CN209546341U - A kind of citrus picking human body auxiliary end effector - Google Patents
A kind of citrus picking human body auxiliary end effector Download PDFInfo
- Publication number
- CN209546341U CN209546341U CN201821744927.6U CN201821744927U CN209546341U CN 209546341 U CN209546341 U CN 209546341U CN 201821744927 U CN201821744927 U CN 201821744927U CN 209546341 U CN209546341 U CN 209546341U
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- CN
- China
- Prior art keywords
- main shaft
- helical gear
- grabbing claw
- saw blade
- staggeredly
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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The utility model relates to fruits picking mechanical fields, and in particular to a kind of citrus picking human body auxiliary end effector, including transmission mechanism, cutting mechanism and grasping mechanism；The transmission mechanism includes the first main shaft, the second main shaft, spur bevel gear to, staggeredly helical gears pair of third main shaft, the 4th main shaft and 3 pairs, the cutting mechanism includes circular saw blade, the circular saw blade respectively with second the first output shaft that staggeredly helical gear connect the end of, the three the second staggeredly helical gears pair, the rotation connection of the second output shaft；The grasping mechanism includes big grabbing claw, small grabbing claw and clamping plate, and the clamping plate is bolted to connection with big grabbing claw, small grabbing claw；Citrus carpopodium is combed to circular saw blade by three grippers, circular saw blade can be transferred power to by motor as power source by shaft, a pair of of spur bevel gear and three pairs of staggered gears, be cut off citrus carpopodium by the rotation of circular saw blade.
Description
Technical field
The utility model relates to fruits picking mechanical fields, and in particular to a kind of citrus picking human body auxiliary end executes
Device.
Background technique
The larger picking of this kind of fruit per mu yield quantity of Citrus is executed with greater need for huge manpower, picking fruit end is expended
Device is that the critical component of agricultural picking has the superiority and inferiority of picking fruit quality since it directly carries out crawl picking to fruit
It is direct to influence.Since the physical characteristic of fruit itself differs greatly, picking end effector general at present has destructible
The disadvantages such as fruit surface and crawl accuracy rate are low.
Utility model content
To solve the above problems, the utility model provides a kind of citrus picking human body auxiliary end effector.Pass through three
Gripper combs citrus carpopodium to circular saw blade, can be by motor as power source, by shaft, a pair of of spur bevel gear
Circular saw blade is transferred power to three pairs of staggered gears, is cut off citrus carpopodium by the rotation of circular saw blade.
A kind of citrus picking human body provided by the utility model assists end effector, including transmission mechanism, cutting mechanism
And grasping mechanism；
The transmission mechanism includes that the first main shaft, the second main shaft, spur bevel gear are staggeredly oblique to, third main shaft, first
Staggeredly helical gear pair and third are interlocked helical gear pair for gear mesh, the 4th main shaft, second, and one end of first main shaft passes through bullet
Property shaft coupling be connected with one end of second main shaft, the spur bevel gear is to including active spur bevel gear and driven
Spur bevel gear, the active spur bevel gear are engaged with the driven spur bevel gear, second main shaft it is another
One end is equipped with the active spur bevel gear, and the driven spur bevel gear is mounted on one end of the third main shaft,
Described first staggeredly helical gear to include actively first staggeredly helical gear with driven first staggeredly helical gear, the active first are handed over
Wrong helical gear with described driven first staggeredly helical gear engage, the other end of the third main shaft is equipped with the active first friendship
Wrong helical gear, described driven first staggeredly helical gear be mounted in the middle part of the 4th main shaft, the 4th main shaft both ends connect respectively
Be connected to described second staggeredly the driving wheel of helical gear pair, the third interlock the driving wheel of helical gear pair, described second is staggeredly oblique
The driven wheel of gear mesh connects one end of the first output shaft, and the interlock driven wheel of helical gear pair of the third connects the second output shaft
One end；
The cutting mechanism includes circular saw blade, the circular saw blade respectively with first output shaft, the second output shaft
One end rotation connection；
The grasping mechanism includes big grabbing claw, small grabbing claw and clamping plate, the big grabbing claw and the small grabbing claw
Upper end is provided with groove, and the clamping plate is inserted into the groove, and passes through bolt with the big grabbing claw, the small grabbing claw
It is fixedly connected.
As a kind of improvement of the utility model, the clamping plate includes upper clamp plate and lower clamp plate, first output shaft,
Two output shafts both pass through upper clamp plate, and the circular saw blade is between the upper clamp plate and the lower clamp plate.
As a kind of improvement of the utility model, the quantity of the big grabbing claw is 2, and is set to the two of the clamping plate
Side, the small grabbing claw are set to the middle part of the clamping plate.
As a kind of improvement of the utility model, the circular saw blade be located at the big grabbing claw and the small grabbing claw it
Between.
As a kind of improvement of the utility model, first main shaft, the second main shaft are fixed on L type branch by bearing holder (housing, cover)
On one end face of fagging, the third main shaft is fixed on the other end of L-type support plate by bearing holder (housing, cover).
As a kind of improvement of the utility model, described second staggeredly helical gear interlock helical gear to fixed to, third
In the groove of U-shaped support plate, the U-shaped support plate is fixed on an end face of L-type support plate, and with third main shaft position
In on same plane.
The utility model has the beneficial effects that crawl unguiculus separates branch, big grabbing claw collapses branch in saw blade direction,
Crawl accuracy rate can be promoted and be not easy to break fruit；It secondly can be by motor as power source, by shaft, a pair of of straight bevel
Gear and three pairs of staggered gears transfer power to circular saw blade, are cut off citrus branch by the rotation of circular saw blade, realize
The picking of citrus.
Detailed description of the invention
Fig. 1 is the perspective view of the front of the utility model:
Fig. 2 is the perspective view of the utility model；
Fig. 3 is the utility model side view；
Attached drawing mark: 1- transmission mechanism；The first main shaft of 11-；The second main shaft of 12-；13- spur bevel gear pair；131- master
Dynamic spur bevel gear；The driven spur bevel gear of 132-；14- third main shaft；15- first interlock helical gear pair；151- is actively
First staggeredly helical gear；152- driven first interlock helical gear；The 4th main shaft of 16-；17- second interlock helical gear pair；171-
One output shaft；18- third is interlocked helical gear pair；The second output shaft of 181-；2- cutting mechanism；21- circular saw blade；3- gripper
Structure；The big grabbing claw of 31-；The small grabbing claw of 32-；33- clamping plate；331- upper clamp plate；332- lower clamp plate；4- groove；5-L type support plate；
6-U type support plate.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.
As shown in Figure 1-3, a kind of the utility model citrus picking human body assists end effector, including transmission mechanism 1, cut
Cutting mill structure 2 and grasping mechanism 3；The transmission mechanism 1 includes the first main shaft 11, the second main shaft 12, spur bevel gear pair
13, third main shaft 14, first interlocks, and staggeredly helical gear is staggeredly oblique to 17 and third to the 15, the 4th main shaft 16, second for helical gear
One end of gear mesh 18, first main shaft 11 is connected by yielding coupling with one end of second main shaft 12, described straight
Tooth conical gear includes active spur bevel gear 131 and driven spur bevel gear 132, the active straight bevel tooth to 13
Wheel 131 is engaged with the driven spur bevel gear 132, and the other end of second main shaft 12 is equipped with the active straight-tooth circle
Bevel gear 131, the driven spur bevel gear 132 are mounted on one end of the third main shaft 14, the described first staggeredly helical teeth
Wheel to 15 include actively first staggeredly helical gear 151 with driven first staggeredly helical gear 152, the active first interlock helical gear
151 with described driven first staggeredly helical gear 152 engage, the other end of the third main shaft 14 is equipped with the active first
Staggeredly helical gear 151, described driven first staggeredly helical gear 152 be mounted on 16 middle part of the 4th main shaft, the 4th main shaft
16 both ends be connected separately with described second staggeredly helical gear to 17 driving wheel, the third interlocks active of the helical gear to 18
Wheel, described second staggeredly helical gear one end of the first output shaft 171 is connected to 17 driven wheel, the third is interlocked helical gear pair
18 driven wheel connects one end of the second output shaft 181；The cutting mechanism 2 includes circular saw blade 21, the circular saw blade 21
It is rotatablely connected respectively with one end of first output shaft 171, the second output shaft 181；The grasping mechanism 3 includes big crawl
Pawl 31, small grabbing claw 32 and clamping plate 33, the big grabbing claw 31 and 32 upper end of small grabbing claw are provided with groove 4, described
Clamping plate 33 is inserted into the groove 4, and is bolted to connection with the big grabbing claw 31, the small grabbing claw 32.It is logical
Three grabbing claws are crossed to grab citrus carpopodium to circular saw blade, it can be by motor as power source, by shaft, a pair of of straight-tooth circle
Bevel gear and three pairs of staggered gears transfer power to circular saw blade, are cut off citrus carpopodium by the rotation of circular saw blade.
In the present embodiment, the clamping plate 33 includes upper clamp plate 331 and lower clamp plate 332, first output shaft 171, the
Two output shafts 181 both pass through upper clamp plate 331, the circular saw blade 21 be located at the upper clamp plate 331 and the lower clamp plate 332 it
Between.Saw blade is protected by two clamping plates, can only expose the cutting that sub-fraction carries out carpopodium.
In the present embodiment, the quantity of the big grabbing claw 31 is 2, and is set to the two sides of the clamping plate 33, described
Small grabbing claw 32 is set to the middle part of the clamping plate 33.Crawl unguiculus separates branch, and big grabbing claw collapses branch in saw blade
Direction can promote crawl accuracy rate and be not easy to break fruit.
In the present embodiment, the circular saw blade 21 is between the big grabbing claw 31 and the small grabbing claw 32.It is logical
Three grippers are crossed to comb citrus branch to circular saw blade.
In the present embodiment, first main shaft 11, the second main shaft 12 are fixed on the one of L-type support plate 5 by bearing holder (housing, cover)
On end face, the third main shaft 14 is fixed on the other end of L-type support plate 5 by bearing holder (housing, cover).By the first main shaft, the second master
Axis, third main shaft are fixed on actuator, and make the spur bevel gear connecting with the second main shaft, third main shaft to can
Carry out right-angle steering power transmission.
In the present embodiment, described second staggeredly helical gear U-shaped branch is each attached to 18 to 17, the third helical gear that interlocks
In the groove of fagging 6, the U-shaped support plate 6 is fixed on an end face of L-type support plate 5, and is located at the third main shaft 14
On same plane.By second staggeredly helical gear, the third helical gear that interlocks is fixed on actuator.
When specific works, motor is loaded onto as power source in the first main the tip of the axis, motor drives the first main axis, the
One main shaft by power by transmission mechanism be eventually transferred to the first output shaft, second output the tip of the axis, drive the first output shaft,
The circular saw blade rotation that second output shaft is connected；Size grabbing claw combs the branch for having citrusfruit attached to circular saw blade
Closely,, can be sawed-off by branch using the advantage rotated inwards after circular saw blade contacts branch, retain citrus carpopodium, realizes mandarin orange
The picking of tangerine.
Finally, it is stated that above be only described in detail explanation to the utility model specific embodiment.But this is practical new
Type is not restricted to above description specific embodiment.The equivalent modifications and replace that those skilled in the art carries out the utility model
In generation, is also all among the scope of the utility model.Therefore, the made equalization under the spirit and scope for not departing from the utility model
Transformation and modification, all cover in the scope of the utility model.
Claims (6)
1. a kind of citrus picking human body assists end effector, it is characterised in that:
Including transmission mechanism (1), cutting mechanism (2) and grasping mechanism (3)；
The transmission mechanism (1) includes the first main shaft (11), the second main shaft (12), spur bevel gear to (13), third main shaft
(14), first staggeredly to (15), the 4th main shaft (16), second, staggeredly helical gear interlocks helical gear to (17) and third to helical gear
To (18), one end of first main shaft (11) is connected by yielding coupling with one end of second main shaft (12), described
Spur bevel gear includes active spur bevel gear (131) and driven spur bevel gear (132) to (13), and the active is straight
Tooth conical gear (131) is engaged with the driven spur bevel gear (132), and the other end of second main shaft (12) is equipped with
The active spur bevel gear (131), the driven spur bevel gear (132) are mounted on the one of the third main shaft (14)
End, described first staggeredly helical gear to (15) include actively first staggeredly helical gear (151) with driven first staggeredly helical gear
(152), the active first interlock helical gear (151) with described driven first interlock helical gear (152) engage, the third master
The other end of axis (14) be equipped with the active first interlock helical gear (151), described driven first staggeredly helical gear (152) peace
In the middle part of the 4th main shaft (16), the 4th main shaft (16) both ends are connected separately with the described second staggeredly helical gear pair
(17) driving wheel, the third interlock helical gear to the driving wheel of (18), and described second interlocks helical gear to the driven of (17)
One end of wheel connection the first output shaft (171), the third helical gear that interlocks connect the second output shaft to the driven wheel of (18)
(181) one end；
The cutting mechanism (2) includes circular saw blade (21), the circular saw blade (21) respectively with first output shaft
(171), one end rotation connection of the second output shaft (181)；
The grasping mechanism (3) includes big grabbing claw (31), small grabbing claw (32) and clamping plate (33), the big grabbing claw (31)
Be provided with groove (4) with small grabbing claw (32) upper end, the clamping plate (33) is inserted into the groove (4), and with it is described big
Grabbing claw (31), the small grabbing claw (32) are bolted to connection.
2. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
The clamping plate (33) includes upper clamp plate (331) and lower clamp plate (332), first output shaft (171), the second output shaft
(181) both pass through upper clamp plate (331), the circular saw blade (21) be located at the upper clamp plate (331) and the lower clamp plate (332) it
Between.
3. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
The quantity of the big grabbing claw (31) is 2, and is set to the two sides of the clamping plate (33), and the small grabbing claw (32) sets
It is placed in the middle part of the clamping plate (33).
4. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
The circular saw blade (21) is between the big grabbing claw (31) and the small grabbing claw (32).
5. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
First main shaft (11), the second main shaft (12) are fixed on an end face of L-type support plate (5) by bearing holder (housing, cover), described
Third main shaft (14) is fixed on the other end of L-type support plate (5) by bearing holder (housing, cover).
6. a kind of citrus picking human body according to claim 1 assists end effector, it is characterised in that:
Described second staggeredly helical gear the grooves of U-shaped support plate (6) is each attached to (18) to (17), the third helical gear that interlocks
Interior, the U-shaped support plate (6) is fixed on an end face of L-type support plate (5), and with the third main shaft (14) positioned at same
In plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821744927.6U CN209546341U (en) | 2018-10-26 | 2018-10-26 | A kind of citrus picking human body auxiliary end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821744927.6U CN209546341U (en) | 2018-10-26 | 2018-10-26 | A kind of citrus picking human body auxiliary end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209546341U true CN209546341U (en) | 2019-10-29 |
Family
ID=68298141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821744927.6U Expired - Fee Related CN209546341U (en) | 2018-10-26 | 2018-10-26 | A kind of citrus picking human body auxiliary end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209546341U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328642A (en) * | 2018-10-26 | 2019-02-15 | 南昌大学 | A kind of citrus picking human body auxiliary end effector |
| CN110892822A (en) * | 2019-12-27 | 2020-03-20 | 无为县万祠农机专业合作社 | Apple picking device |
-
2018
- 2018-10-26 CN CN201821744927.6U patent/CN209546341U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109328642A (en) * | 2018-10-26 | 2019-02-15 | 南昌大学 | A kind of citrus picking human body auxiliary end effector |
| CN109328642B (en) * | 2018-10-26 | 2024-01-02 | 南昌大学 | Human body auxiliary end effector is picked to oranges and tangerines |
| CN110892822A (en) * | 2019-12-27 | 2020-03-20 | 无为县万祠农机专业合作社 | Apple picking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191029 Termination date: 20201026 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |