CN206879473U - Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism - Google Patents
Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism Download PDFInfo
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- CN206879473U CN206879473U CN201720451605.1U CN201720451605U CN206879473U CN 206879473 U CN206879473 U CN 206879473U CN 201720451605 U CN201720451605 U CN 201720451605U CN 206879473 U CN206879473 U CN 206879473U
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Abstract
The utility model provides a kind of micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, belongs to field of agricultural production technologies.It is low that it solves existing picking mechanism picking efficiency, the inapplicable technical problems such as fruit of growing thickly.It includes picking head, in hollow cone tube shape, picking head one end is provided with air inlet, vacuum cavity is provided with picking head, vacuum cavity is in coniform, and the diameter of section close to air inlet one end is less than the diameter of section of the other end, air inlet upper end is provided with vibrating mechanism, and the one end of picking head away from air inlet is provided with fruit leaf separating mechanism.The utility model advantage is to be provided with shaking device shake branch so that blue or green jujube is more readily pulled from branch, it is ensured that inhales the harvesting rate of fruit device.
Description
Technical field
The utility model belongs to field of agricultural production technologies, is related to a kind of micro-vacuum wind-suction type green grass or young crops jujube picking mechanism.
Background technology
The cultivated area of fruit greatly increases in agricultural production, is different from the farming production of cereal crops, application
Manufacturing requirements is higher, and labor intensity is bigger, especially the harvesting work of fruit, deep by time conditions and the shadow of steric requirements
Ring, complete the harvesting task of high work density in a short time, in order to reduce fruit picking labor intensity, improve production efficiency,
People start to develop various picking mechanicals, and wherein picking robot is a main research direction, and plucking executing agency is
The important component of picking robot, and fruit growth form and growth pattern have greatly difference, thus people's exploitation face value goes out a variety of
Various harvesting executing agency.
For example, Chinese patent literature, which discloses a kind of picking hands, grabs [application number：201410028409.4], including fruit
Absorber, for adsorbed target fruit, fruit clamper is connected with fruit absorber, for clamping fruit, fruit screwing device with
Fruit clamper connects, and makes its limb that comes off for screwing fruit, solves the grow thickly harvesting of fruit such as tomato and is difficult to look for and takes fruit
The problem of stalk.
Although the preferable fruit-picking of such scheme tool energy, grabbing arm need manual control position and crawl fruit,
And a fruit is captured in the cycle is once captured, operator still possesses larger workload, and operating efficiency is low, does not apply to
In this kind of small volume of blue or green jujube, the fruit of clump fasciation.
Utility model content
The purpose of this utility model is in view of the above-mentioned problems, providing a kind of micro-vacuum wind-suction type green grass or young crops jujube picking mechanism.
To reach above-mentioned purpose, the utility model employs following technical proposal：A kind of micro-vacuum wind-suction type green grass or young crops jujube harvesting
Mechanism, including picking head, described picking head are in hollow cone tube shape, and described picking head one end is provided with air inlet, institute
The air inlet lower end stated is provided with the carrier of outwardly convex, and vacuum cavity, described negative pressure are provided with described picking head
Cavity is in coniform, and the diameter of section close to air inlet one end is less than the diameter of section of the other end, described air inlet upper end
Vibrating mechanism is provided with, the one end of described picking head away from air inlet is provided with fruit leaf separating mechanism.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, described carrier is provided with range sensor and color
Identification sensor, described vibrating mechanism include two vibration plectrums for protruding from air inlet and output and rotated in a circumferential direction power drive
Device, described driver output shaft are pacified perpendicular to picking head and on the center line of picking head on described driver output shaft
Equipped with cam.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, described vibration plectrum is rotatably connected by rotating dog
In picking head, described rotating dog perpendicular to the upper surface of picking head and it is discrete in driver output shaft before air inlet
Square both sides, described vibration plectrum export axial symmetry on driver, and the spacing bullet of vibration is provided between described vibration plectrum
Spring.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, described fruit leaf separating mechanism includes T-shaped cylinder, described
T-shaped cylinder is provided with fruit leaf entrance, blade exit and fruit outlet, and resistance fruit plate, described resistance are provided with described T-shaped tube inner chamber
Fruit plate is S-shaped, and described resistance fruit plate is arranged on the middle part of fruit leaf entrance close to one end of fruit leaf entrance, and the other end for hindering fruit plate is low
In blade exit.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, T shape pipes are divided into fruit passage by described resistance fruit plate
And blade path, described blade path are provided with Yu Guo passages UNICOM fruit passage, described blade path end is provided with
Negative-pressure air fan.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, the outlet of described fruit is connected with hundred section pipes and installation
Frame, described mounting bracket lower section are provided with oscillating head mechanism.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, described oscillating head mechanism includes supporting plate and fixed plate,
Described supporting plate is triangular in shape, and three angles of described supporting plate are each provided with a push rod, and described push rod one end is fixed
Be connected on mounting bracket, the other end be connected with can driving push rod do the second driver of linear reciprocating motion.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, the second described driver is fixedly mounted on fixed plate
On, described hundred section pipes stretch out between any two push rods.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, described hundred section pipes are fixedly connected with a delivery hose,
Described delivery hose is connected with buffer.
In above-mentioned micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, described buffer is closed cylinder, and buffer is set
There is the inner chamber of turbination, described delivery hose is connected to the upper end of inner chamber, and described inner cavity top is provided with air exhauster, institute
Demarcation strip is provided between the air exhauster and delivery hose stated, side of the described demarcation strip away from delivery hose is provided with exhausting
Mouthful.
Compared with prior art, the utility model has the advantage of：
1. shaking device shakes branch so that blue or green jujube is more readily pulled from branch, it is ensured that inhales the harvesting rate of fruit device.
The unexpected blade for sucking fruit device is discharged 2. inhaling and fruit leaf separator being provided with fruit device, fruit is transported to storage
In device, the pure property of fruit is kept.
Brief description of the drawings
Fig. 1 is structural scheme of mechanism provided by the utility model；
Fig. 2 is suction fruit device sectional view provided by the utility model；
Fig. 3 is buffer structural scheme of mechanism provided by the utility model.
In figure, picking head 1, air inlet 11, carrier 12, range sensor 121, Tansducer For Color Distiguishing 122, negative pressure cavity
Body 13, vibrating mechanism 2, vibration plectrum 21, driver 22, cam 23, rotating dog 24, vibration limit spring 25, fruit leaf seperator
Structure 3, T-shaped cylinder 41, real channel 411, blade path 412, remaining fruit passage 413, fruit leaf entrance 42, blade exit 43, fruit outlet
44th, hinder fruit plate 45, negative-pressure air fan 46, hundred saves pipe 47, mounting bracket 48, oscillating head mechanism 5, supporting plate 51, fixed plate 52, push rod 53,
Second driver 54, delivery hose 55, buffer 6, inner chamber 61, air exhauster 62, demarcation strip 63, suction opeing 64.
Embodiment
As shown in figure 1, a kind of 1. micro-vacuum wind-suction type green grass or young crops jujube picking mechanisms, including picking head 1, it is characterised in that it is described
Picking head 1 be in hollow cone tube shape, described one end of picking head 1 is provided with air inlet 11, the described lower end of air inlet 11
The carrier 12 of outwardly convex is provided with, described carrier 12 is provided with range sensor 121 and Tansducer For Color Distiguishing
122, it is provided with vacuum cavity 13 in described picking head 1, described vacuum cavity 13 is in coniform, and close to air inlet 11 1
The diameter of section at end is less than the diameter of section of the other end, and the described upper end of air inlet 11 is provided with vibrating mechanism 2, described harvesting
First 1 one end away from air inlet 11 is provided with fruit leaf separating mechanism 3.
Picking head 1 can be installed on the robotic arm, and fruit position is identified by range sensor 121 and color sensor 122
Information, picking head 1 is delivered into calculation position by mechanical arm.Color sensor 122 and range sensor 121 can be selected commercially available
Product, as the PC-C color spectrum sensors of Shenzhen Shen Pu Electric Applicance Co., Ltd production, Distance-sensing can be selected in color sensor
The cloud brightness HC-SR04 range finder modules of Dongguan City Yun Hui Electronics Co., Ltd.s production can be selected in device.Negative-pressure air fan 46 and air exhauster 62
Work simultaneously so that the inner chamber inhaled in fruit device 8 forms negative-pressure vacuum state, and inhales the diameter of fruit mouth 81 and be less than the inner chamber of suction fruit device 8
Diameter, theorem is exerted according to uncle, inhale the speed air flow at fruit mouth 81 and be faster than the inner chamber for inhaling fruit device 8, be less than in this atmospheric pressure
Atmospheric pressure, blue or green jujube is pressed into by atmospheric pressure to be inhaled in fruit device, and the pressure that air is assigned on blue or green jujube is more than blue or green jujube in the connection of carpopodium
Intensity, blue or green jujube is segregated into carpopodium to be inhaled in fruit device 8.Plectrum is stretched into branch by the vibrating mechanism 2 set simultaneously in picking head
Gap, shake branch.
After blue or green jujube enters in suction fruit device 8, cached as swiftly flowing air movement enters along pipeline in cylinder 6.
Rotated in a circumferential direction power specifically, vibrating mechanism 2 includes two vibration plectrums 21 for protruding from air inlet 11 and output
Driver 22, the described output shaft of driver 22 is perpendicular to picking head 1 and on the center line of picking head 1, described driver
Cam 23 is installed on 22 output shafts.
Vibration plectrum 21 is rotatably connected in picking head 1 by rotating dog 24, and described rotating dog 24 is perpendicular to harvesting
First 1 upper surface and it is discrete in the output shaft of driver 22 close to the front both sides of air inlet, described vibration plectrum 21 is on driving
Dynamic device 22 exports axial symmetry, and vibration limit spring 25 is provided between described vibration plectrum 21.
Specifically, as shown in Fig. 2 fruit leaf separating mechanism 3 includes T-shaped cylinder 41, described T-shaped cylinder 41 is provided with fruit leaf entrance
42nd, blade exit 43 and fruit export 44, resistance fruit plate 45 are provided with the described inner chamber of T-shaped cylinder 41, described resistance fruit plate 45 is in S
Shape, described resistance fruit plate 45 are arranged on the middle part of fruit leaf entrance 42, the other end of resistance fruit plate 45 close to one end of fruit leaf entrance 42
Less than blade exit 43.
Preferably, hinder fruit plate 45 and T-shaped cylinder 41 is divided into fruit passage 411 and blade path 412, described blade path
412 are provided with the remaining UNICOM's fruit passage 411 of fruit passage 413, and described blade path end is provided with negative-pressure air fan 46.
Fruit outlet 44 is connected with hundred section pipes 47 and mounting bracket 48, and the described lower section of mounting bracket 48 is provided with oscillating head mechanism
5。
Preferably, oscillating head mechanism 5 includes supporting plate 51 and fixed plate 52, and described supporting plate 51 is triangular in shape, described
Three angles of supporting plate 51 are each provided with a push rod 53, and described one end of push rod 53 is fixedly connected on mounting bracket 48, another
End be connected with can driving push rod 53 do the second driver 54 of linear reciprocating motion.Wherein any one push rod 53 is flexible or two
Root push rod 53 is flexible, promotes mounting bracket to drive suction fruit device 1 to swing.
Second driver 54 is fixedly mounted in fixed plate 52, and described hundred section pipes 47 are between any two push rods 53
Stretch out.
Hundred section pipes 47 are fixedly connected with a delivery hose 55, and described delivery hose 55 is connected with buffer 6.
Buffer 6 is closed cylinder, and buffer is provided with the inner chamber 61 of turbination, and described delivery hose 55 is connected to
The upper end of inner chamber 61, the described top of inner chamber 61 are provided with air exhauster 62, set between described air exhauster 62 and delivery hose 55
Demarcation strip 63 is equipped with, side of the described demarcation strip away from delivery hose 55 is provided with suction opeing 64.
Operation principle of the present utility model：
Picking head 1 can be installed on the robotic arm, and fruit position is identified by range sensor 121 and color sensor 122
Information, picking head 1 is delivered into calculation position by mechanical arm.Negative-pressure air fan 46 and air exhauster 62 work simultaneously so that inhale in fruit device 8
Inner chamber form negative-pressure vacuum state, and inhale the diameter of fruit mouth 81 and be less than the diameter for inhaling the inner chamber of fruit device 8, theorem is exerted according to uncle, inhales fruit
Speed air flow at mouthfuls 81 is faster than the inner chamber for inhaling fruit device 8, is less than atmospheric pressure in this atmospheric pressure, and atmospheric pressure is by blue or green jujube
Press-in is inhaled in fruit device, and the pressure that air is assigned on blue or green jujube is segregated into more than blue or green jujube in the bonding strength of carpopodium, blue or green jujube with carpopodium
Into suction fruit device 8.Plectrum is stretched into branch gap by the vibrating mechanism 2 set simultaneously in picking head, shakes branch.
After blue or green jujube enters in suction fruit device 8, cached as swiftly flowing air movement enters along pipeline in cylinder 6.
The utility model has the advantage of：
1. shaking device shakes branch so that blue or green jujube is more readily pulled from branch, it is ensured that inhales the harvesting rate of fruit device.
The unexpected blade for sucking fruit device is discharged 2. inhaling and fruit leaf separator being provided with fruit device, fruit is transported to storage
In device, the pure property of fruit is kept.
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute
Category those skilled in the art can make various modifications or supplement to described specific embodiment or using similar
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Although picking head 1, air inlet 11, carrier 12, range sensor 121, colour recognition have more been used herein
Sensor 122, vacuum cavity 13, vibrating mechanism 2, vibration plectrum 21, driver 22, cam 23, rotating dog 24, the spacing bullet of vibration
Spring 25, fruit leaf separating mechanism 3, T-shaped cylinder 41, fruit passage 411, blade path 412, remaining fruit passage 413, fruit leaf entrance 42, leaf
Piece outlet 43, fruit outlet 44, resistance fruit plate 45, negative-pressure air fan 46, hundred save pipe 47, mounting bracket 48, oscillating head mechanism 5, supporting plate 51,
Fixed plate 52, push rod 53, the second driver 54, delivery hose 55, buffer 6, inner chamber 61, air exhauster 62, demarcation strip 63, exhausting
Mouth 64.Deng term, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily describing using these terms
With explanation essence of the present utility model, being construed as any additional limitation is disagreed with the utility model spirit
The back of the body.
Claims (10)
1. a kind of micro-vacuum wind-suction type green grass or young crops jujube picking mechanism, including picking head (1), it is characterised in that described picking head (1) is in
Hollow cone tube shape, described picking head (1) one end are provided with air inlet (11), and described air inlet (11) lower end is provided with
The carrier (12) of outwardly convex, vacuum cavity (13) is provided with described picking head (1), described vacuum cavity (13) is in
It is coniform, and the diameter of section close to air inlet (11) one end is less than the diameter of section of the other end, on described air inlet (11)
End is provided with vibrating mechanism (2), and the one end of described picking head (1) away from air inlet (11) is provided with fruit leaf separating mechanism (3).
2. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 1, it is characterised in that described carrier (12)
Be provided with range sensor (121) and Tansducer For Color Distiguishing (122), described vibrating mechanism (2) including two protrude from into
The vibration plectrum (21) in air port (11) and output rotate in a circumferential direction power drill/driver (22), and described driver (22) output shaft is vertical
In picking head (1) and on the center line of picking head (1), cam (23) is installed on described driver (22) output shaft.
3. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 2, it is characterised in that described vibration plectrum
(21) it is rotatably connected to by rotating dog (24) in picking head (1), described rotating dog (24) is upper perpendicular to picking head (1)
Surface and it is discrete in driver (22) output shaft close to the front both sides of air inlet, described vibration plectrum (21) is on driver
(22) axial symmetry is exported, vibration limit spring (25) is provided between described vibration plectrum (21).
4. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 1, it is characterised in that described fruit leaf seperator
Structure (3) includes T-shaped cylinder (41), and described T-shaped cylinder (41) is provided with fruit leaf entrance (42), blade exit (43) and fruit outlet
(44) resistance fruit plate (45), is provided with described T-shaped cylinder (41) inner chamber, described resistance fruit plate (45) is S-shaped, described resistance fruit plate
(45) middle part of fruit leaf entrance (42) is arranged on close to one end of fruit leaf entrance (42), the other end of resistance fruit plate (45) is less than blade
Export (43).
5. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 4, it is characterised in that described resistance fruit plate (45)
T-shaped cylinder (41) is divided into fruit passage (411) and blade path (412), described blade path (412) is provided with remaining fruit
Passage (413) UNICOM's fruit passage (411), described blade path end are provided with negative-pressure air fan (46).
6. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 5, it is characterised in that described fruit outlet
(44) hundred section pipes (47) and mounting bracket (48) are connected with, oscillating head mechanism (5) is provided with below described mounting bracket (48).
7. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 6, it is characterised in that described oscillating head mechanism
(5) supporting plate (51) and fixed plate (52) are included, described supporting plate (51) is triangular in shape, three of described supporting plate (51)
Angle is each provided with a push rod (53), and described push rod (53) one end is fixedly connected on mounting bracket (48), and the other end is connected with
Can driving push rod (53) do the second driver (54) of linear reciprocating motion.
8. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 7, it is characterised in that the second described driver
(54) it is fixedly mounted in fixed plate (52), described hundred section pipes (47) stretch out between any two push rods (53).
9. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 8, it is characterised in that hundred described section pipes (47)
A delivery hose (55) is fixedly connected with, described delivery hose (55) is connected with buffer (6).
10. micro-vacuum wind-suction type green grass or young crops jujube picking mechanism according to claim 9, it is characterised in that described buffer (6)
For closed cylinder, buffer is provided with the inner chamber (61) of turbination, and described delivery hose (55) is connected to inner chamber (61)
Upper end, air exhauster (62) is provided with the top of described inner chamber (61), is set between described air exhauster (62) and delivery hose (55)
Demarcation strip (63) is equipped with, side of the described demarcation strip away from delivery hose (55) is provided with suction opeing (64).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720451605.1U CN206879473U (en) | 2017-04-26 | 2017-04-26 | Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720451605.1U CN206879473U (en) | 2017-04-26 | 2017-04-26 | Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism |
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| Publication Number | Publication Date |
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| CN206879473U true CN206879473U (en) | 2018-01-16 |
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ID=61324808
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| CN201720451605.1U Active CN206879473U (en) | 2017-04-26 | 2017-04-26 | Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111642235A (en) * | 2020-06-09 | 2020-09-11 | 王超 | Mechanical auxiliary multifunctional integrated machine for winter jujube planting |
| CN112154776A (en) * | 2020-10-23 | 2021-01-01 | 邓强 | Plum picking device |
| CN112154784A (en) * | 2020-08-20 | 2021-01-01 | 浙江工业大学 | Picking end effector with blade cleaning function |
| CN113079824A (en) * | 2021-03-30 | 2021-07-09 | 武汉晴川学院 | Water picking equipment |
| CN116784098A (en) * | 2023-08-29 | 2023-09-22 | 山西农业大学 | Red date harvester |
-
2017
- 2017-04-26 CN CN201720451605.1U patent/CN206879473U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111642235A (en) * | 2020-06-09 | 2020-09-11 | 王超 | Mechanical auxiliary multifunctional integrated machine for winter jujube planting |
| CN112154784A (en) * | 2020-08-20 | 2021-01-01 | 浙江工业大学 | Picking end effector with blade cleaning function |
| CN112154776A (en) * | 2020-10-23 | 2021-01-01 | 邓强 | Plum picking device |
| CN113079824A (en) * | 2021-03-30 | 2021-07-09 | 武汉晴川学院 | Water picking equipment |
| CN113079824B (en) * | 2021-03-30 | 2022-02-22 | 武汉晴川学院 | Water picking equipment |
| CN116784098A (en) * | 2023-08-29 | 2023-09-22 | 山西农业大学 | Red date harvester |
| CN116784098B (en) * | 2023-08-29 | 2023-11-07 | 山西农业大学 | Red date harvester |
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