CN209030625U - A kind of round shape terminal executor of fruit and vegetable picking robot - Google Patents
A kind of round shape terminal executor of fruit and vegetable picking robot Download PDFInfo
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- CN209030625U CN209030625U CN201821408221.2U CN201821408221U CN209030625U CN 209030625 U CN209030625 U CN 209030625U CN 201821408221 U CN201821408221 U CN 201821408221U CN 209030625 U CN209030625 U CN 209030625U
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Abstract
The utility model discloses a kind of round shape terminal executor of fruit and vegetable picking robot.Round shape terminal executor of fruit and vegetable picking robot includes round shape fruits and vegetables position-restricted housing, motor-position-restricted housing connection frame, direct current generator, baffle, saw blade, motor-extension bar connecting rod, extension bar.Round shape fruits and vegetables position-restricted housing can the position to fruits and vegetables carry out limit and carpopodium is directed in the cut coverage of the diced system formed by direct current generator, motor-extension bar connecting rod and extension bar, carry out picking operation.The utility model has mechanical structure simple and compact, applied widely, the high advantage of serious forgiveness.
Description
Technical field
The utility model relates to agricultural mechanical field, in particular to a kind of round shape terminal executor of fruit and vegetable picking robot.
Background technique
China is a large agricultural country, and annual fruits and vegetables yield is huge.The collecting period of fruits and vegetables is generally shorter, and China's fruits and vegetables are adopted
The degree of automation plucked is very low, most of to pick work all by being accomplished manually.The at high cost, operating efficiency manually picked is low,
Labor intensity is high, fruit and vegetable picking big especially for cultivated area and high fruit bearing rate, such as tomato, circle green pepper, citrus etc., needs
More labours are put into complete picking work.But the current more and more agricultural workforces in China are gradually transferred to other
The problem of industry, human resources deficiency is increasingly serious, if cannot pick in time after fruits and vegetables are mature, certainly will will cause certain warp
Ji loss.In the case where agricultural workforce is constantly reduced, the development of fruit and vegetable picking machine can be improved labor efficiency, reduce
Productivity is the inevitable choice that China develops in agriculture field from now on.
In terms of fruit and vegetable picking, a big chunk fruits and vegetables can use same machine, it is only necessary to replace different ends
Actuator, therefore the quality of end effector designs, the picking for being largely fixed picking machine are horizontal.Patent of invention
" spheral fruit picking end effector " (Publication No. CN104365278B), by rack, drive transmission device, guide sleeve machine
Structure, cutting mechanism, grasping mechanism composition；Working principle is rotated forward by motor, and the capstan winch being mounted on transmission shaft is driven to rotate forward,
Pull rope that acting force of the spring is overcome to move downward, grasping mechanism and cutting mechanism are performed simultaneously crawl and cutoff action；It has
The advantages of structure is easier, carries out when clamping with plane of shear；It, cannot be well but since shearing mechanism opening amplitude is too small
Guarantee that carpopodium can be precisely located in shearing mechanism, so that the ratio of picking failure can substantially increase, but, if by high-precision
The identification and control of degree make up this defect, and machine manufacturing cost will certainly be made to be significantly increased, and applicability is not strong.
Summary of the invention
The purpose of the utility model is to overcome disadvantages existing in the prior art, provide a kind of round shape fruit and vegetable picking machine
People's end effector reduces the difficulty of fruit and vegetable picking, improves the efficiency of fruit and vegetable picking.
The another object of the utility model is to provide a kind of reality of above-mentioned round shape terminal executor of fruit and vegetable picking robot
Existing method.
The purpose of this utility model is achieved through the following technical solutions:
A kind of round shape terminal executor of fruit and vegetable picking robot, including round shape fruits and vegetables position-restricted housing 1, motor-position-restricted housing
Connection frame 2, direct current generator 3, baffle 4, saw blade 5, motor-extension bar connecting rod 6, extension bar 7；Round shape fruits and vegetables position-restricted housing 1 is end
Actuator main body is held, plays the role of picking and limits fruits and vegetables moving range；Motor-position-restricted housing connection frame 2 is connected by bolt
Fixed direct current generator 3 is connect, and round shape fruits and vegetables position-restricted housing 1 is bolted；Baffle 4 is located at motor-extension bar connecting rod 6 and connects
The top of bar 7 is fixed on round shape fruits and vegetables position-restricted housing 1 by screw, and effect is to prevent motor-extension bar connecting rod 6 and connect
Bar 7 directly collides with picked fruits and vegetables；Saw blade 5 is connected through a screw thread to be connected with extension bar 7, and effect, which is turned off, is picked
The carpopodium of fruits and vegetables；Motor-extension bar connecting rod 6 head end is connect with extension bar 7, motor-extension bar connecting rod 6 tail end and direct current
Machine 3 is connected；The head end of extension bar 7 is connect with saw blade 5, and the tail end of extension bar 7 is connect with motor-extension bar connecting rod 6.
The upper end of round shape fruits and vegetables position-restricted housing 1 is provided with the V-shaped groove for guiding carpopodium, is the V-shaped knot to smoothly transit
Structure；The bottom of round shape fruits and vegetables position-restricted housing 1 is provided with 1 or more round shape through-hole, for lead fruit pipe 9 and connected by band 8
It connects.
A kind of implementation method of round shape terminal executor of fruit and vegetable picking robot is using above-mentioned round shape picking robot end
It holds actuator as executing agency, includes the following steps:
(1) picking robot controls round shape fruit and vegetable picking robot after identification navigates to the position of objective fruit
End effector reaches the lower section of objective fruit, manipulator slowly upper lift, make round shape terminal executor of fruit and vegetable picking robot from
Lower section is close to objective fruit；
(2) round shape fruits and vegetables position-restricted housing entangles objective fruit, is limited in objective fruit in round shape fruits and vegetables position-restricted housing,
Since round shape fruits and vegetables position-restricted housing is using the V-shaped structure to smoothly transit on a large scale, at round shape fruit and vegetable picking robot end
During the upper lift for holding actuator, the carpopodium of objective fruit slides into V-shaped structure under the action of its fruit self gravity automatically
In and be guided to the top of saw blade, into the cut coverage of saw blade；
(3) saw blade high-speed rotation under the drive of direct current generator generates the cutting force of cutting objective fruit carpopodium, target
Fruit carpopodium is cut off under the collective effect of its own fruit gravity and saw blade cutting force.
The utility model has the following advantages that compared with prior art and effect:
(1) structure of the utility model more concision and compact, cost is relatively low, is suitble to industrialization promotion；
(2) the carpopodium cutting based on identification fruit method, high reliablity may be implemented in the utility model；
(3) universality of the utility model is strong, is applicable to the picking of a variety of round shape fruits and vegetables；
(4) serious forgiveness of the utility model is higher, and V-shaped shell structure can be automatically positioned in the case where entangling fruits and vegetables
Carpopodium and direct into carpopodium in the cut coverage of saw blade is cut, therefore allows vision positioning and machinery positioning biggish
Position error.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model round shape terminal executor of fruit and vegetable picking robot.
Fig. 2 is the top view of the utility model round shape terminal executor of fruit and vegetable picking robot.
Fig. 3 is the utility model round shape terminal executor of fruit and vegetable picking robot and the connection schematic diagram for leading fruit pipe.
Fig. 4 is connection of the utility model round shape terminal executor of fruit and vegetable picking robot in tomato picking robot
Schematic diagram.
Fig. 5 is the structural schematic diagram of the round shape fruits and vegetables position-restricted housing of the utility model.
Fig. 6 is motor-position-restricted housing connection frame structural schematic diagram of the utility model.
Fig. 7 is the structural schematic diagram of the baffle of the utility model.
Wherein, 1, round shape fruits and vegetables position-restricted housing；2, motor-position-restricted housing connection frame；3, direct current generator；4, baffle；5, circle
Saw blade；6, motor-extension bar connecting rod；7, extension bar；8, band；9, fruit pipe is led.
Specific embodiment
Further detailed description is done to the utility model below with reference to embodiment, but the embodiments of the present invention is not
It is limited to this.
Embodiment 1
A kind of round shape terminal executor of fruit and vegetable picking robot, as shown in Figure 1 and Figure 2, including round shape fruits and vegetables position-restricted housing 1,
Motor-position-restricted housing connection frame 2, direct current generator 3, baffle 4, saw blade 5, motor-extension bar connecting rod 6, extension bar 7；Such as Fig. 5 institute
Show, round shape fruits and vegetables position-restricted housing 1 is end effector main body, plays the role of picking and limits fruits and vegetables moving range, remaining zero
The connection of part is all based on this round shape fruits and vegetables position-restricted housing 1；As shown in fig. 6, motor-position-restricted housing connection frame 2 is bolted
Fixed direct current generator 3, and round shape fruits and vegetables position-restricted housing 1 is bolted；Connect as shown in fig. 7, baffle 4 is located at motor-extension bar
The top of extension bar 6 and extension bar 7 is fixed on round shape fruits and vegetables position-restricted housing 1 by screw, and effect is to prevent motor-extension bar from connecting
Extension bar 6 directly collides with picked fruits and vegetables with extension bar 7；Saw blade 5 is connected through a screw thread to be connected with extension bar 7, is located at extension bar
7 head end, effect are turned off the carpopodium of picked fruits and vegetables；Motor-extension bar connecting rod 6 head end is connect with extension bar 7, motor-
The tail end of extension bar connecting rod 6 is connected with direct current generator 3；The head end of extension bar 7 is connect with saw blade 5, the tail end and motor-of extension bar 7
Extension bar connecting rod 6 connects.The upper end of round shape fruits and vegetables position-restricted housing 1 is provided with the v-shaped slot for guiding carpopodium；The limit of round shape fruits and vegetables
The bottom of shell 1 is provided with 1 or more round shape through-hole, for lead fruit pipe 9 and be attached by band 8, as shown in Figure 3.
A kind of implementation method based on round shape terminal executor of fruit and vegetable picking robot is picked using based on above-mentioned round shape
End effector of robot is as executing agency, as shown in figure 4, the round shape fruit and vegetable picking robot end of the utility model is held
Row device is mounted in tomato picking robot, can be carried out the picking of tomato, be included the following steps:
(1) picking robot controls round shape fruit and vegetable picking robot after identification navigates to the position of objective fruit
End effector reaches the lower section of objective fruit, manipulator slowly upper lift, make round shape terminal executor of fruit and vegetable picking robot from
Lower section is close to objective fruit；
(2) round shape fruits and vegetables position-restricted housing entangles objective fruit, is limited in objective fruit in round shape fruits and vegetables position-restricted housing,
Since round shape fruits and vegetables position-restricted housing is using the V-shaped structure to smoothly transit on a large scale, therefore the carpopodium of objective fruit is in round shape fruits and vegetables
During being lifted on terminal executor of picking robot, slid into V-shaped structure automatically under the action of its fruit self gravity
And it is guided to the top of saw blade, into the cut coverage of saw blade；
(3) saw blade high-speed rotation under the drive of direct current generator generates the cutting force of cutting objective fruit carpopodium, target
Fruit carpopodium is cut off under the collective effect of its own fruit gravity and saw blade cutting force.
Similar, the round shape terminal executor of fruit and vegetable picking robot of the utility model can be mounted on different pickings
In robot.
Claims (2)
1. a kind of round shape terminal executor of fruit and vegetable picking robot, it is characterised in that: including round shape fruits and vegetables position-restricted housing, motor-
Position-restricted housing connection frame, direct current generator, baffle, saw blade, motor-extension bar connecting rod, extension bar；Round shape fruits and vegetables position-restricted housing is end
Actuator main body is held, plays the role of picking and limits fruits and vegetables moving range；Motor-position-restricted housing connection frame is bolted
Fixed direct current generator, and round shape fruits and vegetables position-restricted housing is bolted；Baffle is located at the upper of motor-extension bar connecting rod and extension bar
Side, is fixed on round shape fruits and vegetables position-restricted housing by screw, and effect is to prevent motor-extension bar connecting rod and extension bar directly and institute
Picking fruits and vegetables collide；Saw blade is connected through a screw thread to be connected with extension bar, and effect is turned off the carpopodium of picked fruits and vegetables；Electricity
Machine-extension bar connecting rod head end is connect with extension bar, and motor-extension bar connecting rod tail end is connected with direct current generator；The head end of extension bar
It is connect with saw blade, the tail end of extension bar is connect with motor-extension bar connecting rod.
2. round shape terminal executor of fruit and vegetable picking robot according to claim 1, it is characterised in that: the limit of round shape fruits and vegetables
The upper end of shell is provided with the V-shaped groove for guiding carpopodium, is the V-shaped structure to smoothly transit；Round shape fruits and vegetables position-restricted housing
Bottom is provided with 1 or more round shape through-hole, for lead fruit pipe and be attached by band.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821408221.2U CN209030625U (en) | 2018-08-28 | 2018-08-28 | A kind of round shape terminal executor of fruit and vegetable picking robot |
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| CN201821408221.2U CN209030625U (en) | 2018-08-28 | 2018-08-28 | A kind of round shape terminal executor of fruit and vegetable picking robot |
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| CN209030625U true CN209030625U (en) | 2019-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108848936A (en) * | 2018-08-28 | 2018-11-23 | 华南农业大学 | A kind of round shape terminal executor of fruit and vegetable picking robot and its implementation |
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2018
- 2018-08-28 CN CN201821408221.2U patent/CN209030625U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108848936A (en) * | 2018-08-28 | 2018-11-23 | 华南农业大学 | A kind of round shape terminal executor of fruit and vegetable picking robot and its implementation |
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