CN210470336U

CN210470336U - Be applied to actuating mechanism that luffa was picked

Info

Publication number: CN210470336U
Application number: CN201921361468.8U
Authority: CN
Inventors: 周海燕; 季松; 周朝进; 杨菲; 王鑫; 杨洁
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2020-05-08
Anticipated expiration: 2029-08-21

Abstract

The utility model relates to an actuating mechanism for towel gourd is picked, include: arm and end effector, the arm is including the Z axle elevating system, Y axle translation mechanism and the X axle telescopic machanism that connect gradually, and end effector fixes the front end at X axle telescopic machanism, and end effector is including the anchor clamps that are used for centre gripping luffa and the cutting device who is used for cutting luffa stem, cutting device has the rotatable cutting knife that is located the anchor clamps top, through the cutting knife cutting luffa stem. The actuating mechanism adopts a structural form of cylindrical coordinates, and has the advantages of simple structure, simple and convenient motion control, easy coordinate calculation, high positioning precision and wider picking range.

Description

Be applied to actuating mechanism that luffa was picked

Technical Field

The utility model relates to an actuating mechanism for towel gourd is picked.

Background

Due to the change of the economic structure and the population structure of China society, fewer people engage in agricultural activities, so that the labor cost price of fruits and vegetables is increased, and the price of the fruits and vegetables is further increased. In the planting process of fruits and vegetables, people are required to observe whether the fruits and vegetables are mature, and picking is assisted by tools from time to time, so the fruit and vegetable picking operation is also a heavy and single labor activity. Currently, fruit and vegetable picking operation is the most time-consuming and labor-consuming link in agricultural production, and belongs to labor-intensive work.

In order to realize that mechanized big-arch shelter luffa is picked, the utility model relates to an actuating mechanism that luffa was picked is applied to big-arch shelter.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to overcome the shortcoming of above-mentioned prior art, provide an actuating mechanism who is applied to the luffa and picks.

The utility model discloses a solve the technical scheme that above-mentioned technical problem provided and be: an actuating mechanism for towel gourd picking is characterized by comprising: arm and end effector, the arm is including the Z axle elevating system, Y axle translation mechanism and the X axle telescopic machanism that connect gradually, end effector fixes the front end at X axle telescopic machanism, and end effector is including the anchor clamps that are used for centre gripping luffa and the cutting device who is used for cutting luffa stem, cutting device has the rotatable cutting knife that is located the anchor clamps top, through the cutting knife cutting luffa stem.

The actuating mechanism that the luffa was picked passes through the bearing and connects on the travelling car, supports the arm through strengthening rib and base. The whole mechanical arm can rotate 360 degrees, and picking in a wider range in the front-back direction can be realized at one position. The mechanical arm consists of a Z-axis lifting mechanism, a Y-axis translation mechanism and an X-axis telescopic mechanism, the Z-axis lifting mechanism and the Y-axis translation mechanism are integrated structures of a guide rail and a lead screw, and the X-axis telescopic mechanism is a link mechanism and can realize the movement in the three directions of XYZ. The picking end effector comprises a cutting blade and a clamp, the clamp can grab the loofah, and then the cutting blade cuts off the towel gourd through rotation.

The actuating mechanism adopts a structural form of cylindrical coordinates, and has the advantages of simple structure, simple and convenient motion control, easy coordinate calculation, high positioning precision and wider picking range.

Drawings

The present invention will be further explained with reference to the accompanying drawings.

Fig. 1 is a front view of a towel gourd picking robot.

Fig. 2 is a top view of the towel gourd picking robot.

Fig. 3 is a schematic view of an end effector of a towel gourd picking robot.

The numbers in the figures are as follows:

1-driving motor, 2-Y axis translation mechanism, 3-cutting knife, 4-clamp, 5-X axis extension mechanism, 6-reinforcing rib, 7-Z axis lifting mechanism, 8-bearing, 9-base, 10-mobile trolley, 11-supporting connecting piece, 12-movable connecting rod, 13-hinged connecting rod, 14-clamping arm and 15-executing motor.

Detailed Description

As shown in fig. 1 to fig. 3, the embodiment of the actuator applied to picking loofah includes: a robotic arm and an end effector.

The mechanical arm comprises a Z-axis lifting mechanism 7, a Y-axis translation mechanism 2 and an X-axis contraction mechanism 5 which are connected in sequence. The strokes of the Z-axis lifting mechanism, the Y-axis translation mechanism and the X-axis telescopic mechanism are respectively 600mm 1100 mm. The Z-axis lifting mechanism 7 is provided with a screw rod driven by the driving motor 1, and a sliding block fixed with the Y-axis translation mechanism 2 is arranged on the screw rod; the Y-axis translation mechanism 2 is provided with a guide rail and a sliding block fixed with the X-axis extension mechanism 5; the X-axis telescopic mechanism 5 is a scissor-fork type telescopic mechanism. The bottom of the Z-axis lifting mechanism 7 is rotatably arranged on a base 9 through a bearing, and the base 9 is arranged on a movable trolley 10. In order to improve the stability of the mechanical arm, a reinforcing rib 6 is arranged at the back of the Z-axis lifting mechanism 7.

The end effector is fixed at the front end of the X-axis telescopic mechanism 5, is composed of a clamp 4 for clamping towel gourd and a cutting device for cutting towel gourd vines, and specifically comprises a supporting connecting piece 11, a movable connecting rod 12, a hinged connecting rod 13, a clamping arm 14, an executing motor 15, a cutting knife 3 and a steering engine for driving the cutting knife, wherein the executing motor 15 is fixed on the supporting connecting piece 11, and an output head of the executing motor 15 is sequentially driven by the movable connecting rod 12 and the hinged connecting rod 13 to drive the clamping arm 14. The actuating motor 15 drives the movable connecting rod 12 to extend forwards, and the connecting rod 13 drives the gripper 14 to be closed, so that the gripping action of the end effector is realized. On the contrary, the motor 15 drives the movable connecting rod 12 to retract backwards, so that the clamping arm 14 is opened, and the end effector is opened. The clamping arm 14 is sleeved with a rubber finger sleeve, and the surface of the rubber finger sleeve is carved with fingerprint lines imitating the finger of a human. The friction force when grabbing can be increased, so that the clamping force of grabbing the fruit by fingers can be reduced, and the towel gourd can be better protected.

Cutting knife 3 and steering wheel have constituted the cutting device who is located 4 tops of anchor clamps, and the rotatory stroke of cutting knife is 270, through cutting knife cutting luffa stem. When the gripper 14 is in a grabbing state, the steering engine drives the cutting knife 3 to rotate rapidly to cut fruit stalks, and the fruits and the vegetables are separated from the fruit stalks. Cutting blade 3 adopts common stainless steel blade on the market, and cutting blade and steering wheel adopt the mode of direct link, and the later stage blade of being convenient for is changed.

The picking process of the towel gourd is as follows:

the travelling car reachs a certain position, reachs the luffa position through removing Z axle elevating system, Y axle translation mechanism and X axle telescopic mechanism, and the anchor clamps are got the luffa, and cutting blade carries out cutting off of luffa rattan, puts into the melon basket through removing Z axle elevating system, Y axle translation mechanism and X axle telescopic mechanism with the luffa, picks the end.

The utility model discloses a do not confine to above-mentioned each embodiment, all adopt the technical scheme who equates to replace and form, all fall in the utility model discloses the scope of protection that requires.

Claims

1. An actuating mechanism for towel gourd picking is characterized by comprising: arm and end effector, the arm is including Z axle elevating system (7), Y axle translation mechanism (2) and X axle telescopic machanism (5) that connect gradually, end effector fixes the front end at X axle telescopic machanism (5), and end effector is including anchor clamps (4) that are used for centre gripping luffa and the cutting device who is used for cutting luffa rattan, cutting device has rotatable cutting knife (3) that are located anchor clamps (4) top, through cutting knife cutting luffa rattan.

2. The actuator applied to towel gourd picking according to claim 1, wherein: the Z-axis lifting mechanism (7) is provided with a screw rod driven by a driving motor (1), and a sliding block fixed with the Y-axis translation mechanism (2) is arranged on the screw rod; the Y-axis translation mechanism (2) is provided with a guide rail and a sliding block fixed with the X-axis telescopic mechanism (5); the X-axis telescopic mechanism (5) is a scissor-fork type telescopic mechanism.

3. The actuator applied to towel gourd picking according to claim 1, wherein: the bottom of the Z-axis lifting mechanism (7) is rotatably arranged on the base (9) through a bearing.

4. The actuator applied to towel gourd picking according to claim 1, wherein: the base (9) is arranged on the mobile trolley (10).

5. The actuator applied to towel gourd picking according to claim 1, wherein: the back of the Z-axis lifting mechanism (7) is provided with a reinforcing rib (6).

6. The actuator applied to towel gourd picking according to claim 1, wherein: the end effector comprises a supporting connecting piece (11), a movable connecting rod (12), a hinged connecting rod (13), a clamping arm (14), a cutting knife (3) and an executing motor (15), wherein the executing motor (15) is fixed on the supporting connecting piece (11), and an output head of the executing motor (15) drives the clamping arm (14) through the movable connecting rod (12) and the hinged connecting rod (13) in sequence.

7. The actuator applied to picking of loofah sponge according to claim 6, is characterized in that: the clamping arm (14) is sleeved with a rubber finger sleeve, and fingerprint lines imitating the fingers of a human hand are carved on the surface of the rubber finger sleeve.

8. The actuator applied to towel gourd picking according to claim 1, wherein: the cutting device is positioned on the end effector and mainly comprises a steering engine and a cutting knife (3).

9. The actuator applied to towel gourd picking according to claim 1, wherein: the stroke of rotation of the cutting knife is 270 °.

10. The actuator applied to towel gourd picking according to claim 8, wherein: the strokes of the Z-axis lifting mechanism, the Y-axis translation mechanism and the X-axis telescopic mechanism are respectively 600mm 1100 mm.