CN209251096U - It is a kind of to cut rolling end effector suitable for white asparagus selectively harvesting robot - Google Patents
It is a kind of to cut rolling end effector suitable for white asparagus selectively harvesting robot Download PDFInfo
- Publication number
- CN209251096U CN209251096U CN201822125936.3U CN201822125936U CN209251096U CN 209251096 U CN209251096 U CN 209251096U CN 201822125936 U CN201822125936 U CN 201822125936U CN 209251096 U CN209251096 U CN 209251096U
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- fixed
- motor
- recovering device
- shaft
- asparagus
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Abstract
Rolling end effector, including fixed frame, adjustment device, recovering device and control system are cut suitable for white asparagus selectively harvesting robot the utility model relates to a kind of.Fixed frame drives recovering device into and out soil for fixed adjustment device, recovering device 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；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.
Description
Technical field
The utility model belongs to agricultural mechanical field, is related to a kind of cutting volume suitable for white asparagus selectively harvesting robot
Formula end effector, realize white asparagus cut root, volume hold, choose operation and without cut the earth backfill.
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. recovery process middle clamp plate can generate mechanical injuries to white asparagus.Fall behind for existing white asparagus harvesting tool
Situation, invent a kind of white asparagus selectively harvesting end effector of robot, utilize the mobile drive recovering device of fixed frame
Mobile realization white asparagus shearing, by adjusting device movement realization the volume of white asparagus is held, keep job step more simple
It is single, quick, improve harvest efficiency.
Utility model content
The utility model is existing insufficient for white asparagus harvesting, provides a kind of white asparagus selectivity harvesting robot end
Actuator is held, keeps job step more simple, quick, improves harvest efficiency.
A kind of skill for cutting the use of rolling end effector suitable for white asparagus selectively harvesting robot of the utility model
Art scheme includes: fixed frame, adjustment device, recovering device and control system.The fixed frame is a rectangular metal plate, is used
In the other devices realization recovering devices of fixation into and out soil；The adjustment device is fixed on fixed frame, is used for
Realize the adjustment of harvesting component；The recovering device be connected to adjustment device on, for realizing to asparagus shearing and volume hold；
The control system is fixed on fixed frame, for controlling entire end effector.
The fixed frame includes a rectangular metal plate, for fixed adjustment device, recovering device and control system, band
Recovering device is moved into and out soil.
The adjustment device includes motor, shaft coupling, bearing block, screw slider, lead screw guide rails, stepper motor.It is described
Motor and bearing block be fixed on fixed frame；The shaft coupling both ends are separately connected in motor output shaft and recovering device
Rotary shaft；The lead screw guide rails, stepper motor are fixed on fixed frame；The screw slider is fixed in lead screw guide rails,
For driving the sliding block connecting shaft in recovering device to move.
The recovering device includes rotary shaft, sliding block connecting shaft, rolls up and hold line, shear line.The rotary shaft is side wall
There is the hollow metal axis of opening, is connected by shaft coupling with motor output shaft；The sliding block connecting shaft is that side wall has opening
Hollow metal axis, one end are fixed on screw slider；The volume is held line and is made of the flexible material of one fixed width, and harvesting is located at
Device middle and lower part both ends are separately fixed at the sidewall opening of rotary shaft and sliding block connecting shaft；The shear line is to have centainly just
The wire of property, is individually fixed in rotary shaft and sliding block connecting shaft pivot positioned at recovering device bottom both ends.
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 connect rotational axial shaft close to rotary shaft rotate tightening volume hold line realize white asparagus volume hold, compared to manually harvest white asparagus,
Eliminate multiple cumbersome harvesting steps.
2, the volume in recovering device used by the utility model, which holds line, can be used nonrigid material, avoid producing white asparagus
Raw mechanical injuries.
3, the utility model is easy to use, low in cost, easy to maintenance.
Detailed description of the invention
Fig. 1 cuts rolling end effector main view suitable for white asparagus selectively harvesting robot to be a kind of
Fig. 2 cuts rolling end effector axonometric drawing suitable for white asparagus selectively harvesting robot to be a kind of
Fig. 3 cuts rolling end effector left view suitable for white asparagus selectively harvesting robot to be a kind of
Fig. 4 cuts rolling end effector control system figure suitable for white asparagus selectively harvesting robot to be a kind of
In figure: 1, fixed frame 2, adjustment device 3, recovering device 4, control system 5, motor 6, shaft coupling 7, bearing
Seat 8, screw slider 9, lead screw guide rails 10, stepper motor 11, volume hold line 12, rotary shaft 13, sliding block connecting shaft 14, cut
Tangent line
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 rolling end effector of cutting that kind is suitable for white asparagus selectively harvesting robot includes fixed frame, adjustment device, recovering device
And control system.
The fixed frame (1) is a rectangular solid metal plate, for realizing recovering device into and out soil；
The adjustment device (2) is fixed on fixed frame (1), for realizing the adjustment of harvesting component；The recovering device (3) is even
Connect adjustment device (2) on, for realizing to asparagus shearing and volume hold.
The adjustment device (2) includes: that motor (5), shaft coupling (6), bearing block (7), screw slider (8), lead screw are led
Rail (9), stepper motor (10).The motor (5) and bearing block (7) is fixed on fixed frame (1)；The shaft coupling (6)
Both ends are separately connected motor output shaft and rotary shaft (12)；The lead screw guide rails (9), stepper motor (10) are fixed on fixed frame
(1) on；The screw slider (8) is fixed on lead screw guide rails (9), is moved for band movable slider connecting shaft (13).
The recovering device (3) includes: rotary shaft (12), sliding block connecting shaft (13), rolls up and hold line (11), shear line
(14).The rotary shaft (12) is the hollow metal axis that side wall has opening, is connected by shaft coupling (6) with motor output shaft；
The sliding block connecting shaft (13) is the hollow metal axis that side wall has opening, and one end is fixed on screw slider (8)；The volume
It holds line (11) to be made of the flexible material of one fixed width, is located at recovering device (3) middle and lower part both ends and is separately fixed at rotary shaft
(12) and at the sidewall opening of sliding block connecting shaft (13)；The shear line (14) is the wire for having certain rigidity, positioned at adopting
Receiving apparatus (3) bottom both ends are individually fixed in rotary shaft (12) and sliding block connecting shaft (13) pivot.
The control system (4) includes control cabinet, controller, motor driver, power supply.The control cabinet includes control
Device processed, motor driver, are fixed on fixed frame (1), 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
(4) work provides electric energy.
Claims (1)
1. a kind of cut rolling end effector suitable for white asparagus selectively harvesting robot, it is characterised in that including fixation
Frame, adjustment device, recovering device and control system composition；
The fixed frame is a rectangular solid metal plate, for fixed adjustment device, recovering device and control system, is driven
Recovering device is into and out soil；The adjustment device is fixed on fixed frame, for realizing the adjustment of recovering device；Institute
The recovering device stated be connected to adjustment device on, for realizing to asparagus shearing and volume hold；
The adjustment device includes motor, shaft coupling, bearing block, screw slider, lead screw guide rails, stepper motor；The electricity
Machine and bearing block are fixed on fixed frame；The shaft coupling both ends are separately connected motor output shaft and rotary shaft；The silk
Thick stick guide rail, stepper motor are fixed on fixed frame；The screw slider is fixed in lead screw guide rails, is connected for band movable slider
Axis movement；
The recovering device includes rotary shaft, sliding block connecting shaft, rolls up and hold line, shear line；The rotary shaft is that side wall has out
The hollow metal axis of mouth, is connected by shaft coupling with motor output shaft；The sliding block connecting shaft is that side wall has the hollow of opening
Metal shaft, one end are fixed on screw slider；The volume is held line and is made of the flexible material of one fixed width, and recovering device is located at
Middle and lower part both ends are separately fixed at the sidewall opening of rotary shaft and sliding block connecting shaft；The shear line is to have certain rigidity
Wire is individually fixed in rotary shaft and sliding block connecting shaft pivot positioned at recovering device bottom both ends；
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 |
|---|---|---|---|
| CN201822125936.3U CN209251096U (en) | 2018-12-18 | 2018-12-18 | It is a kind of to cut rolling end effector suitable for white asparagus selectively harvesting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822125936.3U CN209251096U (en) | 2018-12-18 | 2018-12-18 | It is a kind of to cut rolling end effector suitable for white asparagus selectively harvesting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209251096U true CN209251096U (en) | 2019-08-16 |
Family
ID=67560002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822125936.3U Withdrawn - After Issue CN209251096U (en) | 2018-12-18 | 2018-12-18 | It is a kind of to cut rolling end effector suitable for white asparagus selectively harvesting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209251096U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328633A (en) * | 2018-12-18 | 2019-02-15 | 山东农业大学 | It is a kind of to cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot |
-
2018
- 2018-12-18 CN CN201822125936.3U patent/CN209251096U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328633A (en) * | 2018-12-18 | 2019-02-15 | 山东农业大学 | It is a kind of to cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190816 Effective date of abandoning: 20230725 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190816 Effective date of abandoning: 20230725 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |