CN210298585U - Feedback holding type picking head - Google Patents
Feedback holding type picking head Download PDFInfo
- Publication number
- CN210298585U CN210298585U CN201921260089.XU CN201921260089U CN210298585U CN 210298585 U CN210298585 U CN 210298585U CN 201921260089 U CN201921260089 U CN 201921260089U CN 210298585 U CN210298585 U CN 210298585U
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- Prior art keywords
- suction
- picking
- pressure
- suction pipe
- picking head
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- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000007789 sealing Methods 0.000 claims description 7
- 238000009530 blood pressure measurement Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 239000010902 straw Substances 0.000 abstract description 9
- 239000000428 dust Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 8
- 235000012055 fruits and vegetables Nutrition 0.000 description 7
- 235000013399 edible fruits Nutrition 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 235000013311 vegetables Nutrition 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model discloses a feedback holding type picking head, which comprises a suction pipe, wherein one end of the suction pipe is sealed, the other end is sleeved with a suction nozzle made of rubber, the suction pipe is respectively provided with an air suction port and a pressure detection port, and the pressure detection port is arranged between the air suction port and the suction nozzle; the suction opening is connected with a negative pressure device through a connector, a pressure sensor is installed on the pressure detection opening, and the pressure sensor and the negative pressure device are both electrically connected with the controller. The utility model discloses a negative pressure device can the suction of dynamic adjustment dust catcher fan in order to adjust the pressure in the straw, because the pressure that the holding state of picking the device when picking the operation and finishing with picking all needs the difference avoids damaging the target crop. When the suction nozzle of the picking device is close to the target crop, the suction force is increased, the target crop can be sucked within a certain distance, and the tolerance rate is high.
Description
Technical Field
The utility model relates to a technical field is picked to agricultural product, concretely relates to feedback holding type picking head.
Background
The distance between south and north of China is 5500 kilometers, the latitude is nearly 50, and most regions are located in the middle latitude zone between north latitude 20 degrees and 50 degrees. The solar radiation conditions are better than in many similar places in the world where the average temperature is similar throughout the year. The suitable temperature and the good solar radiation enable the fruit and vegetable in China to be rich in yield and various in varieties. The picking of fruits and vegetables is a difficult problem. At present, fruit and vegetable picking is mainly divided into manual picking and mechanical arm picking.
Because the prior agricultural science and technology in China is underdeveloped, farmlands are mostly dispersed, the area of the farmlands is small, and fruit and vegetable picking is always a manual picking mode. Picking of fruits and vegetables is a long-time repeated work, so that the form of manual picking wastes both time and manpower. Along with the development of agriculture in China, the farmland is larger and larger in area and dense in layout, and the form of manual picking is not used in novel agriculture any more.
With the development of the automation technology in China and the wide application of the high and new agricultural technology, the form of mechanical arm picking is produced at the beginning. The arm can discern the fruit vegetables position through computer vision and carry out autonomic action, and the end of arm is equipped with terminal harvesting device usually, can carry out the accuracy to the fruit vegetables and pick. The mechanical arm picking is suitable for large-area long-time working, and the maturity and moth conditions of fruits and vegetables can be identified through a computer vision technology.
The clamping type picking in the prior art is bionic picking, the clamping type picking device simulates two fingers of a person, is a simplified hand device, simulates the picking process of the person, and has the advantages of multiple degrees of freedom and high clamping force. Although the gripping type picking is a simple picking method simulating a human hand, the gripping type picking does not have the touch feeling of the human hand and cannot perform pressure feedback well. The fingers of the picking device are rigid bodies, so that the target crops cannot be guaranteed not to be damaged in the operation, and the production quality is not deteriorated.
The suction picking device is in the form of a suction cup, which is usually used with a vacuum pump, with the suction opening of the vacuum pump being connected to the picking device to form the suction picking device. Since the suction type picking apparatus has no feedback device and the suction force of the air pump is not controllable, it cannot be ensured whether the suction force of the end suction cup is sufficient and whether the target crop is picked.
SUMMERY OF THE UTILITY MODEL
The above-mentioned not enough to prior art, the utility model provides a device is picked to the holding type that has negative feedback to the target object damage of picking little.
In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows:
the feedback holding type picking head comprises a suction pipe, wherein one end of the suction pipe is sealed, the other end of the suction pipe is sleeved with a suction nozzle made of rubber, an air suction opening and a pressure detection opening are respectively formed in the suction pipe, and the pressure detection opening is arranged between the air suction opening and the suction nozzle; the suction opening is connected with a negative pressure device through a connector, a pressure sensor is installed on the pressure detection opening, and the pressure sensor and the negative pressure device are both electrically connected with the controller.
Further, the suction nozzle is a telescopic rubber tube.
Further, a sealing ring is arranged on the pressure detection port.
Furthermore, a fixed disk is arranged on the sealing end of the suction pipe, and a plurality of through holes are formed in the fixed disk.
Further, the negative pressure device adopts a dust collector fan.
The utility model has the advantages that: the picking device of this scheme utilizes the negative pressure to absorb, absorbs the front end of straw with the fruit vegetables to detect the atmospheric pressure value in the straw through pressure sensor, avoid picking the in-process because suction is too big, shine into the damage to the target object, it can detect again simultaneously and pick the in-process and whether success and pick suction when the suction is suitable. The suction nozzle can be stretched and retracted, can be attached to the surface of a target object in the picking process, and has a good suction effect; the sealing ring can ensure that the pressure sensor is well connected with the pressure detection port, and less air pressure is leaked.
The pressure sensor outputs in the form of current, and can detect the pressure in the suction pipe in real time; picking device all need be in different pressure when non-operating condition, absorption state, suction state, consequently, through the inside pressure of real-time supervision straw, can regulate and control the pressure value under the different operating condition. When the pressure in the suction pipe is detected to be very low or equal to zero, the suction pipe indicates that the tail end suction disc does not suck objects, and the suction pipe is concluded to be in an idle state; when the pressure value in the suction pipe is detected to be positioned at the suction pressure threshold value, the picking operation can be concluded currently; when the pressure in the suction pipe is larger than the pressure value in the suction state and is at the threshold value in the suction state, the suction pipe is in the holding state after picking is finished at present.
The negative pressure device can dynamically adjust the suction force of the fan of the dust collector to adjust the pressure in the suction pipe, and the suction holding states of the picking device during picking operation and after picking are different in pressure, so that target crops are prevented from being damaged. When the suction nozzle of the picking device is close to the target crop, the suction force is increased, the target crop can be sucked within a certain distance, and the tolerance rate is high.
Drawings
Fig. 1 is a cross-sectional view of a feedback holding type picking head.
Fig. 2 is a perspective view of a feedback holding type picking head.
The suction pipe comprises a suction nozzle 1, a suction nozzle 2, a fixing ring 3, a suction pipe 4, a pressure detection port 5, a pressure sensor 6, a sealing ring 7, a connector 8, an air suction port 9 and a fixing disc.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.
As shown in fig. 1 and 2, the feedback holding type picking head comprises a suction pipe 3, one end of the suction pipe 3 is sealed, the other end is sleeved with a rubber suction nozzle 1, the suction pipe 3 is respectively provided with an air suction opening 8 and a pressure detection opening 4, and the pressure detection opening 4 is arranged between the air suction opening 8 and the suction nozzle 1; the suction opening 8 is connected with a negative pressure device through a connector 7, the connector 7 is in threaded connection with the inner wall of the suction opening 8, a pressure sensor 5 is fixedly mounted on the pressure detection opening 4 through a screw, and the pressure sensor 5 and the negative pressure device are both electrically connected with the controller. The pressure sensor 5 adopts CYYZ11 to display a pressure transmitter, and the controller adopts a C51 singlechip.
The preferred suction nozzle 1 of this scheme is the telescopic rubber tube, and suction nozzle 1 lower extreme is established through 2 covers of retainer plate and is fixed in the front end of straw 3. A sealing ring 6 is arranged on the pressure detection port 4; the sealed end of the suction pipe 3 is provided with a fixed disk 9, the fixed disk 9 is provided with a plurality of through holes, and the negative pressure device adopts a dust collector fan.
The picking device of this scheme utilizes the negative pressure to absorb, absorbs the front end of straw 3 with the fruit vegetables to detect the atmospheric pressure value in the straw 3 through pressure sensor 5, avoid picking the in-process because suction is too big, shine into the damage to the target, it can detect again simultaneously and pick the in-process and whether pick success and pick suction when suction suitable. The suction nozzle 1 can be stretched, the suction nozzle 1 can be attached to the surface of a target object in the picking process, for example, hard fruits and vegetables with good curved surface such as apples, oranges, pears, eggplants and tomatoes can be attached to the surface of the target object, and the suction effect is good; the sealing ring 6 can ensure that the pressure sensor 5 is well connected with the pressure detection port 4, and air pressure leakage is less.
The pressure transmitter outputs in a current mode, and can detect the pressure in the suction pipe 3 in real time; picking device all need be in different pressure when non-operating condition, suction state, holding state, consequently, through the inside pressure of real-time supervision straw 3, can regulate and control the pressure value in the straw 3 under the different operating condition. When the pressure in the suction pipe 3 is detected to be low or equal to zero, the suction cup at the tail end does not suck objects, and the suction cup is concluded to be in an idle state; when the pressure value in the suction pipe 3 is detected to be equal to the suction pressure threshold value, the current picking operation can be concluded; when the pressure in the suction pipe 3 is greater than the pressure value in the suction state and is at the threshold value in the suction state, the state that the picking is finished and the holding state is indicated.
The negative pressure device can dynamically adjust the suction force of the fan of the dust collector to adjust the pressure in the suction pipe 3, and the suction holding states of the picking device during picking operation and after picking are required to be different in pressure, so that target crops are prevented from being damaged. When the suction nozzle 1 of the picking device is close to the target crop, the suction force is increased, the target crop can be sucked within a certain distance, and the tolerance rate is high.
Claims (5)
1. A feedback holding type picking head is characterized by comprising a suction pipe (3), one end of the suction pipe (3) is sealed, the other end of the suction pipe is sleeved with a suction nozzle (1) made of rubber, an air suction opening (8) and a pressure detection opening (4) are respectively formed in the suction pipe (3), and the pressure detection opening (4) is arranged between the air suction opening (8) and the suction nozzle (1); negative pressure device is connected through connector (7) in inlet scoop (8), install pressure sensor (5) on pressure measurement mouth (4), pressure sensor (5) and negative pressure device all are connected with the controller electricity.
2. Picking head of the feedback holding type according to claim 1, characterized in that the suction nozzle (1) is a telescopic rubber tube.
3. Picking head of the feedback holding type according to claim 1, characterised in that a sealing ring (6) is provided on the pressure detection port (4).
4. The feedback holding picking head according to claim 1, characterised in that a stationary disc (9) is arranged on the sealed end of the suction tube (3), the stationary disc (9) being provided with a number of through holes.
5. The feedback hold picking head of claim 1, where the negative pressure device employs a vacuum blower.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921260089.XU CN210298585U (en) | 2019-08-06 | 2019-08-06 | Feedback holding type picking head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921260089.XU CN210298585U (en) | 2019-08-06 | 2019-08-06 | Feedback holding type picking head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210298585U true CN210298585U (en) | 2020-04-14 |
Family
ID=70128397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921260089.XU Expired - Fee Related CN210298585U (en) | 2019-08-06 | 2019-08-06 | Feedback holding type picking head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210298585U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110268862A (en) * | 2019-08-06 | 2019-09-24 | 电子科技大学 | A kind of feedback caging type picking head and its picking method |
| CN113853945A (en) * | 2021-09-16 | 2021-12-31 | 北京市农林科学院智能装备技术研究中心 | Suction-picking type actuator and suction-picking control method |
-
2019
- 2019-08-06 CN CN201921260089.XU patent/CN210298585U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110268862A (en) * | 2019-08-06 | 2019-09-24 | 电子科技大学 | A kind of feedback caging type picking head and its picking method |
| CN113853945A (en) * | 2021-09-16 | 2021-12-31 | 北京市农林科学院智能装备技术研究中心 | Suction-picking type actuator and suction-picking control method |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20200414 |