CN204272703U - The flexible fruit picking actuator of a kind of self-adapting type - Google Patents
The flexible fruit picking actuator of a kind of self-adapting type Download PDFInfo
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- CN204272703U CN204272703U CN201420696313.0U CN201420696313U CN204272703U CN 204272703 U CN204272703 U CN 204272703U CN 201420696313 U CN201420696313 U CN 201420696313U CN 204272703 U CN204272703 U CN 204272703U
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Abstract
The utility model discloses the flexible fruit picking actuator of a kind of self-adapting type; Technical problem to be solved is: existing harvesting actuator is in the deficiency easily breaking fixture and easily destroy in fruit.The technical scheme adopted is: the flexible fruit picking actuator of a kind of self-adapting type, comprises the driver that actuator main body, blade, mounting flange, fruit containers, crank and rocker mechanism and driving crank endplay device swing; Actuator main body is connected with mounting flange slidingtype by the polished rod being no less than; Blade is fixedly installed in actuator main body; Fruit containers is connected with actuator main body, and fruit containers and the fruit in the actuator main body mouth that falls is connected; Fruit containers is positioned at immediately below blade; Driver is fixedly installed in actuator main body; The output shaft connecting crank endplay device of driver.Advantage: the departure that can absorb robot vision and mechanical arm preferably, harvesting success rate is high.Drive with control mode simple, pluck operating speed higher.
Description
Technical field
The utility model relates to the flexible fruit picking actuator of a kind of self-adapting type, relates to the development field of agriculture terminal executor of fruit and vegetable picking robot specifically, particularly the technical field of spherical fruit terminal executor of picking robot.
Background technology
IT application to agriculture is that the Major Strategic building modern agriculture after China enters 21 century is selected, and is the important content realizing agricultural modernization.Digital Agriculture is as the part of IT application to agriculture, and its scientific and technical innovation and application practice, will lead the fast development of China's modern agriculture.Agricultural intelligent control technology is then the mark realizing Digital Agriculture.But in Production of fruit, plucking operation is wherein the most consuming time, the link of requiring great effort most, and its expense accounts for 50% ~ 70% of cost.Fruit picking robot is the important kind of agricultural robot, and it can reduce labor strength and producing cost, and tool grows a lot potentiality.
At present, the mode that most harvesting actuator is separated fruit tree and fruit is divided into two classes, the first kind substantially, breaks carpopodium by force, realizes being separated of fruit and fruit tree; Equations of The Second Kind, first steps up fruit with fixture, then by instruments such as scissors, saw blade, giant, laser, cuts off carpopodium, thus picked from fruit tree by fruit.For first kind picking end, easily break other branches, larger to the injury of fruit tree.And Equations of The Second Kind harvesting execution end also exists more fatal shortcoming: one, actuator, before cut-out carpopodium, first will clamp fruit with fixture, and the power of fixture is difficult to control, and too small meeting causes coming off of fruit, excessive, can damage fruit; It two will clench fruit, so higher to the control overflow of image procossing and picking point, and small error all can cause the failure of plucking.And too much sensor can make control become complicated, loaded down with trivial details.
Utility model content
In order to overcome existing harvesting actuator in the deficiency easily breaking fixture and easily destroy in fruit; the utility model provides a kind of self-adapting type flexible fruit picking end effector; this actuator not only can protect plant effectively; and low to precision, control overflow, effectively ensure that picking efficiency.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
The flexible fruit picking actuator of a kind of self-adapting type, comprises the driver that actuator main body, blade, mounting flange, fruit containers, crank and rocker mechanism and driving crank endplay device swing;
Described actuator main body is connected with mounting flange slidingtype by the polished rod being no less than;
Described blade is fixedly installed in actuator main body;
Described fruit containers is connected with actuator main body, and described fruit containers and the fruit in the actuator main body mouth that falls is connected; Described fruit containers is positioned at immediately below blade;
Described driver is fixedly installed in actuator main body; The output shaft connecting crank endplay device of described driver.
Further improvement, the crank and rocker mechanism in the utility model adopts the crank and rocker mechanism of prior art also can realize goal of the invention of the present utility model, and the utility model preferentially takes the crank and rocker mechanism of following structure.
Crank and rocker mechanism in the utility model comprises first connecting rod, second connecting rod and fork; One end of described first connecting rod connects the output shaft of driver.The other end is rotationally connected one end of second connecting rod; The other end of second connecting rod is rotationally connected fork.In the utility model crank and rocker mechanism operationally, after outside robotic arm drives actuator close to fruit, fork rotates with slower angular speed, if encounter carpopodium, then can further actuator, when carpopodium is near blade, fork with angular speed rotation faster, and then can cut off carpopodium again, and now fruit just in time falls into fruit containers.
Further improvement, the front end of fork is arc-shaped.In the utility model, arc-shaped effect is arranged in the front end of fork is in order to better adapt to the shape of fruit, and prevent from furthering in actuator process, fruit abscission.
Further improvement, actuator also comprises stage clip; Compression spring sleeve is on polished rod; One end of stage clip contacts with the step surface on polished rod, the other end and actuator body contact.After stage clip in the utility model can ensure to have plucked fruit, actuator main body gets back to initial position.
Further improvement, the quantity of described polished rod is three; Described polished rod linearly type is arranged; Described compression spring sleeve is contained in and is positioned on middle polished rod.Preferentially select such design that actuator main body can be allowed more stable in the utility model.
Further improvement, described driver is motor.
Compared with prior art, its beneficial effect is the utility model:
1, can absorb the departure of robot vision and mechanical arm preferably, harvesting success rate is high.2, driving and control mode simply, pluck operating speed higher.3, versatility is good, can meet the requirement of the harvesting of dissimilar spherical fruit.4, the blade for excising carpopodium is fixed on the actuator body frame be positioned at above fruit containers, can avoid like this fruit above fruit containers beyond place fall and cause harvesting failure; This design also solves the problem that fixture easily scratches fruit surface.
Accompanying drawing explanation
Fig. 1 is assembling stereogram of the present utility model.
Fig. 2 is the utility model cutaway view.
Fig. 3 is the stereogram of embodiment.
In figure, 1. mounting flange; 2. driver; 3. first connecting rod; 4. second connecting rod; 5. fork; 6. fruit containers; 7. actuator main body; 8. polished rod; 9. blade; 10. stage clip; 11. fruit.
Embodiment
Below technical solutions of the utility model are described in detail, but protection domain of the present utility model is not limited to described embodiment.
For making content of the present utility model more become apparent, be further described below in conjunction with accompanying drawing 1-Fig. 3 and embodiment.
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
Embodiment:
If Fig. 1,2 is assembling stereogram of the present utility model; Comprise actuator main body 7, blade 9, mounting flange 1, fruit containers 6, crank and rocker mechanism and driver 2;
Crank and rocker mechanism comprises first connecting rod 3, second connecting rod 4 and fork 5.
At Fig. 1, in 2, the one side of mounting flange 1 is connected to the end of mechanical arm by screw, another side is connected with actuator main body 7 by three polished rods 8, and actuator main body 7 can be slided along the direction of polished rod 8.A middle polished rod 8 is equipped with the very little stage clip 10 of a coefficient of elasticity, and it can ensure after carpopodium cut off by blade 9, drive actuator main body 7 to get back to initial position in time.A motor is housed above actuator main body 7, and its constant velocity rotary motion is after first connecting rod 3, second connecting rod 4, and the speed change being converted into fork 5 swings.Wherein, motor shaft and first connecting rod 3 are consolidated, and first connecting rod 3 rotates with motor shaft.First connecting rod 3 and second connecting rod 4 are connected through the hinge, and can relatively rotate between them.To be connected through the hinge equally between fork 5 with second connecting rod 4, and fork 5 is connected with actuator main body 7 by pin simultaneously, such fork 5 just can around the center steering of pin.Blade 9 is fixed in actuator main body 7, is placed with a fruit containers 6 immediately below blade 9.
Owing to have employed crank and rocker mechanism, the friction speed of fork just can be realized under motor uniform rotation.
Below in conjunction with embodiment, the utility model is described in further detail:
As shown in Figure 3, the present embodiment is implemented under premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
When utilizing this actuator to pluck, be specifically divided into four steps:
The first step, mechanical arm move to from objective fruit appropriate position together with actuator.
Second step, electric machine rotation, drive fork 5 slow circumvolve, and haul actuator main body 7 and draw close to objective fruit.
3rd step, when fruit is near blade 9, fork 5 fast rotational, cuts short carpopodium.
4th step, cut short carpopodium after, actuator main body 7 is laterally only by stage clip thrust, and under that force, actuator main body gets back to initial position.
In figure 3, under the driving of mechanical arm, actuator is brought to the place of the real certain distance of separating fruit, and at this moment motor rotates, and drive first connecting rod 3, second connecting rod 4, fork 5 moves (see Fig. 3).Fork 5 has certain radian, is unlikely to allow fruit landing.Originally fork 5 slowly rotates, and after rotating to an angle, will touch carpopodium, if continue to rotate, actuator main body 7 just can be slided along polished rod 8 near the direction of fruit again.When fork 5 is near blade 9, fork 5 cuts off carpopodium with fast speed, and fruit falls into fruit containers 6, and at this moment fork 5 does not give its active force by carpopodium.Under the effect of stage clip 10, actuator main body 7 is pulled back to initial position.So far, actuator completes its once harvesting task.
As mentioned above, although represented with reference to specific preferred embodiment and described the utility model, it shall not be construed as the restriction to the utility model self.Under the spirit and scope prerequisite of the present utility model not departing from claims definition, various change can be made in the form and details to it.
Claims (6)
1. the flexible fruit picking actuator of self-adapting type, it is characterized in that, comprise the driver (2) that actuator main body (7), blade (9), mounting flange (1), fruit containers (6), crank and rocker mechanism and driving crank endplay device swing;
Described actuator main body (7) is connected with mounting flange (1) slidingtype by the polished rod (8) being no less than;
Described blade (9) is fixedly installed in actuator main body (7);
Described fruit containers (6) is connected with actuator main body (7), and described fruit containers (6) and the fruit in actuator main body (7) mouth that falls is connected; Described fruit containers (6) is positioned at immediately below blade (9);
Described driver (2) is fixedly installed in actuator main body (7); The output shaft connecting crank endplay device of described driver (2).
2. the flexible fruit picking actuator of self-adapting type as claimed in claim 1, it is characterized in that, described crank and rocker mechanism comprises first connecting rod (3), second connecting rod (4) and fork (5); One end of described first connecting rod (3) connects the output shaft of driver (2); The other end is rotationally connected one end of second connecting rod (4); The other end of second connecting rod (4) is rotationally connected fork (5).
3. the flexible fruit picking actuator of self-adapting type as claimed in claim 2, it is characterized in that, the front end of described fork (5) is arc-shaped.
4. the flexible fruit picking actuator of self-adapting type as claimed in claim 1, it is characterized in that, described actuator also comprises stage clip (10); Described stage clip (10) is enclosed within polished rod (8); One end of stage clip (10) contacts with the step surface on polished rod (8), and the other end contacts with actuator main body (7).
5. the flexible fruit picking actuator of self-adapting type as claimed in claim 4, it is characterized in that, the quantity of described polished rod (8) is three; Described polished rod (8) linearly type is arranged; Described stage clip (10) is sleeved on and is positioned on middle polished rod (8).
6. the flexible fruit picking actuator of self-adapting type as claimed in claim 1, it is characterized in that, described driver (2) is motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420696313.0U CN204272703U (en) | 2014-11-19 | 2014-11-19 | The flexible fruit picking actuator of a kind of self-adapting type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420696313.0U CN204272703U (en) | 2014-11-19 | 2014-11-19 | The flexible fruit picking actuator of a kind of self-adapting type |
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| Publication Number | Publication Date |
|---|---|
| CN204272703U true CN204272703U (en) | 2015-04-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420696313.0U Expired - Fee Related CN204272703U (en) | 2014-11-19 | 2014-11-19 | The flexible fruit picking actuator of a kind of self-adapting type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204272703U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371602A (en) * | 2017-08-16 | 2017-11-24 | 三峡大学 | Citrus device for picking |
| CN108513806A (en) * | 2018-05-28 | 2018-09-11 | 重庆交通大学 | Orange picking machine |
| CN108575317A (en) * | 2017-12-27 | 2018-09-28 | 杭州电子科技大学 | A kind of fruit picking equipment |
| CN108617317A (en) * | 2018-05-08 | 2018-10-09 | 西安交通大学 | Hand-held picker and its picking method for cherry |
| CN108848936A (en) * | 2018-08-28 | 2018-11-23 | 华南农业大学 | A kind of round shape terminal executor of fruit and vegetable picking robot and its implementation |
| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
-
2014
- 2014-11-19 CN CN201420696313.0U patent/CN204272703U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371602A (en) * | 2017-08-16 | 2017-11-24 | 三峡大学 | Citrus device for picking |
| CN108575317A (en) * | 2017-12-27 | 2018-09-28 | 杭州电子科技大学 | A kind of fruit picking equipment |
| CN108617317A (en) * | 2018-05-08 | 2018-10-09 | 西安交通大学 | Hand-held picker and its picking method for cherry |
| CN108617317B (en) * | 2018-05-08 | 2019-08-13 | 西安交通大学 | Hand-held picker and its picking method for cherry |
| CN108513806A (en) * | 2018-05-28 | 2018-09-11 | 重庆交通大学 | Orange picking machine |
| CN108848936A (en) * | 2018-08-28 | 2018-11-23 | 华南农业大学 | A kind of round shape terminal executor of fruit and vegetable picking robot and its implementation |
| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
| CN111699839B (en) * | 2020-06-22 | 2022-04-22 | 威海美达智能电子科技有限公司 | Remote picking equipment and method based on 5G network |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20171119 |
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| CF01 | Termination of patent right due to non-payment of annual fee |