CN206181832U - Automatic end effector that picks of fixed kiwi fruit of carpopodium - Google Patents
Automatic end effector that picks of fixed kiwi fruit of carpopodium Download PDFInfo
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- CN206181832U CN206181832U CN201621221407.8U CN201621221407U CN206181832U CN 206181832 U CN206181832 U CN 206181832U CN 201621221407 U CN201621221407 U CN 201621221407U CN 206181832 U CN206181832 U CN 206181832U
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- carpopodium
- fruit
- sliding block
- timing belt
- synchronizing wheel
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Abstract
The utility model provides an automatic end effector that picks of fixed kiwi fruit of carpopodium, relates to the robotechnology field of picking, and including the installation base that is used for installing various devices, install to swing on the upper portion of installation base and pick the device, the device is picked in the swing and fruit clamping device connects, the swing is picked the device and is held the device connection with fruit level holder. The utility model discloses an automatic end effector that picks of fixed kiwi fruit of carpopodium can realize the automatic harmless harvesting of kiwi fruit, fruit level holder holds the tight carpopodium of alignment clip, fruit clamping device presss from both sides tight kiwi fruit fruit, then the eccentric wheel mechanism among the swing rotary device can turn into the pendulum motion that the device was picked in the swing to rotary stepper motors's circular motion, and then guarantee that carpopodium and fruit separate, the carpopodium remains on original branch, the present invention has simple structure, high durability and convenient use, the labor intensity is greatly reduced, time saving and labor saving, high efficiency, solve automatic harvesting of kiwi fruit and got rid of the difficult problem that the carpopodium brings out red water canker with the accident.
Description
Technical field
The utility model is related to picking robot technical field, and specifically a kind of fixed Kiwi berry of carpopodium is adopted automatically
Pluck end effector.
Background technology
At present, the harvesting operation of Shaanxi, China Kiwi berry relies primarily on manpower, and Kiwi berry short amount of labour plucking cycle is big, separately
If outer Kiwi berry takes carpopodium when plucking easily induces red water canker, can infect a piece of when serious, less have with the what is said or talked about coming year
What harvest, does not effect a radical cure method for red water canker at present；If the Kiwi berry under plucking in addition is unfavorable for carpopodium
Transport is lost time, it is necessary to carry out carpopodium after-treatment, thus best mode be exactly when plucking Kiwi berry carpopodium stay in tree
On branch.Kiwi picking end effector is typically mounted at robot arm end, directly contact fruit, to ensure without being adopted
Pluck, fruit carpopodium is separated at absciss layer, end effector is critical component, Chinese patent CN 103448061A disclose " a kind of
Kiwifruit fruit picking end effector ", the not guaranteed carpopodium of the patent stays in elite tree branch this key issue, and the end
End actuator is too low using ball-screw efficiency, has certain limitation for realizing and promoting Kiwi berry harvesting automation.Cause
This is badly in need of a kind of automatic picking end effector of fixed Kiwi berry of carpopodium to solve this technical barrier.
Utility model content
This patent provides a kind of carpopodium automatic picking end effector of fixed Kiwi berry, its simple structure, user
Just, greatly reduce labour intensity, time saving and energy saving, efficiency high, solve Kiwi berry picking efficiency it is low and avoid removal carpopodium lure
The problem of rubescent water canker.
The technical scheme in the invention for solving the technical problem is：
A kind of automatic picking end effector of fixed Kiwi berry of carpopodium, including for installing the installation bottom of various devices
Seat, swing picker is provided with the top of mounting seat, and the swing picker and fruit clamping device are connected, described
Picker and the connection of carpopodium clamping device are swung, the carpopodium clamping device is arranged at directly over fruit clamping device.
It is described swing picker include base plate, front vertical plate, preceding oscillating deck, preceding oscillating deck rotating shaft, eccentric mechanism and after
Riser, the base plate is arranged on mounting seat top, and the front vertical plate is connected by bolt with base plate, and the back vertical plate passes through spiral shell
Bolt is connected with base plate, and the preceding oscillating deck is connected by preceding oscillating deck rotating shaft with front vertical plate, the eccentric mechanism and back vertical plate
Connection.
Further, the eccentric mechanism includes rear oscillating deck, rear oscillating deck rotating shaft, eccentric wheel, eccentric wheel axial trough, rotation
Turn stepper motor, Hall sensor, eccentrically weighted shaft and shaft sleeve, the rear oscillating deck is by rear oscillating deck rotating shaft and back vertical plate
Connect, riser bottom is provided with rotating stepper motor in the rear, the eccentric wheel is arranged on rotating stepper motor, the bias
Rotating shaft is arranged on eccentric wheel, and the shaft sleeve is arranged on eccentrically weighted shaft, and the eccentric wheel passes through eccentrically weighted shaft and rotating shaft
Sleeve is connected with eccentric wheel axial trough.
The fruit clamping device includes fruit base plate, oscillating deck mounting seat, fruit guiding rail mechanism, profiling mobile phone
Structure, the second photoelectric tube and the first photoelectric tube, the fruit base plate is by the oscillating deck mounting seat for being arranged on front and rear side and preceding swing
Plate and rear oscillating deck are connected, and the fruit guiding rail mechanism is arranged on fruit base plate top, and the profiling mobile phone structure is arranged on
Fruit guiding rail mechanism top, second photoelectric tube is arranged on fruit base plate right side, and first photoelectric tube is arranged on fruit
Real base plate left side.
Further, the fruit guiding rail mechanism includes that fruit line slideway, the sliding block of fruit first, fruit first are same
Step band pressing plate, the synchronizing wheel of fruit first, fruit Timing Belt, fruit linear stepping motor, the second Timing Belt of fruit pressing plate, fruit the
Two synchronizing wheels, the rotating shaft of fruit synchronizing wheel and the sliding block of fruit second, the fruit line slideway are arranged on fruit pan front, described
The sliding block of fruit first is arranged on fruit line slideway left side, and the sliding block of the fruit first is by fruit the first Timing Belt pressing plate and fruit
Real Timing Belt connection, the sliding block of the fruit second is arranged on fruit line slideway right side, and the sliding block of the fruit second passes through fruit
Second Timing Belt pressing plate is connected with fruit Timing Belt, and the fruit linear stepping motor is arranged on fruit base plate left side, in fruit
Linear stepping motor is provided with the synchronizing wheel of fruit first, and the synchronizing wheel of the fruit second is arranged on fruit by the rotating shaft of fruit synchronizing wheel
On real base plate, and it is connected with the synchronizing wheel of fruit first by fruit Timing Belt.
Further, the profiling mobile phone structure includes that the first profiling hand, first pressure sensor, profiling hand first are installed
Seat, the second profiling hand, second pressure sensor and the mounting seat of profiling hand second, the first pressure sensor are arranged on first and imitate
Shape hand middle part, the first profiling hand is connected by the mounting seat of profiling hand first with the sliding block of fruit first, and the second pressure is passed
Sensor is arranged on the second profiling hand middle part, and the second profiling hand is connected by the mounting seat of profiling hand second with the sliding block of fruit second
Connect.
The carpopodium clamping device includes carpopodium stepper motor installing plate, the first travel switch, carpopodium base plate, carpopodium first
Finger, carpopodium second finger, inductance approach switch, carpopodium guiding rail mechanism, the second travel switch and carpopodium synchronizing wheel peace
Dress plate, the carpopodium stepper motor installing plate is arranged on carpopodium bottom rear, and the carpopodium synchronizing wheel installing plate is arranged on carpopodium
Bottom rear, first travel switch is arranged on carpopodium base plate left side, and it is right that second travel switch is arranged on carpopodium base plate
Side, the carpopodium guiding rail mechanism is arranged on carpopodium pan front, and the inductance approach switch is arranged on carpopodium second-hand
Refer to bottom, the finger of the carpopodium first is arranged on carpopodium guiding rail mechanism top.
Further, the carpopodium guiding rail mechanism includes carpopodium linear stepping motor, the synchronizing wheel of carpopodium first, carpopodium
First Timing Belt pressing plate, carpopodium line slideway, the sliding block of carpopodium first, carpopodium Timing Belt, the sliding block of carpopodium second, carpopodium second are synchronous
Band pressing plate, the synchronizing wheel of carpopodium second and carpopodium the second synchronizing wheel rotating shaft, the carpopodium linear stepping motor are arranged on carpopodium stepping
On motor mounting plate, the synchronizing wheel of the carpopodium first is arranged on carpopodium linear stepping motor, and by carpopodium Timing Belt and fruit
The synchronizing wheel of handle second is connected, and the synchronizing wheel of the carpopodium second is installed by the rotating shaft of the second synchronizing wheel of carpopodium installed in carpopodium synchronizing wheel
On plate, the carpopodium line slideway is arranged on carpopodium pan front, and the sliding block of carpopodium first is provided with the left of carpopodium line slideway,
Carpopodium line slideway right side is provided with the sliding block of carpopodium second, and the sliding block of the carpopodium first passes through carpopodium the first Timing Belt pressing plate and carpopodium
Timing Belt is connected, and the sliding block of the carpopodium second is connected by carpopodium the second Timing Belt pressing plate with carpopodium Timing Belt, the carpopodium the
One finger is arranged on the first sliding block of carpopodium top, and the carpopodium second finger is arranged on the second sliding block of carpopodium top.
The beneficial effects of the utility model are：
The automatic picking end effector of the fixed Kiwi berry of carpopodium of the present utility model can realize that Kiwi berry is automatically lossless
Pluck, drive the finger of carpopodium first and carpopodium second finger to clamp under Kiwi berry carpopodium under the driving of carpopodium guiding rail mechanism,
It is then inclined in swing rotating device under driving profiling hand gear grips kiwifruit fruit under the driving of fruit guiding rail mechanism
Xin Lun mechanisms can be converted into the circular motion of rotating stepper motor the oscillating motion for swinging picker, and then ensure carpopodium
Separated with fruit, carpopodium is retained on original branch, it is to avoid because the red water canker that carpopodium removal is triggered, in addition
The outer shaft sleeve installed of eccentrically weighted shaft on eccentric wheel, is the motion resistance in order to reduce eccentrically weighted shaft in eccentrically weighted shaft groove
Power, its simple structure is easy to use, greatly reduces labour intensity, and time saving and energy saving, efficiency high solves Kiwi berry and adopts automatically
Pluck the problem that red water canker is induced with accidentally removed carpopodium.
Brief description of the drawings
Fig. 1 is overall structure schematic three dimensional views of the present utility model；
Fig. 2 is overall structure of the present utility model three-dimensional front view；
Fig. 3 is the three-dimensional structure axonometric drawing of swing picker of the present utility model；
Fig. 4 is the three-dimensional structure front view of swing picker of the present utility model；
Fig. 5 is the three dimensional structure diagram of eccentric wheel of the present utility model；
Fig. 6 is the three dimensional structure diagram of rear oscillating deck of the present utility model；
Fig. 7 is the three dimensional structure diagram of fruit clamping device of the present utility model；
Fig. 8 is the three dimensional structure diagram of fruit clamping device other direction of the present utility model；
Fig. 9 is the three dimensional structure diagram of the second profiling hand of the present utility model；
Figure 10 is the three dimensional structure diagram of carpopodium clamping device of the present utility model；
Figure 11 is the three dimensional structure diagram of carpopodium clamping device other direction of the present utility model.
In figure：1 mounting seat, 2 swing picker, and 201 base plates, 202 front vertical plates, oscillating deck before 203 swings before 204
Plate rotating shaft, 205 eccentric mechanisms, 206 back vertical plates, oscillating deck after 2051, oscillating deck rotating shaft after 2052,2053 eccentric wheels, 2054
Eccentrically weighted shaft groove, 2055 rotating stepper motors, 2056 Hall sensors, 2057 eccentrically weighted shafts, 2058 shaft sleeves, 3 fruits folder
Hold device, 301 fruit base plates, 302 oscillating deck mounting seats, 303 fruit guiding rail mechanisms, 304 profiling mobile phone structures, 305 second
Photoelectric tube, 306 first photoelectric tubes, 3030 fruit line slideways, 3031 the first sliding blocks of fruit, 3032 fruits first are synchronous with pressure
Plate, 3033 the first synchronizing wheels of fruit, 3034 fruit Timing Belts, 3035 fruit linear stepping motors, 3036 the second Timing Belts of fruit
Pressing plate, 3037 the second synchronizing wheels of fruit, 3038 fruit synchronizing wheel rotating shafts, 3039 the second sliding blocks of fruit, 3,041 first profiling hands,
3042 first pressure sensors, 3043 the first mounting seats of profiling hand, 3,044 second profiling hands, 3045 second pressure sensors,
3046 the second mounting seats of profiling hand, 4 carpopodium clamping devices, 401 carpopodium stepper motor installing plates, 402 first travel switches, 403
Carpopodium base plate, 404 the first fingers of carpopodium, 405 carpopodium second fingers, 406 inductance approach switches, 407 carpopodium line slideway machines
Structure, 408 second travel switches, 409 carpopodium synchronizing wheel installing plates, 4070 carpopodium linear stepping motors, 4071 carpopodiums first are synchronous
Wheel, 4072 carpopodium the first Timing Belt pressing plates, 4073 carpopodium line slideways, 4074 the first sliding blocks of carpopodium, 4075 carpopodium Timing Belts,
4076 the second sliding blocks of carpopodium, 4077 carpopodium the second Timing Belt pressing plates, 4078 the second synchronizing wheels of carpopodium, 4079 the second synchronizing wheels of carpopodium
Rotating shaft.
Specific embodiment
As depicted in figs. 1 and 2, the automatic picking end effector of a kind of fixed Kiwi berry of carpopodium, including for installing
The mounting seat 1 of various devices, swing picker 2, the swing He of picker 2 are provided with the top of mounting seat 1
Fruit clamping device 3 is connected, and the swing picker 2 and carpopodium clamping device 4 are connected, and the carpopodium clamping device 4 is set
Directly over fruit clamping device 3.
The three-dimensional structure axonometric drawing for swinging picker is illustrated in figure 3, Fig. 4 is the three of swing picker of the invention
Dimension structural front view.
It is described swing picker 2 include base plate 201, front vertical plate 202, preceding oscillating deck 203, preceding oscillating deck rotating shaft 204, partially
Xin Lun mechanisms 205 and back vertical plate 206, the base plate 201 be arranged on the top of mounting seat 1, the front vertical plate 202 by bolt with
Base plate 201 is connected, and the back vertical plate 206 is connected by bolt with base plate 201, and the preceding oscillating deck 203 is turned by preceding oscillating deck
Axle 204 is connected with front vertical plate 202, and the eccentric mechanism 205 is connected with back vertical plate 206.
Such as the three dimensional structure diagram that Fig. 5 is eccentric wheel of the invention, Fig. 6 is the three-dimensional structure of rear oscillating deck of the invention
Schematic diagram.
The eccentric mechanism 205 includes rear oscillating deck 2051, rear oscillating deck rotating shaft 2052, eccentric wheel 2053, eccentric wheel
Axial trough 2054, rotating stepper motor 2055, Hall sensor 2056, eccentrically weighted shaft 2057 and shaft sleeve 2058, the rear pendulum
Dynamic plate 2051 is connected by rear oscillating deck rotating shaft 2052 with back vertical plate 206, and the bottom of riser 206 is provided with rotation stepping electricity in the rear
Machine 2055, the eccentric wheel 2053 is arranged on rotating stepper motor 2055, and the eccentrically weighted shaft 2057 is arranged on eccentric wheel
On 2053, the shaft sleeve 2058 is arranged on eccentrically weighted shaft 2057, and the eccentric wheel 2053 passes through the He of eccentrically weighted shaft 2057
Shaft sleeve 2058 is connected with eccentric wheel axial trough 2054.
Such as the three dimensional structure diagram that Fig. 7 is fruit clamping device of the invention, Fig. 8 is fruit clamping device of the invention
The three dimensional structure diagram of other direction.
The fruit clamping device 3 include fruit base plate 301, oscillating deck mounting seat 302, fruit guiding rail mechanism 303,
Profiling mobile phone structure 304, the second photoelectric tube 305 and the first photoelectric tube 306, the fruit base plate 301 is by being arranged on front and rear side
Oscillating deck mounting seat 302 is connected with preceding oscillating deck 203 and rear oscillating deck 2051, and the fruit guiding rail mechanism 303 is arranged on
The top of fruit base plate 301, the profiling mobile phone structure 304 is arranged on the top of fruit guiding rail mechanism 303, second photoelectric tube
305 are arranged on the right side of fruit base plate 301, and first photoelectric tube 306 is arranged on the left side of fruit base plate 301.
Such as the three dimensional structure diagram that Fig. 8 is fruit clamping device other direction of the invention.
The fruit guiding rail mechanism 303 includes fruit line slideway 3030, the first sliding block of fruit 3031, fruit first
Timing Belt pressing plate 3032, the first synchronizing wheel of fruit 3033, fruit Timing Belt 3034, fruit linear stepping motor 3035, fruit
Two Timing Belt pressing plates 3036, the second synchronizing wheel of fruit 3037, fruit synchronizing wheel rotating shaft 3038 and the second sliding block of fruit 3039, it is described
Fruit line slideway 3030 is arranged on the front portion of fruit base plate 301, and the first sliding block of the fruit 3031 is arranged on fruit line slideway
3030 left sides, the first sliding block of the fruit 3031 is connected by the first Timing Belt of fruit pressing plate 3032 with fruit Timing Belt 3034,
The second sliding block of the fruit 3039 is arranged on the right side of fruit line slideway 3030, and the second sliding block of the fruit 3039 is by fruit the
Two Timing Belt pressing plates 3036 are connected with fruit Timing Belt 3034, and the fruit linear stepping motor 3035 is arranged on fruit base plate
301 left sides, are provided with the first synchronizing wheel of fruit 3033, the second synchronizing wheel of the fruit 3037 on fruit linear stepping motor 3035
It is arranged on fruit base plate 301 by fruit synchronizing wheel rotating shaft 3038, and it is same with fruit first by fruit Timing Belt 3034
Step wheel 3033 is connected.
Such as the three dimensional structure diagram that Fig. 7 is fruit clamping device of the invention, Fig. 9 is the second profiling hand of the invention
Three dimensional structure diagram.
The profiling mobile phone structure 304 includes that the first profiling hand 3041, first pressure sensor 3042, profiling hand first are installed
The 3043, second profiling hand 3044 of seat, second pressure sensor 3045 and the second mounting seat of profiling hand 3046, the first pressure are passed
Sensor 3042 is arranged on the middle part of the first profiling hand 3041, the first profiling hand 3041 by the first mounting seat of profiling hand 3043 with
The first sliding block of fruit 3031 is connected, and the second pressure sensor 3045 is arranged on the middle part of the second profiling hand 3044, described second
Profiling hand 3044 is connected by the second mounting seat of profiling hand 3046 with the second sliding block of fruit 3039.
Such as the three dimensional structure diagram that Figure 10 is carpopodium clamping device of the invention.
The carpopodium clamping device 4 includes carpopodium stepper motor installing plate 401, the first travel switch 402, carpopodium base plate
403rd, the first finger of carpopodium 404, carpopodium second finger 405, inductance approach switch 406, carpopodium guiding rail mechanism 407,
Two travel switches 408 and carpopodium synchronizing wheel installing plate 409, the carpopodium stepper motor installing plate 401 are arranged on carpopodium base plate 403
Rear portion, the carpopodium synchronizing wheel installing plate 409 is arranged on the rear portion of carpopodium base plate 403, and first travel switch 402 is arranged on fruit
The left side of handle base plate 403, second travel switch 408 is arranged on the right side of carpopodium base plate 403, the carpopodium guiding rail mechanism
407 are arranged on the front portion of carpopodium base plate 403, and the inductance approach switch 406 is arranged on the bottom of carpopodium second finger 405, described
The first finger of carpopodium 401 is arranged on the top of carpopodium guiding rail mechanism 407.
Such as the three dimensional structure diagram that Figure 11 is carpopodium clamping device other direction of the invention.
The carpopodium guiding rail mechanism 407 includes carpopodium linear stepping motor 4070, the first synchronizing wheel of carpopodium 4071, fruit
The first Timing Belt of handle pressing plate 4072, carpopodium line slideway 4073, the first sliding block of carpopodium 4074, carpopodium Timing Belt 4075, carpopodium
Two sliding blocks 4076, the second Timing Belt of carpopodium pressing plate 4077, the second synchronizing wheel of carpopodium 4078 and the second synchronizing wheel of carpopodium rotating shaft 4079,
The carpopodium linear stepping motor 4070 is arranged on carpopodium stepper motor installing plate 401, the first synchronizing wheel of the carpopodium 4071
On carpopodium linear stepping motor 4070, and it is connected with the second synchronizing wheel of carpopodium 4078 by carpopodium Timing Belt 4075, institute
State the second synchronizing wheel of carpopodium 4078 to be arranged on carpopodium synchronizing wheel installing plate 409 by the second synchronizing wheel of carpopodium rotating shaft 4079, institute
State carpopodium line slideway 4073 anterior installed in carpopodium base plate 403, being provided with carpopodium first in the left side of carpopodium line slideway 4073 slides
Block 4074, the second sliding block of carpopodium 4076 is provided with the right side of carpopodium line slideway 4073, and the first sliding block of the carpopodium 4074 is by fruit
The first Timing Belt of handle pressing plate 4072 is connected with carpopodium Timing Belt 4075, and the second sliding block of the carpopodium 4076 is synchronous by carpopodium second
Band pressing plate 4077 is connected with carpopodium Timing Belt 4075, and the first finger of the carpopodium 404 is arranged on the top of the first sliding block of carpopodium 4074,
The carpopodium second finger 405 is arranged on the top of the second sliding block of carpopodium 4076.
This patent simple structure, it is easy to use, Kiwi berry can be realized without the automated job plucked, and ensure fruit
Handle is separated with fruit, and carpopodium is retained on original branch, it is to avoid because the red water canker that carpopodium removal is triggered.
Specific works mode：
1st, each device of end effector resets, and rotating stepper motor 2055, fruit linear stepping motor 3035, carpopodium are straight
Line stepper motor 4070 is inverted, and whether the eccentric mechanism 205 that the detection of Hall sensor 2056 swings picker 2 resets, the
Whether the profiling mobile phone structure 304 of one photoelectric tube 306 and the detection fruit of the second photoelectric tube 305 clamping device 3 is resetted, and the first stroke is opened
Whether pass 402 and the detection carpopodium clamping device of the second travel switch 408 are resetted, and after the completion of reset, motor stalls are waited and awaited orders
Order；
2nd, the clamping of fruit clamping device 3 fruit, fruit linear stepping motor 3035 is rotated forward and passes through fruit guiding rail mechanism
303 drive profiling mobile phone structures 304 to be close to, once first pressure sensor 3042 or second pressure sensor 3045 any one
Preset value is reached, fruit linear stepping motor 3035 stops operating；
3rd, the clamping of carpopodium clamping device 4 carpopodium, carpopodium linear stepping motor 4070 is rotated forward and passes through carpopodium guiding rail mechanism
407 drive the first finger of carpopodium 404 and carpopodium second finger 405 to be close to, once the output low level of inductance approach switch 406,
Carpopodium linear stepping motor 4070 stops operating；
4th, swing picker 2 and pluck fruit, rotating stepper motor 2055 is rotated forward and drives fruit by eccentric mechanism 205
Clamping device 3 swings, and rotates a circle, and fruit clamping device 3 or so respectively swings once, realizes the separation of fruit and carpopodium, completes
One harvesting of kiwifruit fruit；
5th, after completing a picking fruit, end effector release fruit, and plan the harvesting road for adjoining kiwifruit fruit
Footpath, end effector each device reset, repeats 1-5 steps, and all harvesting is completed the fruit provided until computer, and end performs
Device is stopped.
A kind of implementation method of this patent is above are only, but the design concept of this patent is not limited to this, it is also possible to according to
Pluck his embodiment that the anglec of rotation needs directly using decelerating step motor driving fruit clamping device 3.
In addition to the technical characteristic described in specification, the known technology of those skilled in the art is.
Claims (7)
1. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium, it is characterized in that, including for installing various devices
Mounting seat, swing picker is provided with the top of mounting seat, and the swing picker and fruit clamping device connect
Connect, the swing picker and carpopodium clamping device are connected, and the carpopodium clamping device is arranged at fruit clamping device and just goes up
Side；
The swing picker includes base plate, front vertical plate, preceding oscillating deck, preceding oscillating deck rotating shaft, eccentric mechanism and back vertical plate,
The base plate is arranged on mounting seat top, and the front vertical plate is connected by bolt with base plate, the back vertical plate pass through bolt and
Base plate is connected, and the preceding oscillating deck is connected by preceding oscillating deck rotating shaft with front vertical plate, and the eccentric mechanism is connected with back vertical plate；
2. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium according to claim 1, it is characterized in that, it is described
Eccentric mechanism includes rear oscillating deck, rear oscillating deck rotating shaft, eccentric wheel, eccentric wheel axial trough, rotating stepper motor, hall sensing
Device, eccentrically weighted shaft and shaft sleeve, the rear oscillating deck are connected by rear oscillating deck rotating shaft with back vertical plate, in the rear under riser
Portion is provided with rotating stepper motor, and the eccentric wheel is arranged on rotating stepper motor, and the eccentrically weighted shaft is arranged on eccentric wheel,
The shaft sleeve is arranged on eccentrically weighted shaft, and the eccentric wheel is connected by eccentrically weighted shaft and shaft sleeve with eccentric wheel axial trough
Connect；
3. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium according to claim 1, it is characterized in that, it is described
Fruit clamping device includes fruit base plate, oscillating deck mounting seat, fruit guiding rail mechanism, profiling mobile phone structure, the second photoelectric tube
With the first photoelectric tube, the fruit base plate connects by being arranged on the oscillating deck mounting seat and preceding oscillating deck and rear oscillating deck of front and rear side
Connect, the fruit guiding rail mechanism is arranged on fruit base plate top, the profiling mobile phone structure is arranged on fruit line slideway machine
Structure top, second photoelectric tube is arranged on fruit base plate right side, and first photoelectric tube is arranged on fruit base plate left side；
4. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium according to claim 3, it is characterized in that, it is described
Fruit guiding rail mechanism includes that fruit line slideway, the sliding block of fruit first, the first Timing Belt of fruit pressing plate, fruit first are synchronous
Wheel, fruit Timing Belt, fruit linear stepping motor, the second Timing Belt of fruit pressing plate, the synchronizing wheel of fruit second, fruit are synchronously rotated
Axle and the sliding block of fruit second, the fruit line slideway are arranged on fruit pan front, and the sliding block of the fruit first is arranged on fruit
Number line guide rail left side, the sliding block of the fruit first is connected by fruit the first Timing Belt pressing plate with fruit Timing Belt, the fruit
Real second sliding block is arranged on fruit line slideway right side, and the sliding block of the fruit second passes through fruit the second Timing Belt pressing plate and fruit
Timing Belt is connected, and the fruit linear stepping motor is arranged on fruit base plate left side, and fruit is provided with fruit linear stepping motor
Real first synchronizing wheel, the synchronizing wheel of the fruit second is arranged on fruit base plate by the rotating shaft of fruit synchronizing wheel, and by fruit
Real Timing Belt is connected with the synchronizing wheel of fruit first；
5. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium according to claim 4, it is characterized in that, it is described
Profiling mobile phone structure includes the first profiling hand, first pressure sensor, the mounting seat of profiling hand first, the second profiling hand, second pressure
Sensor and the mounting seat of profiling hand second, the first pressure sensor are arranged on the first profiling hand middle part, first profiling
Hand is connected by the mounting seat of profiling hand first with the sliding block of fruit first, and the second pressure sensor is arranged in the second profiling hand
Portion, the second profiling hand is connected by the mounting seat of profiling hand second with the sliding block of fruit second；
6. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium according to claim 1, it is characterized in that, it is described
Carpopodium clamping device includes carpopodium stepper motor installing plate, the first travel switch, carpopodium base plate, the finger of carpopodium first, carpopodium the
Two fingers, inductance approach switch, carpopodium guiding rail mechanism, the second travel switch and carpopodium synchronizing wheel installing plate, the fruit
Handle stepper motor installing plate is arranged on carpopodium bottom rear, and the carpopodium synchronizing wheel installing plate is arranged on carpopodium bottom rear, institute
The first travel switch is stated installed in carpopodium base plate left side, second travel switch is arranged on carpopodium base plate right side, the carpopodium
Guiding rail mechanism is arranged on carpopodium pan front, and the inductance approach switch is arranged on carpopodium second finger bottom, described
The finger of carpopodium first is arranged on carpopodium guiding rail mechanism top；
7. the automatic picking end effector of the fixed Kiwi berry of a kind of carpopodium according to claim 6, it is characterized in that, it is described
Carpopodium guiding rail mechanism includes that carpopodium linear stepping motor, the synchronizing wheel of carpopodium first, the first Timing Belt of carpopodium pressing plate, carpopodium are straight
Line guide rail, the sliding block of carpopodium first, carpopodium Timing Belt, the sliding block of carpopodium second, the second Timing Belt of carpopodium pressing plate, the synchronizing wheel of carpopodium second
With carpopodium the second synchronizing wheel rotating shaft, the carpopodium linear stepping motor be arranged on carpopodium stepper motor installing plate on, the carpopodium
First synchronizing wheel is arranged on carpopodium linear stepping motor, and is connected with the synchronizing wheel of carpopodium second by carpopodium Timing Belt, described
The synchronizing wheel of carpopodium second is arranged on carpopodium synchronizing wheel installing plate by the rotating shaft of the second synchronizing wheel of carpopodium, the carpopodium line slideway
Installed in carpopodium pan front, the sliding block of carpopodium first is provided with the left of carpopodium line slideway, is provided with the right side of carpopodium line slideway
The sliding block of carpopodium second, the sliding block of the carpopodium first is connected by carpopodium the first Timing Belt pressing plate with carpopodium Timing Belt, the carpopodium
Second sliding block is connected by carpopodium the second Timing Belt pressing plate with carpopodium Timing Belt, and the finger of the carpopodium first is arranged on carpopodium first
Sliding block top, the carpopodium second finger is arranged on the second sliding block of carpopodium top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621221407.8U CN206181832U (en) | 2016-11-09 | 2016-11-09 | Automatic end effector that picks of fixed kiwi fruit of carpopodium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621221407.8U CN206181832U (en) | 2016-11-09 | 2016-11-09 | Automatic end effector that picks of fixed kiwi fruit of carpopodium |
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| Publication Number | Publication Date |
|---|---|
| CN206181832U true CN206181832U (en) | 2017-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621221407.8U Expired - Fee Related CN206181832U (en) | 2016-11-09 | 2016-11-09 | Automatic end effector that picks of fixed kiwi fruit of carpopodium |
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| CN (1) | CN206181832U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108422319A (en) * | 2018-03-27 | 2018-08-21 | 武汉理工大学 | A kind of air-actuated jaw for robot casting grinding |
-
2016
- 2016-11-09 CN CN201621221407.8U patent/CN206181832U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108422319A (en) * | 2018-03-27 | 2018-08-21 | 武汉理工大学 | A kind of air-actuated jaw for robot casting grinding |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20201109 |