CN208987344U - A kind of lossless picking executing agency of fruit - Google Patents
A kind of lossless picking executing agency of fruit Download PDFInfo
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- CN208987344U CN208987344U CN201820353660.1U CN201820353660U CN208987344U CN 208987344 U CN208987344 U CN 208987344U CN 201820353660 U CN201820353660 U CN 201820353660U CN 208987344 U CN208987344 U CN 208987344U
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- executing agency
- fruit
- stepper motor
- rack
- picking executing
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Abstract
The utility model discloses a kind of lossless picking executing agency of fruit, the picking executing agency rear end is equipped with controller (1), and the front end of the picking executing agency is equipped with holding finger system, and the middle part of the picking executing agency is equipped with mechanical arm；The mechanical arm includes rack (12), rack (12) lower end is equipped with main shaft rotating stepper motor (33), it is equipped with lifting at the upper side of the rack (12) and connects elevating lever (11) on stepper motor (13) with stepper motor (13) lifting, the rack (12) is equipped with first support bar (3), and the elevating lever (11) connects delta link (5) with the first support bar (3) upper end.The elemental motions such as the utility model imitates ancon lifting when manpower plucks fruit, ancon is reduced, stretched out one's hand, drawing back one's hand, finger tightening, finger opening; fruit is effectively grabbed; simpler, effective protection fruit during crawl fruit is controlled, and there is versatility for all multi items.
Description
Technical field
The utility model relates to belong to fruit automation picking field more particularly to a kind of lossless picking execution machine of fruit
Structure.
Background technique
It is well known that agriculture fruit and vegetable picking robot becomes one of domestic and international research hotspot in recent years, most of achievement is still
So rest on the development in laboratory stage, it is difficult to which application, main cause are that actual environment wants picking fruit executing agency
Ask higher, comprising: (1) avoid lengthy and jumbled transmission mechanism, guarantee compact-sized and globality；(2) universal machine electricity is selected as far as possible
Gas component, reduces cost；(3) sensing control scheme is simple and reliable；(4) high efficiency is picked, and is swift in motion effectively；(5) it avoids
Damage fruit；(6) there is versatility to a variety of fruits.Current major part achievement is cut with knife based on formula, is cut carpopodium using cutter
Disconnected, this method transmission mechanism scheme and sensing and controlling system are more complex, have not only increased the control complexity of system, but increase at
This.Therefore, we need to develop a kind of lossless picking executing agency of fruit, to solve fruit automation picking machine executing agency
Control program is complicated, is easy to damage the not strong problem of fruit, versatility.
Utility model content
The purpose of this utility model is to solve fruit automation picking machine actuating mechanism controls scheme complexity, be easy to damage
The not strong problem of fruit, versatility.Since fruit automates picking machine executing agency in practical work process, environment is to it
It is required that it is extremely harsh, and the lossless picking executing agency of the fruit has many advantages, such as that control program is simple, lossless, versatile, energy
Preferably adapt to actual working environment.
Technical solution adopted by the utility model: a kind of lossless picking executing agency of fruit, the picking executing agency
Rear end is equipped with controller (1), and the front end of the picking executing agency is equipped with holding finger system, the picking executing agency
Middle part be equipped with mechanical arm；The mechanical arm includes rack (12), and rack (12) lower end is equipped with main shaft rotating stepper motor
(33), it is equipped with lifting at the upper side of the rack (12) and is risen with stepper motor (13) lifting with connection on stepper motor (13)
It drops bar (11), the rack (12) is equipped with first support bar (3), the elevating lever (11) and the first support bar
(3) upper end connection delta link (5), the delta link (5) are connected with the first protrusive rod (7) and the second protrusive rod (6)；
The mechanical arm is connect with the holding finger system.
Preferably, second support bar (10) are additionally provided between the triangle connecting rod (5) and the rack (12).
Preferably, the other side is equipped with flexible stepper motor (14) above the rack (12), the flexible stepping electricity
Machine (14) passes through link block (2) connection expansion link (4) before telescopic rod.
Preferably, the holding finger system includes holding finger support frame (9), on the holding finger support frame (9)
Equipped with clamping stepper motor (21), the clamping motor output shaft (22) of clamping stepper motor (21) connects high polymer cord disk
It takes turns (15).
Preferably, the high polymer cord plate wheel (15) is equipped with high polymer cord (34).
Preferably, the high polymer cord plate wheel (15) front end is equipped with finger base (19), on the finger base (19)
Equipped with middle joint (16).
Preferably, the middle joint (16) is connected with last joint (17).
Preferably, the last joint (17) is equipped with rubber card slot (18), and the rubber card slot (18) is equipped with rubber.
Preferably, ultrasonic sensor (8) are additionally provided in the holding finger system.
Preferably, the control system (1) includes controller, image pick-up card, processor, and the controller type is
Single-chip microcontroller, PLC program controller or industrial personal computer；Described image capture card is connected with first camera (25) and second camera (26),
The image being collected into gives processor processing, then is made a policy by controller.
Compared with prior art, the utility model has the beneficial effects that all in all, the lossless picking executing agency of the fruit
Ancon lifting can accurately be imitated when manpower plucks fruit, ancon is reduced, stretched out one's hand, drawing back one's hand, finger tightening, finger open etc. moves substantially
Make, fruit is effectively grabbed.Its control program is simpler, and effective protection fruit is injury-free during grabbing fruit, and
There is versatility for all multi items.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the picking executing agency of the utility model.
Fig. 2 is the rearview of the picking executing agency of the utility model.
Fig. 3 is the top view of the picking executing agency of the utility model.
Fig. 4 is that the picking of the utility model executes the complete elongation state figure of mechanical arm.
Fig. 5 is that the picking of the utility model executes half elongation state figure of mechanical arm.
Fig. 6 is that the picking of the utility model executes the complete tightening state figure of mechanical arm.
Fig. 7 is the first structure diagram of the end effector mechanism of the utility model.
Fig. 8 is the second structural schematic diagram of the end effector mechanism of the utility model.
Fig. 9 is the third structural schematic diagram of the end effector mechanism of the utility model.
Figure 10 is that the end effector mechanism finger of the utility model tightens figure.
1. before controller, 2. telescopic rods before link block, 3. first support bars, 4. telescopic rods, 5. delta links, 6. second
Boom, 7. first protrusive rods, 8. ultrasonic sensors, 9. holding finger support frames, 10. second support bars, 11. elevating levers, 12.
Rack, 13. are gone up and down is closed with joint, 17. ends in stepper motors, 14. flexible stepper motors, 15. high polymer cord plate wheels, 16.
Section, 18. rubber card slots, 19. finger bases, 20. holding finger support frames, 21. clamping stepper motors, 22. clamping motor outputs
Axis, 23. lifting motor output shafts, 24. telescope motor output shafts, 25, high polymer cord, 26, nitrile rubber layer
Specific embodiment
The technical solution of the utility model is further illustrated combined with specific embodiments below.
As Figure 1-10 shows, the lossless picking executing agency of a kind of fruit, the picking executing agency rear end are equipped with control
Device (1), the front end of the picking executing agency are equipped with holding finger system, and the middle part of the picking executing agency is equipped with machinery
Arm；The mechanical arm includes rack (12), and rack (12) lower end is equipped with main shaft rotating stepper motor (33), the rack
(12) upper side is equipped with lifting and connects elevating lever (11) on stepper motor (13) with stepper motor (13) lifting, described
Rack (12) is equipped with first support bar (3), and the elevating lever (11) connects triangle with first support bar (3) upper end
Shape connecting rod (5), the delta link (5) are connected with the first protrusive rod (7) and the second protrusive rod (6)；The mechanical arm and institute
State the connection of holding finger system；Second support bar (10) are additionally provided between the triangle connecting rod (5) and the rack (12),
The other side is equipped with flexible stepper motor (14) above the rack (12), described flexible to pass through telescopic rod with stepper motor (14)
Preceding link block (2) connection expansion link (4).
It should be noted that the holding finger system includes holding finger support frame (9), the holding finger support frame
(9) it is equipped with clamping stepper motor (21), the clamping motor output shaft (22) of clamping stepper motor (21) connects high polymer
Cord plate wheel (15), the high polymer cord plate wheel (15) are equipped with high polymer cord (34), the high polymer cord plate wheel
(15) front end is equipped with finger base (19), and the finger base (19) is equipped with middle joint (16), middle joint (16) connection
Have last joint (17), the end joint (17) is equipped with rubber card slot (18), and the rubber card slot (18) is equipped with rubber, described
Ultrasonic sensor (8) are additionally provided in holding finger system.
It further illustrates, the control system (1) includes controller, image pick-up card, processor, the controller class
Type is single-chip microcontroller, PLC program controller or industrial personal computer；Described image capture card and first camera (25) and second camera (26) phase
Even, the image being collected into gives processor processing, then is made a policy by controller.
Embodiment one
As Figure 1-10 shows, the utility model patent discloses a kind of lossless picking executing agency of fruit, including rack, liter
Drop stepper motor (13), elevating lever (11), first support bar (3), delta link (5), the first protrusive rod (7), flexible use
Link block (2), telescopic rod (4), second support bar (10), the second protrusive rod (6), clamping hand before stepper motor (14), telescopic rod
Refer to that support frame (20), clamping stepper motor (21), high polymer cord plate wheel (15), finger base (19), middle joint (16), end are closed
Section (17), rubber card slot (18), high polymer cord (25), nitrile rubber layer (26), ultrasonic sensor (8), controller (1),
Rack (12).The rack (12) is the support base of entire picking mechanism.The lifting is driven with stepper motor (13)
Elevating lever rotation.The elevating lever (11) can be around lifting motor output shaft (23) axis rotation.The first support bar (3)
Play support booster action.The delta link (5) is used as intermediate transmission.First protrusive rod (7) auxiliary is completed whole
A mechanical arm oscilaltion campaign.Link block (2) rotates before the flexible telescopic rod with stepper motor (14) control.Described
Link block (2) plays intermediate transmission before telescopic rod.The telescopic rod (4) drives the elastic movement of mechanical arm.Described
Second support bar (10) plays support booster action.Second protrusive rod (6) auxiliary completes the entire elastic fortune of mechanical arm
It is dynamic.The holding finger support frame (20) plays a supportive role to holding finger.The clamping stepper motor (21) drives high
Polymers cord plate wheel (15) rotation.The high polymer cord plate wheel (15), which serves, turns around high polymer cord (25).Described
Finger base (19) and middle joint (16) are hinged.Play the role of cooperation release and tightening movement in the middle joint (16).Institute
The last joint (17) and high polymer cord (25) one end stated fasten.The rubber card slot (18) and nitrile rubber layer (26) close-fitting
It closes.The high polymer cord (25) plays driving finger and unclamps or tighten.The ultrasonic sensor (8) is for measuring finger
The centre of the palm with wait win at a distance from fruit.The controller (1) controls each motor action.The utility model patent can accurate mould
When apery hand plucks fruit ancon lifting, ancon reduce, stretch out one's hand, drawing back one's hand, finger tightening, finger opening etc. elemental motions, to fruit into
Row effectively crawl.Its control program is simpler, and effective protection fruit is injury-free during grabbing fruit, and for all multi items
With versatility.
View directions as described below are for the visual angle Fig. 1, i.e., observer is located at lifting stepping electricity unless otherwise specified
Machine (13) is on one side.
A kind of lossless picking executing agency of fruit, including rack, electric system, rod portion and retained part, framework portion
Dividing can be connected with common mechanical job platform.Each section feature described separately below:
The electric system includes lifting stepper motor (13), flexible stepper motor (14), clamping stepper motor
(21).Lifting with stepper motor (13) driving elevating lever around the output shaft axle center of lifting stepper motor (13) within a certain angle
It rotates, link block uses stepper motor output shaft (22) axle center certain around flexible before flexible stepper motor (14) control telescopic rod
Rotation in angle, clamping stepper motor (21) are fixed on holding finger support frame (20), are driven high polymer cord plate wheel (15)
Rotation.
The rod portion includes elevating lever (11), first support bar (3), delta link (5), the first protrusive rod
(7), link block (2), telescopic rod (4), second support bar (10), the second protrusive rod before flexible stepper motor (14), telescopic rod
(6).Elevating lever movement is rotates around lifting within a certain angle with stepper motor output shaft (23) axle center, to drive entire machine
Tool arm oscilaltion movement.Described first support bar (3) one end and delta link (5) hingedly, the other end and rack (12)
Hingedly, the two can be rotated mutually within a certain angle.There are three fraisings on delta link (5), with first support bar (3), liter
It is hinged that bar (11) and the first protrusive rod (7) drop.First protrusive rod (7) one end and delta link (5) hingedly, the other end and folder
It is hinged to hold finger support frame (9).There are two fraisings on link block before telescopic rod (4), use stepper motor (14), telescopic rod with flexible
Hingedly.Hingedly, the two can make mutually rotation in certain angle to link block (2), so that driving is entire before telescopic rod (4) and telescopic rod
The elastic movement of mechanical arm.Hingedly, the two can mutually turn within a certain angle for second support bar (10) and the second protrusive rod (6)
It is dynamic.There are three fraising on second protrusive rod (6), cut with scissors with telescopic rod (4), second support bar (10), holding finger support frame (9)
It connects.
The retained part include holding finger support frame (9), high polymer cord plate wheel (15), finger base (19),
Middle joint (16), last joint (17), rubber card slot (18), high polymer cord (34), ultrasonic sensor (8).Holding finger branch
Support (9) is and hinged at the first protrusive rod (7), the second protrusive rod (6) two there are two fraising.High polymer cord plate wheel (15) with
High polymer cord (34) fastening is connected, and serves and turns around high polymer cord (34).Finger base (19) is fixed on holding finger branch
On support (9), and it is hinged with middle joint (16).Middle joint (16) one end and finger base (19) hingedly, the other end and last joint
(17) hingedly, the nitrile rubber layer (35) of one layer of 20mm thickness is installed thereon.Last joint (17) and middle joint (16) hingedly, thereon with
The fastening of high polymer cord (34) one end, installs the nitrile rubber layer (35) of one layer of 20mm thickness thereon.Rubber card slot is the linear battle array of T-type
Column-shaped, T-slot quantity is 5 on every finger.The fastening of (34) one joint Duan Yumo (17) of high polymer cord, passes through middle joint (16)
Upper channel, the other end and high polymer cord plate wheel (15) fasten.Ultrasonic sensor (8) is located at pair of four finger bases (19)
At title center.
Referring to Fig. 1-3: the lifting of the utility model patent receives the positive arteries and veins for coming from controller (1) with stepper motor (13)
It rushes signal and acts, by lifting motor output shaft (23) driving elevating lever (11) around lifting motor output shaft (23) axle center up time
Needle turns an angle, and first support bar (3) also rotates clockwise centainly around rack (12) under the involving of delta link (5)
Angle, delta link (5) also rotate clockwise certain angle around rack (12), so that the first protrusive rod (7) affects clamping hand
Refer to that support frame (20) promote certain altitude, the function and effect of above-mentioned each component are to keep holding finger support frame (20) promotion certain high
Degree, therefore it is defined as enhancing action process (enhancing action of similar human elbow).Conversely, as lifting is connect with stepper motor (13)
It receives the reverse impulse signal from controller (1) and acts, then above-mentioned movement is on the contrary, function and effect are to make holding finger support frame
(20) it reduces certain altitude, is defined as reducing action process (reduction similar to human elbow acts).
Referring to Fig. 1-3: the flexible of the utility model patent receives the positive arteries and veins for coming from controller (1) with stepper motor (14)
It rushes signal and acts, link block (2) is around telescope motor output shaft (24) before driving telescopic rod by telescope motor output shaft (24)
Axle center rotates clockwise certain angle, and telescopic rod (4) also acts therewith, makes the second protrusive rod under second support bar (10) cooperation
(6) certain angle is rotated clockwise around rack (12), so that the second protrusive rod (6) affects holding finger support frame (20) retraction one
Set a distance, the function and effect of above-mentioned each component are to make holding finger support frame (20) retraction certain distance, therefore it is dynamic to be defined as retraction
Make process (similar to the movement of drawing back one's hand of human body).Conversely, coming from the reversed of controller (1) as flexible stepper motor (14) receive
Pulse signal and act, then above-mentioned movement on the contrary, function and effect be make holding finger support frame (20) protract certain distance, definition
To protract action process (stretching out one's hand movement similar to human body).
Referring to Fig. 7-10: the clamping stepper motor (21) of the utility model patent receives the positive arteries and veins for coming from controller (1)
It rushes signal and acts, by clamping motor output shaft (22) driving high polymer cord plate wheel (15) around clamping motor output shaft (22)
Axle center rotates clockwise certain angle (by taking the visual angle Fig. 7 as an example), increases tightly around 4 high polymer cord (25) twining amounts thereon
Greatly, 4 of 4 high polymer cord (25) other ends last joints (17) are drawn close under traction to the centre of the palm, and 4 middle joints (16) are therewith
Cooperation generates Fig. 9 finger tightening movement.Conversely, believing as clamping stepper motor (21) receives the reverse impulse from controller (1)
Number and act, then above-mentioned movement on the contrary, function and effect be Fig. 7 finger expansion action.
Referring to Fig. 1-10: the utility model patent molar behavior process are as follows: mechanical arm initial actuating is that Fig. 6 tightens shape completely
State, when controller (1) issues crawl signal, lifting receives reverse impulse signal with stepper motor (13) and acts, mechanical arm
Occur to reduce action process, mechanical arm state is half elongation state of Fig. 5 at this time, and flexible stepper motor (14) receives reverse impulse
Signal and act, extension movement occurs for mechanical arm, and mechanical arm state is the complete elongation state of Fig. 4 at this time, and the above action process works as
When ultrasonic sensor (8) measurement is less than a certain threshold value with fruit distance, stop signal in controller sending, and then clamps stepping electricity
Machine (21) receives direct impulse signal and acts, and Fig. 9 tightening movement occurs for holding finger, after firmly grabbing fruit, clamps stepping
Motor (21) stalls but certain torque is maintained to export, and lifting is locked with stepper motor (13), and flexible stepper motor (14) receives
Instantaneous direct impulse signal and act, instantaneous retraction action occurs for mechanical arm, this process function and effect, that is, fruit stalk portion is turned round
Disconnected (similar manpower catches rotation twisting actions of the fruit centered on stalk portion), lifting is unlocked and is connect with stepper motor (13) later
It receives direct impulse signal and acts, enhancing action process occurs for mechanical arm, and mechanical arm state returns to half elongation state of Fig. 5 at this time,
Flexible stepper motor (14) receives direct impulse signal and acts, and retraction action occurs for mechanical arm, and mechanical arm state is returned at this time
The complete tightening state of Fig. 6 is returned, clamping stepper motor (21) receives reverse impulse signal and acts, and Fig. 7 opening occurs for holding finger
Movement unclamps fruit and is included in containing box, and one time grasping movement is completed.
For those skilled in the art, it can make other each according to the above description of the technical scheme and ideas
Kind is corresponding to be changed and deforms, and all these change and deform the guarantor that all should belong to the utility model claims
Within the scope of shield.
Claims (10)
1. a kind of lossless picking executing agency of fruit, it is characterised in that: the picking executing agency rear end is equipped with control system
(1), the front end of the picking executing agency is equipped with holding finger system, and the middle part of the picking executing agency is equipped with machinery
Arm；The mechanical arm includes rack (12), and rack (12) lower end is equipped with main shaft rotating stepper motor (33), the rack
(12) upper side is equipped with lifting and connects elevating lever (11) on stepper motor (13) with stepper motor (13) lifting, described
Rack (12) is equipped with first support bar (3), and the elevating lever (11) connects triangle company with the first support bar (3) upper end
Bar (5), the delta link (5) are connected with the first protrusive rod (7) and the second protrusive rod (6)；The mechanical arm and the folder
Hold microgripper connection.
2. the lossless picking executing agency of a kind of fruit according to claim 1, it is characterised in that: the delta link
(5) it is additionally provided between the rack (12) second support bar (10).
3. the lossless picking executing agency of a kind of fruit according to claim 1, it is characterised in that: above the rack (12)
The other side is equipped with flexible stepper motor (14), and flexible use stepper motor (14) is connected by link block (2) before telescopic rod
Telescopic rod (4).
4. the lossless picking executing agency of a kind of fruit according to claim 1, it is characterised in that: the holding finger system
Including holding finger support frame (9), the holding finger support frame (9) is equipped with clamping stepper motor (21), the clamping step
Clamping motor output shaft (22) into motor (21) connects high polymer cord plate wheel (15).
5. the lossless picking executing agency of a kind of fruit according to claim 4, it is characterised in that: the high polymer cord disk
It takes turns (15) and is equipped with high polymer cord (34).
6. the lossless picking executing agency of a kind of fruit according to claim 5, it is characterised in that: the high polymer cord disk
It takes turns (15) front end and is equipped with finger base (19), the finger base (19) is equipped with middle joint (16).
7. the lossless picking executing agency of a kind of fruit according to claim 6, it is characterised in that: the middle joint (16) is even
It is connected to last joint (17).
8. the lossless picking executing agency of a kind of fruit according to claim 7, it is characterised in that: on the end joint (17)
Equipped with rubber card slot (18), the rubber card slot (18) is equipped with rubber.
9. the lossless picking executing agency of a kind of fruit according to claim 4, it is characterised in that: the holding finger system
On be additionally provided with ultrasonic sensor (8).
10. the lossless picking executing agency of a kind of fruit according to claim 1, it is characterised in that: the control system
It (1) include controller, image pick-up card, processor, the controller type is single-chip microcontroller, PLC program controller or industrial personal computer；
Described image capture card is connected with first camera (25) and second camera (26), and the image being collected into gives processor processing, then
It is made a policy by controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820353660.1U CN208987344U (en) | 2018-03-15 | 2018-03-15 | A kind of lossless picking executing agency of fruit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820353660.1U CN208987344U (en) | 2018-03-15 | 2018-03-15 | A kind of lossless picking executing agency of fruit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208987344U true CN208987344U (en) | 2019-06-18 |
Family
ID=66795471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820353660.1U Expired - Fee Related CN208987344U (en) | 2018-03-15 | 2018-03-15 | A kind of lossless picking executing agency of fruit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208987344U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
-
2018
- 2018-03-15 CN CN201820353660.1U patent/CN208987344U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114467502A (en) * | 2022-02-17 | 2022-05-13 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
| CN114467502B (en) * | 2022-02-17 | 2022-11-08 | 南京农业大学 | Swallowing type picking mechanical arm and robot system |
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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: 20190618 Termination date: 20210315 |