CN208273619U - A kind of efficient fruits picking end effector, device for picking fruit and picking vehicle - Google Patents

Abstract

The utility model discloses a kind of efficient fruits picking end effector, device for picking fruit and picking vehicles, belong to picker field.The picking fruit end effector of the utility model, comprising: blade, triggering starting bar, driving device and controller, blade are articulated and connected by shaft and cutting plate, and the cutting edge of blade and the fixation knife plate of cutting plate cooperatively form sheared edge；Triggering starting bar is movably arranged on cutting plate, and one end is located at sheared edge, and the other end installs limit switches；Controller is connect with limit switch and driving device signal, executes signal for receiving limit switch signal and sending to driving device.The utility model driving device band cutting blade is swung around shaft, and sheared edge closure carries out shear action, to realize the automatic picking of fruit.In operation, manual intervention blade is not needed, practical convenient substantially increases picking efficiency.

Description

A kind of efficient fruits picking end effector, device for picking fruit and picking vehicle

Technical field

The utility model relates to picker technical fields, hold more specifically to a kind of efficient fruits picking end Row device, device for picking fruit and picking vehicle.

Background technique

In recent years, with deep and market economy the development of China's rural reform of the economic structure, fruits output is significantly Increase.Fruit industry occupies an important position in national economy, present continuous improvement of people's living standards, people to fruit this Kind food needs amount is increasing, after apple, pear, this kind of fruit maturation of peach, how much all grows on very high branch Efficiently these fruit pickings are got off, are always the problems of orchard workers.

China generallys use at present:

A. artificial picking, if the fruit of higher branch touch less than, or using ladder or rot on book, want Branch is fractureed and is picked, it is larger to the injury of fruit tree in this way, fruit tree growth is influenced, and fruit is vulnerable to damage, nothing Method long-term preservation.

B. another kind is to carry out hand type picking by tool, plucks head similar to the equally fixed fruit of manpower, then leads to Cross rotation, pull and the modes such as drag and removed, on the one hand the method uses less, and success rate be not it is very high, its own is right Fruit also results in a degree of injury, can drag the broken twigs to a certain extent, and inconvenient, therefore popularity rate is lower.

For device for picking, although in research and development level, presently, there are more in actual operation without biggish universal Device for picking scheme, realize that the picking of fruit is not difficult by motor driven shear, but one faced mainly asks How efficiently topic is, easily picks fruit.

Such as the patent formula of retrieval disclose it is a kind of based on averruncator novel fruit picking device (application number: 201610922570.5), including averruncator, L-type pipe, hand lever (adjustable) handle and fruit collection belt.Hand lever is by screw thread phase It connects, linking and L-type pipe lower section.Picking part is made of averruncator and fruit collecting bag, and L-type pipe upper end connects hand lever, is led to The fixed averruncator cut part of bolt and fruit collecting bag are crossed, the opposite of scissors and collecting bag is suitably adjusted according to the size of cutting object Position reaches picking purpose.Pulley is arranged to change force unit (handle) and by unit of force (averruncator) in L-type pipe corner Direction in space.The patent formula is still to be sheared with artificial active operation, and difficulty has biggish breakthrough in terms of efficiency raising.

For another example (application number: 201710903307.6), which includes branch to a kind of fruit picking apparatus of patent formula Strut and the scissors being arranged on support rod by bracket, fruit bag and control mechanism；The scissors is arranged in support bar top, Fruit bag is arranged below scissors；The control mechanism include the torsional spring for being used to open scissors, the memory spring for closing scissors, For being powered to memory spring so that the control box of its contraction and the switch of connection control box；One cutter hub of the scissors with Bracket is fixed, and torsional spring encapsulation is on bracket and the both ends of torsional spring are solid with the blade of bracket and scissors another cutter hub respectively Fixed, the knife handle of two cutter hubs in both ends and scissors of spring is fixed；Circuit board and power supply, and circuit are equipped in the control box Plate, power supply and memory spring connect into circuit by conducting wire.The patent formula apparatus structure is simple, but in specifically used process In, it is difficult effectively to control the movement of cutter hub.

Utility model content

1. utility model technical problems to be solved

Low, inconvenient operation that the purpose of the utility model is to overcome device for picking fruit picking efficiencies in the prior art is not Foot provides a kind of efficient fruits picking end effector, device for picking fruit and picking vehicle, the device of the utility model and works as carpopodium After being caught in sheared edge, blade automatic shearing can be triggered, to realize the automatic picking of fruit, practical convenient is substantially increased Picking fruit efficiency.

2. technical solution

In order to achieve the above objectives, technical solution provided by the utility model are as follows:

A kind of efficient fruits picking end effector of the utility model, comprising:

Blade is articulated and connected by shaft and cutting plate, and the cutting edge of blade and the fixation knife plate of cutting plate cooperatively form Sheared edge；

Starting bar is triggered, is movably arranged on cutting plate, and one end is located at sheared edge, the other end is equipped with limit and opens It closes；

Driving device, for driving blade to swing around shaft；

Controller is connect with limit switch and driving device signal, for receiving limit switch signal and filling to driving It sets transmission and executes signal.

It is further improved as the utility model, there is two pieces of fixed knife plates on the cutting plate, fixed between knife plate Cutting groove is formed, the blade and wherein one or two fixation knife plate form sheared edge, which is located in cutting groove.

It is further improved as the utility model, the blade outer end is provided with anticreep protrusion, the anticreep protrusion position In side of the blade for shearing.

It is further improved as the utility model, the driving device is motor, which is turned by driver plate handle Dynamic conversion of motion is swing of the blade around shaft；Or: the driving device is cylinder or hydraulic cylinder, the handle by way of articulated connection Piston rod transform linear motion is swing of the blade around shaft.

It is further improved as the utility model, the triggering starting bar connects with cutting plate articulated connection or sliding It connects, when the carpopodium in sheared edge resists triggering starting bar, triggering starting bar can be made to move with respect to cutting plate and trigger limit and open It closes.

It is further improved as the utility model, is provided with limit plate on the cutting plate, the limit plate and cutting Limit sliding chutes are formed between plate, the triggering starting bar and the limit sliding chutes cooperate.

A kind of device for picking fruit of the utility model further includes fruit harvester structure, the end including above-mentioned end effector Correspondence is mounted on strut up and down for end actuator and fruit harvester structure, and the fruit that end effector is picked is received by fruit harvester structure to be held It receives；The fruit harvester structure includes rack and the string bag, and the rack is for strutting the string bag；The string bag is to have spacer screen pocket or bottomless defeated Send the string bag.

It is further improved as the utility model, the cutting plate, driving device and controller are installed in bracket On, it is also equipped with camera on the bracket, the camera is towards sheared edge direction.

It is further improved as the utility model, the strut is retractable structure.

A kind of picking fruit vehicle of the utility model, including above-mentioned device for picking and moving trolley, the strut are lifting Bar, bottom are mounted in moving trolley；The string bag of the fruit harvester structure is the bottomless string bag, lower end and is connected to moving trolley On fruit containing case.

3. beneficial effect

Using technical solution provided by the utility model, compared with prior art, have the following beneficial effects:

(1) the picking fruit end effector of the utility model, when carpopodium touches triggering starting bar and it is made to generate position After shifting, limit switch issues displacement signal to controller, then has controller to execute instruction to driving device transmission, driving device Band cutting blade is swung around shaft, and sheared edge closure carries out shear action, to realize the automatic picking of fruit.In operating process In, do not need manual intervention blade, practical convenient, picking efficiency height.

(2) the picking fruit end effector of the utility model can be solid at two since there are two fixed knife plates for setting The side of knife fixing plate towards cutting groove is respectively provided with cutting edge, and processes blade in blade two sides, then when blade swings back and forth, It can be sheared with fixed knife plate, revert action not needed after shearing, substantially increases picking efficiency.

(3) the picking fruit end effector of the utility model is caught in due to using triggering starting bar when in sheared edge After carpopodium, with the increase for being caught in depth, carpopodium meeting touch trigger starting bar simultaneously applies certain thrust, then triggers starting bar It (is rotated around hinge joint and generates length travel and reach limit-switch positions, limit switch sends signal to controller, and by controlling Device sends to motor and instructs, and blade swings to the other side from cutting plate side, completes cutting action.The process realizes fully automated Change control, does not need manpower and sheared, also do not need artificial active transmission shear signal, shear efficiency can be effectively improved.

(4) device for picking fruit of the utility model, when being mounted on hand-held strut, strut can use telescopic rod knot Structure, can according to use and fruit height be adjusted；In specific picking, as long as sheared edge is directed at carpopodium, no Need artificial touch switch either operational instances, end effector picking fruit and can drop into the string bag, make automatically With convenient, and transport easy to carry.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of double fixed knife plates；

Fig. 2 is the structure distribution schematic diagram of bracket and cutting plate；

Fig. 3 is the mounting structure schematic diagram for triggering starting bar；

Fig. 4 is the fit structure schematic diagram of double limit plates and triggering starting bar；

Fig. 5 is the fit structure schematic diagram of blade pressuring plate and blade；

The attachment structure schematic diagram for the blade that Fig. 6 is structure as a whole；

Fig. 7 is the drive mechanism schematic diagram that sliding slot is opened up on driver plate；

Fig. 8 is to carry out blade driving structure schematic diagram using cylinder；

Fig. 9 is the structural schematic diagram of device for picking fruit；

Figure 10 is the structural schematic diagram of picking fruit vehicle.

Label declaration in schematic diagram: 1, cutting plate；11, fixed knife plate；111, notch segmental arc；12, cutting groove；13, it puts Slot；14, blade pressuring plate；2, blade mechanisms；21, blade；211, blade；212, anticreep protrusion；22, blade connecting plate；221, shaft； 222, connecting plate sliding slot；31, motor；32, driver plate；33, sliding block；34, connecting plate pressing plate；35, battery；36, controller；37, it images Head；38, cylinder；41, starting bar is triggered；411, starting bar linkage section；412, contact；42, limit plate；421, return spring；43, Limit switch；5, bracket；51, lower carrier plate；52, angle connecting plate；53, outer connecting plate；54, Shell Plate；6, fruit harvester structure；61, rack； 62, the string bag；7, strut.

Specific embodiment

To further appreciate that the contents of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.

Structure depicted in Fig. 1-10 appended by this specification, ratio, size etc., only to cooperate specification revealed Content is not intended to limit the invention enforceable qualifications, therefore does not have so that those skilled in the art understands and reads Technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing institute's energy of the present invention Under the effect of generation and the purpose that can reach, it should all still fall in the revealed technology contents of the utility model and obtain the model that can cover In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only Convenient for being illustrated for narration, rather than to limit the enforceable range of type of the present invention, relativeness is altered or modified, in no reality Under qualitative change more technology contents, when being also considered as the enforceable scope of the present invention.

A kind of efficient fruits picking end effector of the invention, including blade 21, cutting plate 1, triggering starting bar 41, drive Dynamic device and controller 36.Blade 21 is articulated and connected by shaft 221 and cutting plate 1, enables blade 21 around 221 turns of shaft Dynamic, blade 211 is processed into the side of blade 21, forms cutting edge.One end of cutting plate 1 is fixed knife plate 11, the fixation knife plate 11 The side opposite with blade 21 is cutting edge, then blade 21 and fixed knife plate 11 cooperatively form sheared edge.The cut part is divided at present The basic structure of most device for picking fruit, main difference are the difference of specifically setting form, and the present embodiment does not limit too much.

Triggering starting bar 41 of the invention is movably arranged on cutting plate 1, and one end is located at sheared edge, and the other end is equipped with Limit switch 43.

Signified activity installation can be articulated connection, or be slidably connected, can make triggering starting bar 41 relative to Cutting plate 1 is mobile, which needs the displacement generated into sheared edge, which can make to trigger the triggering of 41 other end of starting bar Limit switch 43 generates position signal.

Triggering 41 one end of starting bar is located at sheared edge, refers to that triggering starting bar 41 intersects with sheared edge formation, perpendicular to knife In the perspective plane of piece 21, triggering starting bar 41 blocks sheared edge, can be located at sheared edge middle and back, so as to when triggering starting bar 41 by carpopodium when being touched, and is located at primary shear position.

Inventive drive means are used to provide power, and are swung by the power drive blade 21 around shaft 221.The driving Device can be electric driver or fluid pressure drive device either actuating device of atmospheric pressure etc..

Controller 36 of the invention is connect with limit switch 43 and driving device signal, for receiving 43 signal of limit switch And it is sent to driving device and executes signal.

Cutting plate 1, triggering starting bar 41, driving device and controller 36 are mountable on bracket 5 in invention, i.e., by propping up Frame 5 links together each section, forms end effector.Since bracket 5 primarily serves connection function, specific structure according to Each section arrangement can not repeated with appropriate adjustment.

In use, sheared edge alignment carpopodium is mobile, after carpopodium touches triggering starting bar 41 and it is made to generate displacement, Limit switch 43 issues displacement signal to controller 36, then has controller 36 to execute instruction to driving device transmission, driving dress It sets band cutting blade 21 to swing around shaft 221, sheared edge closure carries out shear action, to realize the automatic picking of fruit.

In conjunction with Fig. 1, a kind of embodiment of efficient fruits picking end effector of the present invention has two pieces of fixations on cutting plate 1 Knife plate 11 is fixed and forms cutting groove 12 between knife plate 11, and 21 side of blade is provided with blade 211, and sheared edge is located at cutting groove 12 Interior, i.e. for clipped position in cutting groove 12, the aperture of sheared edge can be greater than 12 width of cutting groove.

Preferably, cutting groove 12 can be symmetrical arranged, and shaft 221 is located on the center line of cutting groove 12.Fixed knife plate 11 It is arc at notch towards the side of cutting groove 12, forms notch segmental arc 111, which makes cutting groove 12 Notch has guiding role, so that more efficiently carpopodium is caught in cutting groove 12 at expansion state.

The tail end of above-mentioned cutting plate 1 is connect with bracket 5, lower carrier plate 51 and Shell Plate 54 is equipped in bracket 5, lower carrier plate 51 can For L-type structure, Shell Plate 54 covers lower carrier plate 51 and forms cuboid, and the components such as driving device, controller may be mounted at rectangle In vivo.Cutting plate 1 is connect with lower carrier plate 51, and is extended out from cuboid.

For reinforcement structure, angle connecting plate 52 can be added in the junction of cutting plate 1 and lower carrier plate 51,51 liang of the lower carrier plate Side is connect with cutting plate 1 and lower carrier plate 51 respectively.Outer connecting plate 53 is additionally provided on lower carrier plate 51, which can be frame Frame structure is used to support Shell Plate 54.

A kind of embodiment of efficient fruits picking end effector of the present invention can since setting is there are two fixed knife plate 11 It is respectively provided with cutting edge with the side in two fixed knife plate 11 towards cutting grooves 12, and processes blade 211 in 21 two sides of blade, Then when blade 21 swings back and forth, it can be sheared with fixed knife plate 11, revert action not needed after shearing, is greatly improved Picking efficiency.

In conjunction with Fig. 1, a kind of embodiment of efficient fruits picking end effector of the present invention, by blade 21 and blade connecting plate 22 Blade mechanisms 2, a kind of extension of the blade connecting plate 22 as blade 21 are formed, the two can be fixedly connected.Blade 21 needs to process Cutting edge there are certain requirements material, and the coupling part of its rear end does not need to be sheared, therefore can be added using other materials Work is made, to save cost.In addition, blade mechanisms 2 are formed using two parts, it is also convenient for the independent processing of each section.

Blade 21 can be connected with blade connecting plate 22 using welding manner, can also be connected using bolt mode.Work as use It, can be by the way of counter sink in order to guarantee that blade 21 and fixed knife plate 11 have preferable compactness when bolt connecting mode The two is fixed together, then nuts can be hidden in counter sink, not influence to be bonded.

Further, if blade 21 and 22 material of blade connecting plate are relatively thin, be not suitable for processing counter sink, then can cut Setting pendulum slot 13 on plate 1.The pendulum slot 13 can be the structures such as arc or rectangle, the connection bolt of blade 21 and blade connecting plate 22 Protrusion be located in pendulum slot 13, pendulum slot 13 provides enough spaces and moves wherein for bolt part, dry to avoid generating It relates to.

It for the axis hole cooperated with shaft 221, can be set on blade 21, the present embodiment then connects its setting in blade On plate 22, position provides enough swing angles relatively rearward, for blade 21.

A kind of embodiment of efficient fruits picking end effector of the present invention offers connecting plate sliding slot on blade connecting plate 22 222, and driving device is used as using motor 31, rotational motion is converted into blade 21 around shaft by driver plate 32 by motor 31 221 swing.

Specifically, motor 31 is mounted on lower carrier plate 51, and the upper end shaft is connected with driver plate 32,32 upside of driver plate It is connected with sliding block 33, which is limited in connecting plate sliding slot 222.When motor 31 drives driver plate 32 to turn an angle When, sliding block 33 is slided in connecting plate sliding slot 222 and is swung simultaneously with cutting blade connecting plate 22, and then blade 21 is made to carry out swinging shears It cuts.It controls slider-rocker mechanism by driving motor to be sheared, Electronic control keeps picking more convenient, and by parameter Rationally setting can be such that shearing force of scissors when in shearing maximizes, make shearing lighter.

Preferably, sliding block 33 can be cylindric, can be better when sliding block 33 can be rotated relative to driver plate 32 Reduce friction when sliding.

In conjunction with Fig. 3, a kind of embodiment of efficient fruits picking end effector of the present invention triggers starting bar 41 and cutting plate 1 articulated connection can make to trigger starting bar 41 with respect to the movement of cutting plate 1 when the carpopodium in sheared edge resists triggering starting bar 41 And trigger limit switch 43.

The triggering starting bar 41 of the present embodiment is plate structure, including transverse barriers part and longitudinally extending portion, transverse direction Stop portions are located at sheared edge, exert a force using carpopodium；And longitudinally extending portion is then used to drive limit switch 43.Triggering starting 41 a part of bar is articulated and connected as starting bar linkage section 411 and cutting plate 1, and hinge joint can be set on fixed knife plate 11. The longitudinal extension tail end for triggering starting bar 41 is contact 412, and the contact 412 is for triggering the movement of limit switch 43.

Limit switch 43 can be set on cutting plate 1 or lower carrier plate 51, as long as can cooperate with contact 412, position Relationship is not particularly limited.The limit switch 43 can be using photoelectric sensor switch or travel switch.The present embodiment selects row Cheng Kaiguan generates corresponding signal after limit switch 43 is pressed.

Due to using triggering starting bar 41, after sheared edge is caught in carpopodium, with the increase for being caught in depth, carpopodium meeting Touch trigger starting bar 41 simultaneously applies certain thrust, then triggers starting bar 41 around hinge joint and rotate generation length travel, triggering 412 synchronous shift of contact on starting bar 41 simultaneously reaches 43 position of limit switch, and limit switch 43 sends signal to controller, and It sending and instructs from controller 36 to motor 31, motor shaft turns an angle, and blade 21 swings to the other side from 1 side of cutting plate, Complete cutting action.The process realizes full automation control, does not need manpower and is sheared, and does not also need artificial actively hair Shear signal is sent, shear efficiency can be effectively improved.

A kind of embodiment of efficient fruits picking end effector of the present invention, 21 outer end of blade are provided with anticreep protrusion 212, Anticreep protrusion 212 is located at side of the blade 21 for shearing.If blade 21 is unilateral blade, single anticreep can be only set Protrusion 212；For the embodiment using double-edged blade 21, then anticreep protrusion 212 is respectively provided in 21 two sides of blade.

212 parts of anticreep protrusion can be used as a part of cutting edge, and anticreep protrusion 212 is due to protrusion, in fruit When stalk shearing, achieve the effect that be closed in advance, guarantees that carpopodium is located at blade 21 and shears position.

A kind of embodiment of efficient fruits picking end effector of the present invention, is provided with limit plate 42 on cutting plate 1, should Limit sliding chutes are formed between limit plate 42 and cutting plate 1, triggering starting bar 41 and the limit sliding chutes cooperate.The limit plate 42 can The side opposite with triggering 41 hinge joint of starting bar is arranged in, to increase structural strength, prevent triggering starting bar 41 from making Detection effect is influenced with shaking in the process.

In conjunction with Fig. 4, a kind of embodiment of efficient fruits picking end effector of the present invention is hinged as triggering starting bar 41 The substitution of mode, the two sides of triggering starting bar 41 pass through limit plate 42 and are limited.When the thrust applied by carpopodium, touching It sends out starting bar 41 and generates straight-line displacement, can equally trigger the movement of limit switch 43.

Further, it since the screen resilience of limit switch 43 is limited, can be formed by limit sliding chutes in limit plate 42 Return spring 421 is set, the return spring can make to trigger starting bar 41 after the completion of shearing returning quickly to initial position.

As a kind of substitution of embodiment, limit plate 42 can be also arranged in the endpiece of cutting plate 1, i.e., limit plate 42 with open The longitudinally extending portion of lever linkage section 411 cooperates, and slides longitudinally extending portion in limit sliding chutes, equally can be realized and open The function of lever linkage section 411.Return spring can also be increased, to improve seating velocity.

In conjunction with Fig. 5, a kind of embodiment of efficient fruits picking end effector of the present invention is using two fixed knife plates 11 In the case where, it is additionally provided with blade pressuring plate 14, blade 21 is located between blade pressuring plate 14 and fixed knife plate 11.The blade pressuring plate 14 End face be located on rear side of the transverse barriers portion end surface of triggering starting bar 41, its spacing be greater than the displacement of triggering starting bar 41 away from From.

When blade 21 is sheared, if carpopodium is harder, blade 21 is be easy to cause to tilt, and passes through 14 energy of blade pressuring plate Enough guarantee blade 21 and fix fitting for knife plate 11, ensure that shear effect.

Further, also connecting plate pressing plate 34 can be set in 33 upper end of sliding block, which can push down blade connecting plate 22, anti-limited slip block 33 is from connecting plate sliding slot 222 from jumping out.

In conjunction with Fig. 6, a kind of embodiment of efficient fruits picking end effector of the present invention is provided on cutting plate 1 single Fixed knife plate 11, the then side that blade 21 can be only opposite with fixed knife plate 11 open up blade 211.It can still be adopted in the embodiment Limit plate 42 is set used in fixed knife plate 11 to install triggering starting bar 41.Triggering starting bar 41 shakes in order to prevent, more preferably , it can be using articulated form connection triggering starting bar 41, or extend limit plate 42 and the longitudinal of triggering starting bar 41 Part cooperates.

Blade mechanisms 2 are connected using the blade 21 of integral structure using the extension of blade 21 as connecting plate in the present embodiment Plate sliding slot 222 is provided with the endpiece of blade 21.It is relatively complicated but right in application process using processing of the structure to blade 21 Picking effect does not influence.

A kind of embodiment of efficient fruits picking end effector of the present invention, driving device are motor 31, and the motor 31 is logical It crosses driver plate 32 and rotational motion is converted into blade 21 around the swing of shaft 221.

In conjunction with Fig. 7, specifically, driver plate 32 is connected in the shaft of motor 31, sliding slot is offered on driver plate 32, in knife Sliding block 33 is set on piece 21, and the sliding block 33 and sliding slot cooperate, then when driver plate 32 rotates, are equally able to drive the pendulum of blade 21 It is dynamic.

In the various embodiments described above, the rotational angle of 31 shaft of motor can be controlled by controller 36, not need it 360 degree of rotations are advisable with meeting shearing.

For power pack, it is that driving device, controller and limit switch etc. supply that battery 35 can be arranged in bracket 5 Electricity can also connect external power supply by electric wire.Controller can use single-chip microcontroller.

As the further improvement of the above various embodiments, camera 37 is also equipped on bracket 5, as shown in figure 3, the camera shooting First 37 can carry processing system towards sheared edge direction, camera 37, by wired or wireless transmission video signal, convenient for seeing The specific pattern for measuring picking fruit, judges whether it is mature.Picking can be assisted to be not easy to what human eye was directly observed simultaneously Fruit.

Cylinder or hydraulic cylinder can also be used as driving in a kind of embodiment of efficient fruits picking end effector of the present invention Device, by way of articulated connection piston rod transform linear motion be blade 21 around shaft 221 swing.

In conjunction with Fig. 8, by taking cylinder as an example, the mounting base of cylinder is hinged on bracket 5, piston rod and 21 tail end of blade are cut with scissors It connects, and cylinder and the median perpendicular of sheared edge can be arranged in succession, then when piston rod stretches, blade 21 can be driven to swing.

Above-mentioned section Example is directly attached as an example, being not excluded for using knife with blade 21 and driving device part Piece connecting plate 22 is implemented instead of the mode that 21 tail end of blade is attached.

In conjunction with Fig. 9, a kind of embodiment of device for picking fruit of the present invention, the end effector being equipped in above-described embodiment, It further includes fruit harvester structure 6, and end effector and about 6 fruit harvester structure correspondence are mounted on strut 7, and end effector is picked Fruit by fruit harvester structure 6 receive accommodate.

Specifically, fruit harvester structure 6 includes rack 61 and the string bag 62, and rack 61 is for strutting the string bag 62；The string bag 62 is to have bottom The string bag, picked fruit are fallen into the string bag 62.End effector is connect with strut 7 by connecting plate, and end effector is enable Angle is adjusted relative to strut 7.

Strut 7 is retractable structure, which is hand held pole structure, can be cylinder.For stretching structure Concrete form, has in existing structure more multi-form, and the present embodiment is not repeating.

In conjunction with Figure 10, a kind of embodiment of picking fruit vehicle of the present invention is equipped with above-mentioned picking fruit in moving trolley Device, strut 7 are elevating lever, and bottom is mounted in moving trolley, can be gone up and down by pneumatically or hydraulically mode.Receive fruit The string bag 62 of mechanism 6 is the bottomless string bag, lower end and the fruit containing case being connected in moving trolley.I.e. the string bag 62 is strip Shape, bottom extend to fruit containing case, then the fruit after picking enters in fruit containing case along the string bag 62, convenient, fast. As for the specific structure of moving trolley, existing combination can be used, the present embodiment is not repeating.

Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution Similar frame mode and embodiment, are within the scope of protection of the invention.

Claims (10)

1. a kind of efficient fruits picking end effector, it is characterised in that: including

Blade (21) is articulated and connected by shaft (221) and cutting plate (1), the cutting edge of blade (21) and consolidating for cutting plate (1) Knife fixing plate (11) cooperatively forms sheared edge；

It triggers starting bar (41), is movably arranged on cutting plate (1), and one end is located at sheared edge, the other end is equipped with limit It switchs (43)；

Driving device, for driving blade (21) to swing around shaft (221)；

Controller (36) is connect with limit switch (43) and driving device signal, for receiving limit switch (43) signal simultaneously It is sent to driving device and executes signal.

2. a kind of efficient fruits picking end effector according to claim 1, it is characterised in that: the cutting plate (1) On have two pieces of fixed knife plates (11), form cutting groove (12) between fixed knife plate (11), the blade (21) and one of them or Two fixed knife plates (11) form sheared edge, which is located in cutting groove (12).

3. a kind of efficient fruits picking end effector according to claim 1, it is characterised in that: the blade (21) is outside End is provided with that anticreep is raised (212), and anticreep protrusion (212) is located at the side that blade (21) are used for shearing.

4. a kind of efficient fruits picking end effector according to claim 1, it is characterised in that: the driving device is Rotational motion is converted into blade (21) around the swing of shaft (221) by driver plate (32) by motor (31), the motor (31)； Or: the driving device be cylinder or hydraulic cylinder, by way of articulated connection piston rod transform linear motion be blade (21) Swing around shaft (221).

5. a kind of efficient fruits picking end effector according to claim 1, it is characterised in that: the triggering starting bar (41) it is articulated and connected or is slidably connected with cutting plate (1), when the carpopodium in sheared edge resists triggering starting bar (41), can make to touch Hair starting bar (41) moves with respect to cutting plate (1) and triggers limit switch (43).

6. a kind of efficient fruits picking end effector according to claim 5, it is characterised in that: the cutting plate (1) On be provided with limit plate (42), limit sliding chutes, the triggering starting bar are formed between the limit plate (42) and cutting plate (1) (41) cooperate with the limit sliding chutes.

7. a kind of device for picking fruit, it is characterised in that: further include fruit harvester including the end effector described in claim 1~6 Correspondence is mounted on strut (7) up and down for structure (6), the end effector and fruit harvester structure (6), the fruit that end effector is picked Real received by fruit harvester structure (6) accommodates；The fruit harvester structure (6) includes rack (61) and the string bag (62), and the rack (61) is used In strutting the string bag (62)；The string bag (62) is to have spacer screen pocket or the bottomless conveying string bag.

8. a kind of device for picking fruit according to claim 7, it is characterised in that: the cutting plate (1), driving device and control Device (36) processed is installed on bracket (5), is also equipped with camera (37) on the bracket (5), and the camera (37) direction is cut Cut-out direction.

9. a kind of device for picking fruit according to claim 7, it is characterised in that: the strut (7) is retractable structure.

10. a kind of picking fruit vehicle, it is characterised in that: it includes device for picking and moving trolley described in claim 8, described Strut (7) is elevating lever, and bottom is mounted in moving trolley；The string bag (62) of the fruit harvester structure (6) is the bottomless string bag, Lower end and the fruit containing case being connected in moving trolley.