CN213818947U - Pepper picking device - Google Patents
Pepper picking device Download PDFInfo
- Publication number
- CN213818947U CN213818947U CN202022961398.9U CN202022961398U CN213818947U CN 213818947 U CN213818947 U CN 213818947U CN 202022961398 U CN202022961398 U CN 202022961398U CN 213818947 U CN213818947 U CN 213818947U
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- China
- Prior art keywords
- clamping
- pepper
- scissors
- unit
- shearing
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 235000002566 Capsicum Nutrition 0.000 title claims abstract description 65
- 235000016761 Piper aduncum Nutrition 0.000 title claims abstract description 48
- 239000006002 Pepper Substances 0.000 title claims abstract description 46
- 235000017804 Piper guineense Nutrition 0.000 title claims abstract description 46
- 235000008184 Piper nigrum Nutrition 0.000 title claims abstract description 46
- 244000203593 Piper nigrum Species 0.000 title 1
- 238000005520 cutting process Methods 0.000 claims abstract description 43
- 238000010008 shearing Methods 0.000 claims abstract description 33
- 241000722363 Piper Species 0.000 claims abstract 18
- 241000758706 Piperaceae Species 0.000 claims description 19
- 235000007650 Aralia spinosa Nutrition 0.000 abstract description 44
- 241000949456 Zanthoxylum Species 0.000 abstract description 44
- 244000302909 Piper aduncum Species 0.000 description 29
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 244000089698 Zanthoxylum simulans Species 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 230000009975 flexible effect Effects 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000011194 food seasoning agent Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
Images
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The utility model belongs to the technical field of equipment is picked to prickly ash. In order to improve the picking efficiency of prickly ash, reduce and pick intensity of labour, the utility model discloses a ware is picked to prickly ash that can be used for prickly ash picking equipment end. The pepper picker comprises a clamping unit, a shearing unit and a vision unit; the vision unit is used for identifying and positioning the position of the pepper to be picked; the clamping unit is used for clamping and fixing the pepper to be picked positioned by the vision unit; and the shearing unit is used for cutting and picking the pepper fixed by the clamping unit. The utility model discloses a ware is picked to prickly ash can realize long-range discernment fast, location and the cutting of prickly ash and pick to improve the efficiency of picking to prickly ash, greatly reduced picks the intensity of labour of prickly ash.
Description
Technical Field
The utility model belongs to the technical field of the equipment is picked to the prickly ash, concretely relates to be used for terminal prickly ash of prickly ash picking equipment to pick ware.
Background
The pepper is used as an important food seasoning, the annual market demand is very large, and the planting range of the pepper is mainly distributed in the areas from north to south of China, north China, south China and the like. The current wild pepper cultivation area in China reaches more than 300 million hectares, and the work load of wild pepper picking is huge in the harvest picking season.
At present, the traditional Chinese prickly ash picking mode is mainly manual picking. The method can reduce the damage to branches and pepper fruits to the utmost extent in the picking process, but because of the natural growth attribute of pepper, pepper fruits generally use clusters as units, the stems are softer, but leaves and triangular hard skin pricks are arranged on the stems, which greatly increases the difficulty of picking pepper, leads to low picking efficiency of the whole pepper and also leads to great labor intensity of pepper farmers.
SUMMERY OF THE UTILITY MODEL
In order to improve the picking efficiency of prickly ash, reduce the intensity of labour who picks, the utility model provides a can be used for terminal prickly ash picker of prickly ash picking equipment. The pepper picker comprises a clamping unit, a shearing unit and a vision unit; the vision unit is used for identifying and positioning the position of the pepper to be picked; the clamping unit is used for clamping and fixing the pepper to be picked positioned by the vision unit; and the shearing unit is used for cutting and picking the pepper fixed by the clamping unit.
Preferably, the vision unit comprises a monocular camera, a far-end vision sensor and a near-end vision sensor; the monocular camera is used for identifying and acquiring images of the peppers, and the far-end vision sensor and the near-end vision sensor are used for positioning the peppers to be picked acquired and confirmed by the monocular camera.
Preferably, the clamping unit comprises a clamping fixed plate and a clamping swinging plate, and the clamping swinging plate is connected with the clamping fixed plate in a relative swinging mode to finish repeated clamping action.
Further preferably, the front ends of the clamping fixed plate and the clamping swinging plate are both designed to be arc-shaped structures and are provided with arc-shaped rubber pads for gathering and clamping the peppers to be picked.
Further preferably, the pepper picker further comprises a clamping driving assembly, wherein the clamping driving assembly is connected with the clamping swinging plate to drive the clamping swinging plate to repeatedly clamp and swing relative to the clamping fixed plate.
Preferably, the clamping driving assembly comprises a clamping motor, a clamping slide block, a clamping guide groove and a clamping connecting rod; the clamping guide groove is formed in the mounting table in the horizontal direction, and one end of the clamping sliding block is located in the clamping guide groove and can perform reciprocating linear motion along the clamping guide groove; an output shaft of the clamping motor is connected with the clamping slide block so as to drive the clamping slide block to move; one end of the clamping connecting rod is connected with the clamping sliding block, and the other end of the clamping connecting rod is connected with the clamping swinging plate; the clamping swing plate is connected with the mounting table through a rotating shaft, one end of the clamping swing plate is connected with the clamping connecting rod, and the other end of the clamping swing plate and the clamping fixed plate form relative reciprocating swing.
Further preferably, the clamping sliding block is of a rack structure and is meshed and connected through a gear, and the gear is connected with an output shaft of the clamping motor.
Preferably, the cutting unit comprises scissors and a cutting drive assembly; the cutting driving assembly is connected with the scissors to drive the scissors to perform cutting swing.
Further preferably, the shear drive assembly comprises a shear motor, a shear crank and a shear link; the output shaft of the shearing motor is connected with one end of the shearing crank through a gear set, the other end of the shearing crank is connected with one end of the shearing connecting rod, the other end of the shearing connecting rod is connected with the scissors, and the scissors are rotatably connected with the mounting table.
Further preferably, the shear drive assembly further comprises a fine adjustment assembly; the scissors are connected with the scissors through spherical hinges, the scissors are connected with the mounting table through the fine adjustment assembly, the fine adjustment assembly is connected with the scissors through the spherical hinges, and the fine adjustment assembly can stretch out and draw back in a reciprocating mode in the cutting direction of the scissors along the direction perpendicular to the cutting direction of the scissors.
Adopt the utility model discloses a when prickly ash picker carries out prickly ash and picks, have following beneficial technological effect:
1. the utility model discloses in, pick the ware through the prickly ash that adopts to constitute by clamping unit, shearing unit and visual element and carry out the prickly ash and pick, treat the prickly ash of picking at first with the help of visual element and discern the location, carry out the centre gripping by the clamping unit to the prickly ash of discerning the location after that and fix, carry out the cutting operation by shearing unit to the prickly ash that clamping unit is fixed at last. Like this, can realize long-range discernment fast to the prickly ash, location and the accurate integrated control operation of cutting picking to improve the efficiency of picking to the prickly ash, greatly reduced prickly ash picks intensity of labour.
2. The utility model discloses in, through treating the centre gripping location of picking the prickly ash and with the help of the cutting operation of shearing drive assembly control shearing unit with the help of centre gripping drive assembly control clamping unit to can realize treating the automated control who picks prickly ash centre gripping location and cutting operation, further improve automation and the efficiency that the prickly ash was picked.
3. The utility model discloses in, can realize the fine setting subassembly of flexible adjustment through set up one between mount table and scissors to adopt the ball pivot to be connected and the scissors and cut and adopt the ball pivot to be connected between the connecting rod between fine setting subassembly and the scissors. Like this, after the centre gripping unit is accomplished the centre gripping location of treating the picking prickly ash, can adjust the position of scissors for the centre gripping unit through the flexible action of fine setting subassembly to remedy the deviation that the centre gripping unit was treated the picking prickly ash centre gripping location, avoid causing the cutting to the prickly ash and destroy, guarantee follow-up cutting precision of treating the picking prickly ash, improve the protection and the picking quality to the prickly ash.
Drawings
Fig. 1 is a schematic front view of the outline structure of the pepper picker in the embodiment;
FIG. 2 is a schematic top view of the configuration of the prickly ash picker according to the present embodiment;
fig. 3 is a partial enlarged structural schematic diagram of a clamping unit and a shearing unit in the pepper picker according to the embodiment.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1 and 2, the chinese prickly ash picker of the present embodiment includes a clamping unit 1, a shearing unit 2, and a vision unit 3, and the clamping unit 1, the shearing unit 2, and the vision unit 3 are fixed on a mounting table 4. The vision unit 3 is used for identifying and positioning the position of the pepper to be picked; the clamping unit 1 is used for clamping and fixing the pepper to be picked positioned by the vision unit 3; and the shearing unit 2 is used for cutting the pepper fixed by the clamping unit 1.
At the moment, in the process of picking the peppers, the peppers to be picked can be remotely identified and positioned by means of the visual unit, then the identified and positioned peppers are clamped and fixed by means of the clamping unit, and then the peppers clamped and fixed are cut and picked by the shearing unit. Therefore, the long-distance quick identification, positioning and cutting picking of the peppers can be realized, and the problems existing in the process of picking the peppers by picking personnel manually in a short distance are avoided, so that the picking efficiency of the peppers is improved, and the labor intensity for picking the peppers is greatly reduced.
Meanwhile, the mounting table adopts a T-shaped structure in the embodiment, so that the clamping unit, the shearing unit and the visual unit are integrally fixed on the mounting table, and the pepper picker can be used for picking pepper in different equipment through the connection of the mounting table and pepper picking equipment with different structural forms, so that the use convenience and the use efficiency of the pepper picker are greatly improved.
As shown in fig. 1 and 2, in the present embodiment, the vision unit 3 includes a monocular camera 31, a far-end vision sensor 32, and a near-end vision sensor 33. The monocular camera 31, the far-end vision sensor 32 and the near-end vision sensor 33 are distributed and fixed at different positions of the mounting block 4, and are simultaneously connected with the controller 5.
At the moment, the monocular camera is used for directly identifying and acquiring images of the peppers to be picked and transmitting the images to the controller, and the controller positions the peppers to be picked acquired by the monocular camera through the far-end vision sensor and the near-end vision sensor, so that the clamping unit is accurately controlled to clamp and fix the peppers to be picked. Therefore, the vision identification and positioning technology can be utilized to realize the quick identification and positioning of the Chinese prickly ash, and then the clamping unit is matched to realize the automatic clamping and fixing operation of the Chinese prickly ash to be picked, so that the picking efficiency of the whole Chinese prickly ash is improved.
Referring to fig. 1 and 2, in the pepper picker of the present embodiment, the clamping unit 1 includes a clamping fixed plate 11 and a clamping swinging plate 12. According to the figure 1, the clamping fixed plate 11 is fixed on the mounting block 4 along the horizontal direction, the clamping swinging plate 12 and the clamping fixed plate 11 are located on the same vertical plane, and the clamping swinging plate 12 and the clamping fixed plate 11 are connected in a relative swinging mode to form the action effect of repeated clamping, so that the clamping operation of picking the peppers is realized.
Preferably, in the present embodiment, the front end of the clamping fixed plate 11 and the front end of the clamping swing plate 12 are both designed to be arc-shaped structures, and are respectively provided with an arc-shaped rubber pad 13. Like this, with the help of arc structure and arc rubber pad, not only can realize treating gathering together the centre gripping of picking the prickly ash, improve the fixed stability to the prickly ash centre gripping, but also can reduce the centre gripping damage that the centre gripping in-process probably caused the prickly ash, improve the centre gripping protection to the prickly ash, guarantee final prickly ash and pick the effect.
Referring to fig. 1 and 2, in the pepper picker of the present embodiment, a clamping driving assembly 14 is further provided. The clamping driving assembly 14 is connected with the clamping swing plate 12 to drive the clamping swing plate 12 to repeatedly clamp and swing relative to the clamping fixed plate 11, so that clamping operation of the clamping unit on the peppers to be picked is realized. Like this, just can cooperate the visual element to treat to pick the prickly ash and carry out long-range centre gripping fixed control, realize the automation of picking the prickly ash, improve the efficiency of picking the prickly ash.
In the present embodiment, the clamping driving assembly 14 includes a clamping motor 141, a clamping slider 142, a clamping guide groove 143, and a clamping link 144. According to fig. 1, the holding guide groove 143 is provided on the mounting table 4 in a horizontal direction, one end of the holding slider 142 is inserted into the holding guide groove 143 and can perform reciprocating linear motion with respect to the holding guide groove 143, an output shaft of the holding motor 141 is connected to the holding slider 142 to drive the holding slider 142 to perform reciprocating motion in the horizontal direction along the holding guide groove 143, the holding link 144 has a folding rod shape, one end is rotatably connected to the holding slider 142, the other end is rotatably connected to the holding swing plate 12, the holding swing plate 12 has an L-shaped structure, and the folding position is rotatably connected to the mounting table 4 through the holding rotating shaft 145.
At the moment, in the process that the clamping motor drives the clamping slide block to do reciprocating linear motion along the horizontal direction along the clamping guide groove, the clamping connecting rod can drive the clamping swing plate to do reciprocating rotation around the clamping rotating shaft, so that the front end of the clamping swing plate and the clamping fixed plate form a repeated clamping and fixing effect on picking peppers.
In the embodiment, the clamping slide block is in a rack structure and is meshed with the rack structure through a gear, and the gear is connected with an output shaft of the clamping motor, so that the clamping motor drives the clamping slide block to do reciprocating linear motion along the clamping guide groove. Similarly, in other embodiments, a linear motor may be used to directly drive the clamping slide block to perform a reciprocating linear motion along the clamping guide slot.
As shown in fig. 1 and 2, in the present embodiment, the cutting unit 2 includes scissors 21 and a cutting drive assembly 22. Wherein, the scissors 21 are rotatably connected with the mounting block 4, and the cutting driving component 22 is connected with the tail end of the scissors 21 so as to drive the blade end of the scissors 21 to rotate in a reciprocating manner along the vertical direction, thereby forming the cutting operation of the pepper to be picked fixed by the clamping unit.
In the present embodiment, the cutting driving assembly 22 includes a cutting motor 221, a cutting crank 222 and a cutting link 223, and the scissors 21 are in an L-shaped structure and the bending position is rotatably connected to the mounting table 4. The output shaft of the cutting motor 221 is connected to one end of the cutting crank 222 through a gear set, the other end of the cutting crank 222 is rotatably connected to one end of the cutting link 223, and the other end of the cutting link 223 is rotatably connected to the tail end of the scissors 21. Therefore, under the action of a crank link mechanism consisting of a shearing crank and a shearing link, the cutting edge end of the scissors can be driven to do reciprocating swing in the vertical direction through the shearing motor, so that the cutting operation of the fixed pepper to be picked is realized.
Referring to fig. 3, the shear driving assembly 22 of this embodiment further includes a fine adjustment assembly 224 that can be adjusted in a horizontal direction. At this time, the cutting link 223 is further connected to the scissors 21 by a ball joint, and the fine adjustment assembly 224 is located between the mounting table 4 and the scissors 21 and also connected to the scissors 21 by a ball joint.
Like this, according to the position relation that fig. 1 and fig. 3 show, the cutting edge end of scissors not only can continue to keep the reciprocal swing of vertical direction under the shearing motor drive effect, but also can carry out the swing of horizontal direction with the help of the flexible action of the level of fine setting subassembly, thereby adjust the position relation along the horizontal direction between scissors and the clamping unit, the realization is to the adjustment of prickly ash cutting position, thereby increase the centre gripping fault-tolerant rate that the prickly ash was treated to the clamping unit, and add the adjustment to scissors cutting position, further improve the efficiency and the precision of treating prickly ash cutting location of picking.
In this embodiment, the fine setting subassembly adopts the cylinder structure, and wherein the body and the mount table of cylinder are along horizontal direction fixed connection, and the end that stretches out of cylinder carries out the ball pivot along the bending position of horizontal direction and scissors and is connected, and the ball pivot between cooperation scissors and the shearing connecting rod is connected like this, just can guarantee that the cutting edge end of scissors carries out smoothly along vertical direction and along the reciprocating motion of horizontal direction. Similarly, in other embodiments, the fine adjustment assembly may also adopt other structural forms, such as a worm and gear structure, that is, a worm gear is fixed on the mounting table, a worm passes through the bearing seat hole and is meshed with the worm gear, and one end of a worm shaft is connected with the bending position of the scissors in a spherical hinge manner, so that the effect of composite actions of the scissors in the horizontal direction and the vertical direction is achieved.
Claims (10)
1. A pepper picker is characterized by comprising a clamping unit, a shearing unit and a vision unit; the vision unit is used for identifying and positioning the position of the pepper to be picked; the clamping unit is used for clamping and fixing the pepper to be picked positioned by the vision unit; and the shearing unit is used for cutting and picking the pepper fixed by the clamping unit.
2. The pepper picker according to claim 1, wherein the vision unit comprises a monocular camera, a distal vision sensor and a proximal vision sensor; the monocular camera is used for identifying and acquiring images of the peppers, and the far-end vision sensor and the near-end vision sensor are used for positioning the peppers to be picked acquired and confirmed by the monocular camera.
3. The pepper picker according to claim 1, wherein the clamping unit comprises a clamping fixed plate and a clamping swinging plate, and the clamping swinging plate and the clamping fixed plate are connected in a relative swinging manner to complete repeated clamping action.
4. The pepper picker according to claim 3, wherein the front ends of the clamping fixed plate and the clamping swinging plate are designed in an arc structure and provided with arc rubber pads for gathering and clamping pepper to be picked.
5. The pepper picker according to claim 3, further comprising a clamping driving assembly connected with the clamping swing plate to drive the clamping swing plate to repeatedly clamp and swing relative to the clamping fixed plate.
6. The pepper picker according to claim 5, wherein the clamping driving assembly comprises a clamping motor, a clamping slider, a clamping guide groove and a clamping connecting rod; the clamping guide groove is formed in the mounting table in the horizontal direction, and one end of the clamping sliding block is located in the clamping guide groove and can perform reciprocating linear motion along the clamping guide groove; an output shaft of the clamping motor is connected with the clamping slide block so as to drive the clamping slide block to move; one end of the clamping connecting rod is connected with the clamping sliding block, and the other end of the clamping connecting rod is connected with the clamping swinging plate; the clamping swing plate is connected with the mounting table through a rotating shaft, one end of the clamping swing plate is connected with the clamping connecting rod, and the other end of the clamping swing plate and the clamping fixed plate form relative reciprocating swing.
7. The pepper picker according to claim 6, wherein the clamping slide block adopts a rack structure and is in gear engagement connection with an output shaft of the clamping motor through a gear.
8. The pepper picker according to claim 1, wherein the shearing unit comprises a scissors and a shearing drive assembly; the cutting driving assembly is connected with the scissors to drive the scissors to perform cutting swing.
9. The pepper picker according to claim 8, wherein the shear drive assembly comprises a shear motor, a shear crank and a shear link; the output shaft of the shearing motor is connected with one end of the shearing crank, the other end of the shearing crank is connected with one end of the shearing connecting rod, the other end of the shearing connecting rod is connected with the scissors, and the scissors are rotatably connected with the mounting table.
10. The pepper picker according to claim 9, wherein the shear drive assembly further comprises a fine adjustment assembly; the scissors are connected with the scissors through spherical hinges, the scissors are connected with the mounting table through the fine adjustment assembly, the fine adjustment assembly is connected with the scissors through the spherical hinges, and the fine adjustment assembly can stretch out and draw back in a reciprocating mode in the cutting direction of the scissors along the direction perpendicular to the cutting direction of the scissors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022961398.9U CN213818947U (en) | 2020-12-09 | 2020-12-09 | Pepper picking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022961398.9U CN213818947U (en) | 2020-12-09 | 2020-12-09 | Pepper picking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213818947U true CN213818947U (en) | 2021-07-30 |
Family
ID=76997697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022961398.9U Expired - Fee Related CN213818947U (en) | 2020-12-09 | 2020-12-09 | Pepper picking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213818947U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114557192A (en) * | 2022-02-21 | 2022-05-31 | 开化县农业特色产业发展中心 | Grabbing device of equipment is picked to tealeaves |
-
2020
- 2020-12-09 CN CN202022961398.9U patent/CN213818947U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114557192A (en) * | 2022-02-21 | 2022-05-31 | 开化县农业特色产业发展中心 | Grabbing device of equipment is picked to tealeaves |
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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: 20210730 |
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| CF01 | Termination of patent right due to non-payment of annual fee |