi fruit picking end effector |
| CN103404307B (en) * | 2013-07-30 | 2015-06-17 | 西北农林科技大学 | Fully-automatic kiwi fruit picking end effector |
| CN104303709A (en) * | 2014-11-03 | 2015-01-28 | 东北农业大学 | Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables |
| CN104303709B (en) * | 2014-11-03 | 2016-02-10 | 东北农业大学 | A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables |
| CN105500394A (en) * | 2015-12-31 | 2016-04-20 | 佛山市禾才科技服务有限公司 | Robot fingertip |
| CN105940863A (en) * | 2016-06-23 | 2016-09-21 | 海南大学 | Solar mango picking machine |
| CN105940863B (en) * | 2016-06-23 | 2018-05-18 | 海南大学 | A kind of solar energy mango picking machine |
| CN106961922A (en) * | 2016-11-09 | 2017-07-21 | 西北农林科技大学 | A kind of automatic picking end effector of fixed Kiwi berry of carpopodium |
| CN107950200A (en) * | 2017-11-28 | 2018-04-24 | 深圳润丰投资咨询有限公司 | A kind of picking fruit mechanical clamping device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140101 Termination date: 20140730 |
|
| EXPY | Termination of patent right or utility model |