CN206743902U - One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry - Google Patents
One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry Download PDFInfo
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- CN206743902U CN206743902U CN201720344594.7U CN201720344594U CN206743902U CN 206743902 U CN206743902 U CN 206743902U CN 201720344594 U CN201720344594 U CN 201720344594U CN 206743902 U CN206743902 U CN 206743902U
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Abstract
One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry, is related to agricultural robot automation equipment field.It is molecular by oscillating cam mechanism, inclination curved surface rushing board mechanism, linear reciprocation drive mechanism, installing plate, fruit separation comb, it is characterized in that：Oscillating cam mechanism includes master cam in a row, pressure sensor, adjustment gap, U-shaped support, cam shaft and electric rotating machine, tilting curved surface rushing board mechanism includes skew surface push pedal in a row, microsensor and twin shaft cylinder, and linear reciprocation drive mechanism includes L-type support, guide rod, guide bar support, guide rod base, linear electric motors, nut slider, leading screw and reciprocator's support.The utility model mechanical structure is simple, greatly reduces labor intensity, time saving and energy saving, efficiency high, realizes the more fruit separation of Kiwi berry and disposable harvesting, solves the problem that Kiwi berry harvesting is wasted time and energy.
Description
Technical field
The present invention relates to agricultural robot automation equipment field, in particular it relates to a kind of separation comb-type move toward one another
The automatic picking end effector of Kiwi berry.
Background technology
China is the maximum country of world Kiwifruit Culture area, still, domestic Kiwi berry no matter in export price or
In export volume, New Zealand and other exported countrys are all slightly poorer than, directly result in heavy economic losses of the country in agricultural product export trade,
Reason is exactly that Kiwi berry automatic picked technology in China's falls behind, the mainly artificial harvesting operation for carrying out Kiwi berry of dependence, and macaque
Peach plucking cycle concentrates very much again, and labor intensity is big, expends substantial amounts of labour, time, and efficiency is low.At present both at home and abroad for agriculture
The key of the research of industry picking robot is still efficiency, and the harvesting pattern of kiwifruit fruit determines picking robot end
The structure type and operation principle of actuator, while also determine operating efficiency.The A of CN 103448061 that Chinese patent is announced
" a kind of kiwifruit fruit picking end effector " uses profiling finger grip fruit, rotates the pattern of harvesting, single fruit used time
22s, efficiency are too low.The harvesting pattern that a kind of move toward one another is proposed after mechanism test was done in laboratory, effect can be greatly improved
Rate.Therefore it is badly in need of a kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry to solve this technical barrier,
But do not have such device in the market.
Utility model content
This patent provides a kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry, present invention machinery
It is simple in construction, labor intensity is greatly reduced, time saving and energy saving, efficiency high, realizes the separation of fasciation Kiwi berry, and more fruits are once
Property harvesting, solve the technical barrier wasted time and energy of Kiwi berry single fruit harvesting.
The technical scheme adopted by the invention to solve the technical problem is that：
One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry, it is by oscillating cam mechanism, tilts
Curved surface rushing board mechanism, linear reciprocation drive mechanism, installing plate, fruit separation comb are molecular, it is characterized in that：Oscillating cam mechanism
Including master cam in a row, pressure sensor, adjustment gap, U-shaped support, cam shaft and electric rotating machine, curved surface push pedal is tilted
Mechanism includes skew surface push pedal in a row, microsensor and twin shaft cylinder, and linear reciprocation drive mechanism includes L-type support, led
Bar, guide bar support, guide rod base, linear electric motors, nut slider, leading screw and reciprocator's support；The oscillating cam mechanism peace
Mounted in linear reciprocation drive mechanism front end, the inclination curved surface rushing board mechanism is arranged on linear reciprocation drive mechanism top, described
Linear reciprocation drive mechanism is set on a mounting board, and the installing plate top separates comb connection, the profiling in a row with fruit
Cam is arranged on U-shaped support by cam shaft, and is connected with electric rotating machine, and the pressure sensor is arranged in a row imitative
Shape cam inner surface, the adjustment gap setting is between master cam in a row；The in a row skew surface push pedal is arranged on twin shaft
Cylinder front end, the twin shaft cylinder are arranged on linear reciprocation drive mechanism top, and the microsensor is arranged in a row tiltedly bent
Face push pedal bottom；The L-type support is connected with guide rod, and the guide rod is connected by guide bar support with guide rod base, the guide rod
Base is connected with nut slider, and the nut slider and leading screw coordinate, on reciprocator's support, the linear electric motors with
Leading screw connects.
Preferably, the in a row master cam outline is designed to imitative Kiwi berry outer contour shape, and surface adhesion has
Soft silica gel material thick one layer of 3mm.
It is highly preferred that the in a row skew surface push pedal is designed to inclined imitative Kiwi berry foreign steamer contour curved surface, pressed from both sides with horizontal plane
Angle is 75 °~85 ° adjustable, and surface adhesion has the thick soft silica gel materials of one layer of 3mm.
Specifically, the fruit separation comb is provided with interval 20mm broach in a row, and front end sets V-shaped.
The beneficial effects of the invention are as follows：
A kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry of the present invention can realize Kiwi berry
More fruit separation and disposable harvesting.First, fruit separation comb separates fasciation kiwifruit fruit, posture in a row, straight line
Reciprocating drive mechanism drives oscillating cam mechanism and tilts curved surface rushing board mechanism close to kiwifruit fruit, when microsensor detects
During to signal, electric rotating machine drives 90 ° of master cam clockwise oscillation in a row, while twin shaft cylinder pushes away skew surface push pedal in a row
Go out, kiwifruit fruit is slipped in storage case along the outer contour surface of master cam in a row；Secondly, when microsensor does not have
When having signal, illustrate that kiwifruit fruit has plucked success, be slipped to by master cam foreign steamer contour curved surface in a row in storage case,
Wherein pressure sensor is provided with threshold value, once pressure exceedes the upper limit, mechanism stop motion, prevents the surface damage of Kiwi berry.
Mechanical structure of the present invention is simple, greatly reduces labor intensity, time saving and energy saving, efficiency high, realize the separation of Kiwi berry more fruits and
Disposable harvesting, solves the problem that Kiwi berry harvesting is wasted time and energy.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Drawings below be used for a further understanding of the present invention, and a part for constitution instruction are provided, its with it is following
Embodiment be used to explain the present invention together, but protection scope of the present invention is not limited to following accompanying drawings and specific real
Apply mode.In the accompanying drawings：
Fig. 1 is the overall structure normal axomometric drawing of the present invention；
Fig. 2 is the three dimensional structure diagram of the oscillating cam mechanism of the present invention；
Fig. 3 is the three dimensional structure diagram of the inclination curved surface rushing board mechanism of the present invention；
Fig. 4 is the three dimensional structure diagram of the linear reciprocation drive mechanism of the present invention；
Fig. 5 is that the fruit of the present invention separates the three dimensional structure diagram of comb.
In figure：1 oscillating cam mechanism, 101 master cams in a row, 102 pressure sensors, 103 adjustment gaps, 104U type branch
Frame, 105 cam shafts, 106 electric rotating machines, 2 inclination curved surface rushing board mechanisms, 201 skew surface push pedals in a row, 202 microsensors,
203 twin shaft cylinders, 3 linear reciprocation drive mechanisms, 301L type supports, 302 guide rods, 303 guide bar supports, 304 guide rod bases, 305
Linear electric motors, 306 nut sliders, 307 leading screws, 308 reciprocator's supports, 4 installing plates, 5 fruits separation comb.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing, it should be appreciated that retouch in this place
The embodiment stated is merely to illustrate and explain the present invention, and protection scope of the present invention is not limited to following specific realities
Apply mode.
Referring to shown in Fig. 1 to Fig. 5, one kind separation automatic picking end effector of comb-type move toward one another Kiwi berry, be by
Oscillating cam mechanism 1, inclination curved surface rushing board mechanism 2, linear reciprocation drive mechanism 3, installing plate 4, fruit separation comb 5 form
, it is characterized in that：Oscillating cam mechanism 1 includes master cam 101 in a row, pressure sensor 102, adjustment gap 103, U-shaped branch
Frame 104, cam shaft 105 and electric rotating machine 106, tilting curved surface rushing board mechanism 2 includes skew surface push pedal 201 in a row, miniature biography
Sensor 202 and twin shaft cylinder 203, linear reciprocation drive mechanism 3 include L-type support 301, guide rod 302, guide bar support 303, led
Bar base 304, linear electric motors 305, nut slider 306, leading screw 307 and reciprocator's support 308；The oscillating cam mechanism 1
Installed in the front end of linear reciprocation drive mechanism 3, the inclination curved surface rushing board mechanism 2 is arranged on the top of linear reciprocation drive mechanism 3,
The linear reciprocation drive mechanism 3 is arranged on installing plate 4, and the top of installing plate 4 separates comb 5 with fruit and connected, described
Master cam 101 in a row is arranged on U-shaped support 104 by cam shaft 105, and is connected with electric rotating machine 106, the pressure
Force snesor 102 is arranged on the inner surface of master cam 101 in a row, the adjustment gap 103 be arranged on master cam 101 in a row it
Between；The in a row skew surface push pedal 201 is arranged on the front end of twin shaft cylinder 203, and the twin shaft cylinder 203 drives installed in linear reciprocation
The top of motivation structure 3, the microsensor 202 are arranged on the bottom of skew surface push pedal 201 in a row；The L-type support 301 and guide rod
302 connections, the guide rod 302 are connected by guide bar support 303 with guide rod base 304, the guide rod base 304 and nut slider
306 connections, the nut slider 306 coordinates with leading screw 307, on reciprocator's support 308, the linear electric motors 305
It is connected with leading screw 307.
It is shown in Figure 2, it is preferable that the in a row outline of master cam 101 is designed to imitative Kiwi berry outer contour shape,
And surface adhesion has the thick soft silica gel materials of one layer of 3mm.
It is shown in Figure 3, it is highly preferred that the in a row skew surface push pedal 201 is designed to inclined imitative Kiwi berry outline
Curved surface, it is 75 °~85 ° adjustable with horizontal plane angle, and surface adhesion has the thick soft silica gel materials of one layer of 3mm.
Shown in Figure 4, specifically, the fruit separation comb 5 is provided with interval 20mm broach in a row, and front end
V-shaped is set.
It is illustrative referring to figs. 1 to Fig. 5 in order to help to understand the above-mentioned basic embodiment of the present invention, such as：
First, fruit separation comb 5 separates fasciation kiwifruit fruit, posture in a row, the driving pendulum of linear reciprocation drive mechanism 3
Moving cam mechanism 1 and inclination curved surface rushing board mechanism 2 are close to kiwifruit fruit, when microsensor 202 detects signal, rotation
Motor 106 drives 90 ° of 101 clockwise oscillation of master cam in a row, while twin shaft cylinder 203 pushes away skew surface push pedal 201 in a row
Go out, kiwifruit fruit is slipped in storage case along the outer contour surface of master cam 101 in a row；Secondly, micro sensing is worked as
When device 202 does not have signal, illustrate that kiwifruit fruit has plucked success, slid by the foreign steamer contour curved surface of master cam 101 in a row
Into storage case, wherein pressure sensor 102 is provided with threshold value, once pressure exceedes the upper limit, mechanism stop motion, prevents macaque
The surface damage of peach.
Job step is as follows：
The first step, device electrification reset, linear electric motors 305 drive skew surface push pedal 201 in a row and master cam in a row 101
Rightmost is moved to, electric rotating machine 106 drives master cam 101 in a row to rotate counterclockwise 45 °；
Second step, fruit separation comb 5 separate fasciation kiwifruit fruit, posture in a row, linear reciprocation driving machine
Structure 3 drives oscillating cam mechanism 1 and tilts curved surface rushing board mechanism 2 close to kiwifruit fruit；
3rd step, when microsensor 202 detects signal, electric rotating machine 106 drives the up time of master cam 101 in a row
Pin swings 90 °, while twin shaft cylinder 203 pushs out skew surface push pedal 201 in a row, and kiwifruit fruit is along master cam in a row
101 outer contour surface is slipped in storage case, and wherein pressure sensor 102 is provided with threshold value, once pressure exceedes the upper limit, machine
Structure stop motion, prevent the surface damage of Kiwi berry；
4th step, Kiwi berry objective fruit is plucked and finished at this, and mechanical arm movement end effector detects new macaque
Peach region, operation is carried out, re-starts three step above.
The embodiment of the present invention is described in detail above in association with accompanying drawing, it is necessary to illustrate, above-mentioned specific real
Each particular technique feature described in mode is applied, in the case of reconcilable, can be carried out by any suitable means
Combination, in order to avoid unnecessary repetition, the present invention no longer separately illustrates to various combinations of possible ways.It is but of the invention
The detail being not limited in above-mentioned embodiment, for the ordinary skill in the art, according to the religion of the present invention
Lead, in the case where not departing from the principle of the present invention and spirit, the changes, modifications, replacement and the modification that are carried out to embodiment
Still fall within protection scope of the present invention.
Claims (4)
1. one kind separation automatic picking end effector of comb-type move toward one another Kiwi berry, it is characterized in that：It is by oscillating cam machine
Structure, tilt curved surface rushing board mechanism, linear reciprocation drive mechanism, installing plate, molecular, the oscillating cam mechanism bag of fruit separation comb
Master cam, pressure sensor, adjustment gap, U-shaped support, cam shaft and electric rotating machine in a row are included, tilts curved surface ledal-pushing machine
Structure includes skew surface push pedal in a row, microsensor and twin shaft cylinder, linear reciprocation drive mechanism include L-type support, guide rod,
Guide bar support, guide rod base, linear electric motors, nut slider, leading screw and reciprocator's support；The oscillating cam mechanism is arranged on
Linear reciprocation drive mechanism front end, the inclination curved surface rushing board mechanism are arranged on linear reciprocation drive mechanism top, the straight line
Reciprocating drive mechanism is set on a mounting board, and the installing plate top separates comb connection, the master cam in a row with fruit
It is arranged on U-shaped support by cam shaft, and is connected with electric rotating machine, it is convex that the pressure sensor is arranged on profiling in a row
Inner surface is taken turns, the adjustment gap setting is between master cam in a row；The in a row skew surface push pedal is arranged on twin shaft cylinder
Front end, the twin shaft cylinder are arranged on linear reciprocation drive mechanism top, and the microsensor pushes away installed in skew surface in a row
Plate bottom；The L-type support is connected with guide rod, and the guide rod is connected by guide bar support with guide rod base, the guide rod base
It is connected with nut slider, the nut slider coordinates with leading screw, on reciprocator's support, the linear electric motors and leading screw
Connection.
2. a kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry according to claim 1, it is special
Sign is：The in a row master cam outline is designed to imitative Kiwi berry outer contour shape, and surface adhesion has one layer of 3mm thick
Soft silica gel material.
3. a kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry according to claim 1, it is special
Sign is：The in a row skew surface push pedal is designed to inclined imitative Kiwi berry foreign steamer contour curved surface, is 75 °~85 ° with horizontal plane angle
It is adjustable, and surface adhesion has the thick soft silica gel materials of one layer of 3mm.
4. a kind of separation automatic picking end effector of comb-type move toward one another Kiwi berry according to claim 1, it is special
Sign is：The fruit separation comb is provided with interval 20mm broach in a row, and front end sets V-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720344594.7U CN206743902U (en) | 2017-03-23 | 2017-03-23 | One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720344594.7U CN206743902U (en) | 2017-03-23 | 2017-03-23 | One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry |
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| Publication Number | Publication Date |
|---|---|
| CN206743902U true CN206743902U (en) | 2017-12-15 |
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ID=60612389
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720344594.7U Expired - Fee Related CN206743902U (en) | 2017-03-23 | 2017-03-23 | One kind separation automatic picking end effector of comb-type move toward one another Kiwi berry |
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| Country | Link |
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| CN (1) | CN206743902U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN110050582A (en) * | 2019-04-23 | 2019-07-26 | 中国农业大学 | A kind of novel blueberry picking mechanism |
-
2017
- 2017-03-23 CN CN201720344594.7U patent/CN206743902U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN110050582A (en) * | 2019-04-23 | 2019-07-26 | 中国农业大学 | A kind of novel blueberry picking mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171215 Termination date: 20200323 |
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| CF01 | Termination of patent right due to non-payment of annual fee |