CN209218634U - A kind of circulating white asparagus selectivity harvesting end effector of robot of consumptive material - Google Patents
A kind of circulating white asparagus selectivity harvesting end effector of robot of consumptive material Download PDFInfo
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- CN209218634U CN209218634U CN201822125965.XU CN201822125965U CN209218634U CN 209218634 U CN209218634 U CN 209218634U CN 201822125965 U CN201822125965 U CN 201822125965U CN 209218634 U CN209218634 U CN 209218634U
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- fixed
- motor
- volume
- line
- recovering device
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Abstract
The utility model relates to a kind of circulating white asparagus of consumptive material selectively harvesting end effector of robot, including fixed frame, adjustment device, recovering device, circulator and control system.Fixed frame drives recovering device into and out soil for fixed adjustment device, recovering device, circulator and control system；It adjusts device and holds tightening for realizing the volume to white asparagus stem；Recovering device is held for realizing the shearing volume of dialogue asparagus root；Circulator holds the circulation of line for realizing shear line in recovering device and volume；Control system is for controlling entire end effector.The utility model is held substep using blade and volume and is acted, and the shearing of realization white asparagus root holds substep progress with stem's volume, while circulator effectively increases the service life and anti-wear ability of recovering device.
Description
Technical field
The utility model belongs to agricultural mechanical field, and it is last to be related to a kind of circulating white asparagus of consumptive material selectively harvesting robot
Hold actuator, realize white asparagus cut root, volume is held, the circulate operation of choose operation and recovering device and without backfill of cutting the earth.
Background technique
Asparagus is a kind of health-care nutritive top grade vegetables being loved by consumers.Asparagus also known as asparagus, are divided into Bai Lu
Bamboo shoot and green asparagus, and white asparagus contains more microelements, matter is tender delicious, and full of nutrition, unique flavor is known as " vegetables
King ", the good reputation of " one of big famous dish in the world ten ".
China's Asparagus Industry development in recent years is swift and violent, it has also become the first big asparagus producing country and exported country in the world.2011
Year, global asparagus harvest area is up to 1,460,000 hectares, and China's asparagus harvest area is up to 1,320,000 hectares, the 90% of Zhan Quanqiu.Bai Lu
Bamboo shoot harvest tool be mostly elongated asparagus knife, in addition the collecting time of white asparagus mostly in the morning the sun come out before or the dusk sun
After going down the hill, collecting time is concentrated, and recovery process is taken a lot of work more, heavy workload, therefore the efficiency of crop of current white asparagus is very low.
Through the literature search of existing technologies, Chinese invention patent " a kind of folder cut type white asparagus recovering device and is adopted
Receiving method " number of patent application 201610887545.8, using clamping cutting mode harvest white asparagus, this picking methods exist with
Under several aspects need to improve: 1. clamp that cutting action step is more, and Design of Mechanical Structure is complicated.2. cutting blade needs additional
Knife plate protection.3. being unable to improve the mechanical wear situation of cutter.For the situation that existing white asparagus harvesting tool falls behind, invention one
The circulating white asparagus of kind consumptive material selectively harvesting end effector of robot, utilizes the shifting of the mobile drive recovering device of fixed frame
The dynamic shearing for realizing white asparagus holds the volume of white asparagus by adjusting the movement realization of device, keeps job step more simple, fast
Victory improves harvest efficiency, the service life of equipment is significantly improved by circulator.
Utility model content
The utility model is existing insufficient for white asparagus harvesting, provides a kind of circulating white asparagus of consumptive material and selectively adopts
End effector of robot is received, realizes that the shearing of white asparagus root holds that substep carries out and the automatic of recovering device part follows with stem volume
Ring keeps job step more simple, quick, improves harvest efficiency.
The technical side that a kind of circulating white asparagus of consumptive material of the utility model selectively harvesting end effector of robot uses
Case includes: fixed frame, adjustment device, recovering device, circulator and control system.The fixed frame is a rectangular metal
Plate, for fix other devices realize recovering devices into and out soil；The adjustment device is fixed on fixed frame,
For realizing the adjustment of harvesting component；The recovering device be connected to adjustment device on, for realizing to asparagus shearing and
Volume is held；The circulator is fixed on fixed frame, and the circulation of line is held for realizing shear line in recovering device and volume；It is described
Control system be fixed on fixed frame, for controlling entire end effector；
The fixed frame includes a rectangular metal plate, for fixing recovering device, adjustment device, circulator and control
System processed drives recovering device into and out soil.
The adjustment device includes screw slider, lead screw guide rails, stepper motor, c-type conduit, inverted L shape conduit；Described
Lead screw guide rails, stepper motor are fixed on fixed frame；The screw slider is fixed in lead screw guide rails, is connected for band movable slider
Spindle movement；The c-type conduit is fixed on plane on screw slider, guides into for three volumes in sliding block connecting shaft to be held line
Volume holds the output shaft of line circulation motor；The inverted L shape conduit is fixed on plane on screw slider, and being used for will be in sliding block connecting shaft
A shear line guiding shear line circulation motor output shaft；
The recovering device includes fixing axle, sliding block connecting shaft, rolls up and hold line, shear line, bearing block；The fixing axle
There is the hollow metal axis of opening for side wall, is fixed on fixed frame by bearing block；The sliding block connecting shaft is that side wall has out
The hollow metal axis of mouth, upper end is fixed on screw slider；The volume holds line by there is the elastic material of one fixed width to be made, position
At the sidewall opening that recovering device middle and lower part both ends are separately fixed at fixing axle and sliding block connecting shaft；The shear line is to have
The wire of certain rigidity, is individually fixed at fixing axle and sliding block connecting shaft pivot positioned at recovering device bottom both ends；
The circulator includes that shear line circulation motor and volume hold line circulation motor；The shear line circulation motor
In fixed frame, a shear line is wound on output shaft, motor rotation drives shear line rotation；The volume holds line circulation electricity
Machine winds three volumes in fixed frame, on output shaft and holds line, and motor rotation drives volume to hold line rotation；
The control system includes control cabinet, controller, motor driver, power supply；The control cabinet includes control
Device, motor driver, are fixed on the rack, and mainly realize the functions such as motor control, communication；The controller can be by monolithic
Machine, microprocessor, industrial personal computer etc. other have same processing capacity equipment and I/O driving interface circuit and constitute；The motor
Driver selects the AC and DC motor driver, stepper motor driver, servo motor of different model to drive according to motor type
Dynamic device etc. receives the control signal issued by controller, driving motor rotation；The power supply can mention for the work of control system
For electric energy.
Compared with present technology, the utility model has the following beneficial effects:
1, the utility model, using two axis bottom shear wire cutting white asparagus roots, is utilized using rolling collecting method is cut
Sliding block connects axial fixing axle and realizes that white asparagus volume is held close to holding line own resilient by volume, compared to harvest white asparagus manually, saves
Multiple cumbersome harvesting steps are gone.
2, the volume in recovering device used by the utility model holds line using nonrigid material, avoids generating white asparagus
Mechanical injuries.
3, circulator used by the utility model can effectively reduce the mechanical wear that shearing part holds part with volume, mention
High service life of equipment.
Detailed description of the invention
Fig. 1 is a kind of circulating white asparagus of consumptive material selectively harvesting end effector of robot main view
Fig. 2 is a kind of circulating white asparagus of consumptive material selectively harvesting end effector of robot axonometric drawing
Fig. 3 is a kind of circulating white asparagus of consumptive material selectively harvesting end effector of robot split axle mapping
Fig. 4 is a kind of circulating white asparagus of consumptive material selectively harvesting end effector of robot control system figure
In figure: 1, control system 2, fixed frame 3, adjustment device 4, recovering device 5, circulator 6, stepper motor
7, lead screw guide rails 8, screw slider 9, inverted L shape conduit 10, c-type conduit 11, sliding block connecting shaft 12, volume are held line 13, are fixed
Axis 14, shear line 15, bearing block 16, shear line circulation motor 17, volume hold line circulation motor
Specific embodiment
The utility model patent is described further with reference to the accompanying drawing.As shown in Figure 1, 2, 3, the utility model one
The circulating white asparagus of kind consumptive material selectively harvesting end effector of robot includes fixed frame, adjustment device, recovering device, circulation
Device and control system.
The fixed frame (2) includes a rectangular metal plate, for fixing recovering device (4), adjustment device (3), following
Loop device (5) and control system (1) drive recovering device (4) into and out soil.
The adjustment device (3) include screw slider (8), lead screw guide rails (7), stepper motor (6), c-type conduit (10),
Inverted L shape conduit (9)；The lead screw guide rails (7), stepper motor (6) are fixed on fixed frame (2)；The screw slider (8)
It is fixed on lead screw guide rails (7), is moved for band movable slider connecting shaft (11)；It is sliding that the c-type conduit (10) is fixed on lead screw
Plane on block (8) guides volume into for three in sliding block connecting shaft (11) volumes to be held line (12) and holds the defeated of line circulation motor (17)
Shaft；The inverted L shape conduit (9) is fixed on plane on screw slider (8), for cutting one in sliding block connecting shaft (11)
Tangent line (14) is oriented to the output shaft of shear line circulation motor (16)；
The recovering device (4) include fixing axle (13), sliding block connecting shaft (11), volume hold line (12), shear line (14),
Bearing block (15)；The fixing axle (13) is the hollow metal axis that side wall has opening, is fixed on fixation by bearing block (15)
On frame (2)；The sliding block connecting shaft (11) is the hollow metal axis that side wall has opening, and upper end is fixed on screw slider (8)；
The volume holds line (12) by there is the elastic material of one fixed width to be made, and is located at recovering device (4) middle and lower part both ends and fixes respectively
At the sidewall opening of fixing axle (13) and sliding block connecting shaft (11)；The shear line (14) is the metal for having certain rigidity
Silk is located at recovering device (4) bottom both ends and is individually fixed at fixing axle (13) and sliding block connecting shaft (11) pivot；
The circulator (5) includes that shear line circulation motor (16) and volume hold line circulation motor (17)；Described cuts
Tangent line circulation motor (16) winds a shear line (14) in fixed frame (2) on output shaft, motor rotation drives shear line
(14) it rotates；The volume holds line circulation motor (17) in fixed frame (2), and three volumes are wound on output shaft and hold line (12),
Motor rotation drives volume to hold line (12) rotation；
The control system (1) includes control cabinet, controller, motor driver, power supply；The control cabinet includes control
Device processed, motor driver, are fixed on fixed frame (2), mainly realize the functions such as motor control, communication；The controller can
By single-chip microcontroller, microprocessor, industrial personal computer etc., other have same processing capacity equipment and I/O driving interface circuit is constituted；It is described
Motor driver, according to motor type select different model AC and DC motor driver, stepper motor driver, servo
Motor driver etc. receives the control signal issued by controller, driving motor rotation；The power supply can be control system
(1) work provides electric energy.
Claims (1)
1. a kind of circulating white asparagus of consumptive material selectively harvesting end effector of robot, it is characterised in that including fixed frame, adjust
Engagement positions, recovering device, circulator and control system composition；
The fixed frame is a rectangular solid metal plate, for fixed adjustment device, recovering device, circulator and control
System drives recovering device to realize into and out soil；The adjustment device is fixed on fixed frame, for realizing adopting
Receive the adjustment of component；The recovering device be connected to adjustment device on, for realizing to asparagus shearing and volume hold；Described
Circulator is fixed on fixed frame, and the circulation of line is held for realizing shear line in recovering device and volume；The control system
It is fixed on fixed frame, for controlling entire recovering device；
The adjustment device includes screw slider, lead screw guide rails, stepper motor, c-type conduit, inverted L shape conduit；The lead screw
Guide rail, stepper motor are fixed on fixed frame；The screw slider is fixed in lead screw guide rails, for band movable slider connecting shaft
Movement；The c-type conduit is fixed on plane on screw slider, holds for three volumes in sliding block connecting shaft to be held line guiding volume
The output shaft of line circulation motor；The inverted L shape conduit is fixed on plane on screw slider, for by one in sliding block connecting shaft
The output shaft of root shear line guiding shear line circulation motor；
The recovering device includes fixing axle, sliding block connecting shaft, rolls up and hold line, shear line, bearing block；The fixing axle is side
Wall has the hollow metal axis of opening, is fixed on fixed frame by bearing block；The sliding block connecting shaft is that side wall has opening
Hollow metal axis, upper end are fixed on screw slider；The volume holds line by there is the elastic material of one fixed width to be made, positioned at adopting
Receiving apparatus middle and lower part both ends are separately fixed at the sidewall opening of fixing axle and sliding block connecting shaft；The shear line is to have centainly
The wire of rigidity is individually fixed at fixing axle and sliding block connecting shaft pivot positioned at recovering device bottom both ends；
The circulator includes that shear line circulation motor and volume hold line circulation motor；The shear line circulation motor is embedded in
In fixed frame, a shear line is wound on output shaft, motor rotation drives shear line rotation；It is embedding that the volume holds line circulation motor
Three volumes are wound in fixed frame, on output shaft and hold line, and motor rotation drives volume to hold line rotation；
The control system includes control cabinet, controller, motor driver, power supply；The control cabinet is fixed on the rack,
Realize motor control and communication function；The controller is by single-chip microcontroller, microprocessor or industrial personal computer and I/O driving interface circuit
It constitutes；The motor driver selects the AC and DC motor driver of different model, stepper motor to drive according to motor type
Dynamic device or motor servo driver receive the control signal issued by controller, driving motor rotation；The power supply is control
The work of system provides electric energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822125965.XU CN209218634U (en) | 2018-12-18 | 2018-12-18 | A kind of circulating white asparagus selectivity harvesting end effector of robot of consumptive material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822125965.XU CN209218634U (en) | 2018-12-18 | 2018-12-18 | A kind of circulating white asparagus selectivity harvesting end effector of robot of consumptive material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209218634U true CN209218634U (en) | 2019-08-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822125965.XU Withdrawn - After Issue CN209218634U (en) | 2018-12-18 | 2018-12-18 | A kind of circulating white asparagus selectivity harvesting end effector of robot of consumptive material |
Country Status (1)
| Country | Link |
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| CN (1) | CN209218634U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328634A (en) * | 2018-12-18 | 2019-02-15 | 山东农业大学 | A kind of circulating white asparagus of consumptive material is selective to harvest end effector of robot and collecting method |
-
2018
- 2018-12-18 CN CN201822125965.XU patent/CN209218634U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328634A (en) * | 2018-12-18 | 2019-02-15 | 山东农业大学 | A kind of circulating white asparagus of consumptive material is selective to harvest end effector of robot and collecting method |
| CN109328634B (en) * | 2018-12-18 | 2023-10-20 | 山东农业大学 | Consumable circulating type white asparagus selective harvesting robot end effector and harvesting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190809 Effective date of abandoning: 20231020 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190809 Effective date of abandoning: 20231020 |