CN217657156U

CN217657156U - Citrus lossless picking end effector

Info

Publication number: CN217657156U
Application number: CN202221171127.6U
Authority: CN
Inventors: 李丽; 张云峰; 文乙峰
Original assignee: Southwest University
Current assignee: Southwest University
Priority date: 2022-05-17
Filing date: 2022-05-17
Publication date: 2022-10-28
Anticipated expiration: 2032-05-17

Abstract

The invention provides an end effector for lossless picking of oranges. The mechanical arm connecting device is used for connecting a mechanical arm and fixing the picking device, the picking device comprises a protective shell, a shearing layer device and a clamping layer device, and the buffering and collecting device is fixed on the lower portion of the shell. The shear layer device is fixed can adjust the distance with the clamping layer device on screw-nut, can realize the harvesting of single fruit to the oranges and tangerines fruit cluster, realize that different oranges and tangerines size keeps the fruit stalk of same length when picking, the clamping layer device is fixed in the below of protecting the casing, shear layer device and clamping layer device adopt the same linkage structure, adopt slider-crank mechanism drive slider to remove, thereby realize oranges and tangerines centre gripping and fruit stalk and cut, buffering collection device includes buffer rubber circle and collecting duct. The citrus picking device is simple in structure, can realize picking of citrus clusters, facilitates collection of citrus, reduces damage to citrus and improves working efficiency.

Description

Citrus lossless picking end effector

Technical Field

The invention discloses an end effector for lossless picking of oranges and relates to the field of fruit picking.

Background

Citrus is planted in large area in mountain forest in south China, but at present, manual picking of citrus is mainly performed, and the problems of low picking efficiency and the like exist. The design of the picking end effector plays a crucial role in picking fruits, and the simple and reliable fruit picking end effector is the first choice of the current agricultural picking device. However, the existing general picking end effector generally has the defects of high cost, easy damage to the fruit skin and the like. Therefore, how to effectively finish picking fruits at low cost on the premise of not damaging the epidermis of the fruits is a difficult point of designing a picking end effector.

In practice, the situation that a plurality of citrus fruits are connected in a cluster shape often exists, the general picking end effector cannot finish the accurate grabbing of the fruits under the situation, and the hand grips easily touch and damage the skins of other fruits. The existing invention mostly adopts a left-right closed clamping method to pick oranges, the picking mode has larger damage to adjacent fruits when actually picking citrus clusters, and the fruit stalks after the oranges are picked are too long, so that the peels of the oranges are easy to damage when the oranges are stacked in a collecting frame or transported, thereby damaging the oranges and shortening the storage time of the oranges.

Disclosure of Invention

The invention aims to solve the technical problem of providing a lossless picking end effector for oranges, which can realize the picking of single oranges aiming at orange clusters, realize that the lengths of fruit stalks of oranges of different sizes are the same after the oranges are picked, the lengths of the fruit stalks can not damage other fruits when the oranges are stacked or transported in a collecting frame, and the collection of the oranges after the oranges are picked can realize efficient picking.

The technical solution of the invention is as follows:

the utility model provides an end effector is picked to harmless oranges and tangerines, includes arm connecting device 1, picks device 10, collects buffer 7.

Specifically, the mechanical arm connecting device 1 comprises a camera 2 and a camera fixing device 3, the mechanical arm connecting device 1 is provided with an opening hole and is connected with the picking device 10, a fixing groove two 61 is formed in the mechanical arm connecting device 1, a fixing groove one 4 formed in the mechanical arm connecting device 3 is matched with a fixing groove one 4 formed in the camera fixing device 3 through a stud 6 and a nut, and the height of the camera 2 is adjusted according to actual production requirements in actual production.

In particular, picking device 10 comprises protective housing 17, shear layer device 21, and grip layer device 25.

Specifically, the protective shell 17 is a hollow cylinder, the inner wall of the upper part of the protective shell 17 is provided with a fixing boss 13, the bottom of the protective shell 17 is provided with a fixing layer 16, and the fixing layer 16 is provided with a fruit through hole 45.

Specifically, the shearing layer device 21 is composed of a transmission fixing plate 29, a moving slide block 31, a linkage rod 33, a linkage rod moving slide block 35, a linkage rod slide block connecting rod 36, a cutter fixing plate 38, a cutter 37, a crank slide block mechanism 52 and a driving motor III 43.

Specifically, 6 limit grooves two 46 are equidistantly arranged on the circumference of the

transmission fixing plate

29, 4 limit grooves one 30 are equidistantly arranged on the circumference, a screw nut fixing hole one 44 and a screw nut fixing hole two 47 are arranged at the left and right 180 degrees, and citrus fruit through holes 45 are equidistantly arranged on the circumference of the

transmission fixing plate

29, 6 movable slider rails 32 are equidistantly distributed according to 360 degrees on the circumference of the transmission fixing plate 29, wherein the movable slider rails 32 are used for limiting the moving direction of the movable slider 31.

Specifically, a fixing hole 48 is formed in the inner circle of the movable sliding block 31 close to the fruit through hole 45, the cutter fixing plate 38 is installed in the fixing hole 48, a linkage rod limiting groove 53 is formed in the side edge of the movable sliding block 31, a linkage rod installing hole 54 is formed in the top surface of the movable sliding block 31, two layers of auxiliary pulley fixing plates 50 are arranged at two ends of the movable sliding block 31, three auxiliary pulleys 49 with equal intervals are arranged on the upper surface and the lower surface of each layer of fixing plate 50, the movable sliding block 31 is installed in a movable sliding block track 32 which is arranged on the circumference of the transmission fixing plate 29 at equal intervals, and the auxiliary pulleys 49 roll in the movable sliding block track 32 to reduce working resistance.

Specifically, the crank-slider mechanism 52 is used for driving the movable slider 31 to move in the movable slider track 32, the shearing layer device 21 is provided with two crank-slider mechanisms 52 arranged at 180 degrees from left to right, a crank in the crank-slider mechanism 52 is mounted at the bottom of the transmission fixing plate 29 and connected with the driving motor III 43, the driving movable slider 31 of the crank-slider mechanism 52 is fixed in the limiting groove II 46, the driving crank-slider mechanism slider 51 is connected with the bottom of the movable slider 31 through a crank-slider connecting rod 40, the driving movable slider 31, the rocker 39, the crank connecting rod 41 and the crank 42 are connected, and the movement is realized under the driving of the driving motor III 43.

Specifically, the linkage rod 33 is fixed in a linkage rod limiting groove 53 formed in the side edge of the movable slider 31, and the linkage rod 33 is connected with the linkage rod movable slider 35 fixed in the limiting groove I30 through the slider-crank connecting rod 40, so that the movement of the rest movable sliders 31 which are not directly driven is realized under the condition that the left and right driving motors III 43 drive the slider-crank mechanism 52.

Specifically, the clamping layer device 25 is composed of a transmission fixing plate 29, a moving slide block 31, a linkage rod 33, a linkage rod moving slide block 35, a linkage rod slide block connecting rod 36, a clamping fixing plate 55, a V-shaped clamping finger 56, a crank slide block mechanism 52 and a driving motor III 43.

Specifically, the transmission fixing plate 29, the moving slider 31, the linkage rod 33, the linkage rod moving slider 35, the linkage rod slider connecting rod 36, the slider-crank mechanism 52 and the driving motor three 43 are the same as the transmission fixing plate 29, the moving slider 31, the linkage rod 33, the linkage rod moving slider 35, the linkage rod slider connecting rod 36, the slider-crank mechanism 52 and the driving motor three 43 in the shearing layer device 21, and four fixing bosses 34 are arranged on the circumference of the bottom of the transmission fixing plate 29 at equal intervals.

Specifically, the fixing boss 34 is provided with two connecting holes at equal intervals, and the clamping layer device 25 is fixed at the inner side of the bottom of the protection shell 17 through the connecting holes of the fixing boss 34.

Specifically, the clamping fixing plate 55 is arranged on one side of the movable slide block 31 close to the fruit through hole 45, the V-shaped clamping finger 56 is arranged in the fixing hole 48, pressure sensors 59 are arranged on two sides of the V-shaped clamping finger 56, and a correlation infrared sensor 58 is arranged in the middle of the V-shaped clamping finger 56.

Specifically, the buffer collecting device 7 comprises a collecting funnel 9, a rubber buffer ring 62 and a collecting pipe 8.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the lossless picking end effector for the oranges, the picking mode that the lower parts of the oranges move upwards is adopted, and damage to adjacent fruits can be avoided when the oranges are picked;

2. according to the invention, the mode that the shearing layer device and the clamping layer device are fixed in the protective shell device is adopted, the bottom of the shearing layer device is arranged on the screw rod nut, the distance between the shearing layer and the clamping layer is adjusted according to the size of the citrus fruits processed by the image, the oranges of different sizes are picked, the fruit stalks of the citrus fruits after picking are ensured to be equal in length, and the accumulation of the citrus fruits in the collecting frame or the damage to other fruit peels during transportation is not influenced;

3. according to the invention, the collecting and buffering device is connected with the picking device, the collecting and buffering device comprises the collecting funnel, when citrus fruits are continuously picked, citrus fruits can not slide to the collecting pipeline and can be cached in the collecting funnel, the whole picking process of citrus fruits is not influenced, the buffering and collecting device comprises the buffering rubber ring, and when citrus fruits slide to the collecting pipe, citrus fruits are buffered, so that the influence of falling injury on citrus transportation and sale phases is avoided.

Drawings

The following drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the scope of the invention. In the drawings:

fig. 1 is an overall view of a citrus non-destructive picking end effector.

Fig. 2 is a cross-sectional view of a picking apparatus.

Fig. 3 is an interior view of the picking device.

Fig. 4 shear layer apparatus view.

Fig. 5 is a bottom view of a shear layer apparatus.

Fig. 6 is a view of a shear layer device driver.

FIG. 7 shows a clamping layer arrangement.

Figure 8 bottom view of a clamping layer device.

FIG. 9 is a view of a clamping layer device component.

Fig. 10 buffer collection view.

Wherein: 1. a mechanical arm connecting device; 2. a camera; 3. a camera fixing device; 4. a first fixing groove; 5. reinforcing ribs; 6. a stud; 7. a buffer collection device; 8. a collection tube; 9. a collection funnel; 10. a picking device; 11. a protective cover plate; 12. a screw rod fixing base; 13. fixedly mounting a boss; 14. a fruit limiting pipeline; 15. driving a motor I; 16. a fixed layer; 17. a protective housing; 18. a bearing seat; 19. a screw drive mechanism; 20. a screw rod 21 and a shearing layer device; 22. a fourth bevel gear; 23. a third bevel gear; 24. a second bevel gear; 25. a clamping layer device; 26. a gear shaft; 27. A first bevel gear; 28. a second driving motor; 29. a transmission fixing plate; 30. a first limiting groove; 31. moving the slide block; 32. moving the slider track; 33. a linkage rod; 34. fixing the boss; 35. the linkage rod moves the slide block; 36. a linkage rod connecting rod; 37. A cutter; 38. a cutter fixing plate; 39. a rocker; 40. a crank block connecting rod; 41. a crank connecting rod; 42. a crank; 43. a driving motor III; 44. a first lead screw nut fixing hole; 45. the fruit passes through the holes; 46. a second limiting groove; 47. a screw nut fixing hole II; 48. a movable slide block fixing hole; 49. an auxiliary pulley; 50. a fixing plate; 51. a slider of a slider-crank mechanism; 52. a slider-crank mechanism; 53. a linkage rod limiting groove; 54. a linkage rod mounting hole; 55. clamping the fixing plate; 56. v-shaped clamping fingers; 57. a cushion rubber; 58. a correlation infrared sensor; 59. a pressure sensor; 60. connecting the chuck; 61. a second fixing groove; 62. a rubber buffer ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

Referring to fig. 1-10, an end effector for nondestructive picking of citrus fruits comprises a mechanical arm connecting device 1, a picking device 10 and a collecting and buffering device 7.

The mechanical arm connecting device 1 comprises a camera 2 and a camera fixing device 3, the mechanical arm connecting device 1 is connected with an end mounting port of a mechanical arm through a connecting chuck 60, the mechanical arm connecting device 1 is provided with a second fixing groove 61, the camera fixing device 3 is provided with a first fixing groove 4, the second fixing groove 61 and the first fixing groove 4 are connected through a stud 6 and a nut, the height of the camera 2 is adjusted according to actual production needs, and an opening hole formed in the front end of the mechanical arm connecting device 1 is matched with the picking device 10 and fixed through a bolt.

Wherein, arm connecting device 1 sets up strengthening rib 5 and increases arm connecting device's stability.

Wherein picking device 10 comprises a protective housing 17, a shear layer device 21, a grip layer device 25.

The top inside the protection shell 17 is provided with a fixed mounting boss 13 for mounting a screw rod transmission 19 device fixing seat 12, the inner side of the bottom of the protection shell 17 is provided with a fixed layer 16, the fixed layer 16 is used for fixing a bevel gear shaft 26, a bevel gear driving motor I15 and a driving motor II 28, and the top of the protection shell 17 is provided with a protection cover plate 11 for protecting internal parts.

Wherein, set up spacing pipeline 14 of fruit between shear layer device 21 and the centre gripping layer device 25 and avoid the fruit to rock in the picking process and influence picking efficiency and pick the device and produce the damage to the fruit.

The shearing layer device 21 consists of a transmission fixing plate 29, a moving slide block 31, a linkage rod 33, a linkage rod moving slide block 35, a cutter fixing plate 38, a cutter 37, a crank slide block mechanism 52 and a driving motor III 43; the circumference of the transmission fixing plate 29 is equidistantly provided with 6 movable sliding block tracks 32 and 4 limiting grooves 30, wherein the movable sliding block 31 is close to a fruit through hole 45, a cutter fixing hole 48 is formed in the inner ring of the fruit through hole 45, the cutter fixing plate 38 is installed in the cutter fixing hole 48, the side edge of the movable sliding block 31 is provided with a linkage rod limiting groove 53 and a linkage rod installing hole 54, two layers of auxiliary pulley fixing plates 50 are arranged at two ends of the movable sliding block 31, three equidistant auxiliary pulleys 49 are arranged on the upper surface and the lower surface of each layer of fixing plate 50, the movable sliding block 31 is installed in the movable sliding block tracks 32, and the auxiliary pulleys 49 roll in the movable sliding block tracks 32 to reduce the working resistance.

Wherein, 3 cutter fixing plates 38 are fixed at equal intervals on the circumference of the shearing layer device 21, and the fixing plates 38 are installed in fixing holes 48 arranged on the inner side of the movable slide block 31.

The crank-slider mechanism 52 is used for driving the moving slider 31 to move in the moving-slider track 32, the shearing-layer device 21 is provided with two crank-slider mechanisms 52 arranged at 180 degrees from left to right, a crank 42 in the crank-slider mechanism 52 is installed at the bottom of the transmission fixing plate 29 and connected with the driving motor III 28, the moving slider 31 used for being connected with the crank-slider mechanism 52 is connected through the limiting groove II 46, the driving crank-slider mechanism slider 51, the rocker 39, the crank connecting rod 41 and the crank 42, and the movement is realized under the driving of the driving motor III 43.

The linkage rod 33 is fixed in a linkage rod limiting groove 53 formed in the side edge of the movable sliding block 31, the linkage rod 33 is connected with a linkage rod movable sliding block 35 fixed in the limiting groove I30 through a connecting rod 33, and the movement of the rest movable sliding blocks 31 which are not directly driven is realized under the condition that the crank 42 is driven by the left driving motor III 43 and the right driving motor III 43.

The first mounting hole 44 and the first mounting hole 47 arranged at the bottom of the transmission fixing plate 29 in the shear layer device 21 fix a screw nut of the screw transmission mechanism 19, one end of the screw 20 is provided with a fourth bevel gear 22 for driving the screw 20 to transmit, the fixed end of the screw 20 is fixed on the boss 13 on the inner side of the top of the protective shell 17, the whole screw transmission 19 is driven by a two-stage bevel gear, the first driving motor 15 and the second driving motor 28 are fixed on the fixed layer 16 in the protective shell 17, the second bevel gear 24 and the third bevel gear 23 are fixed on a gear shaft 26, the gear shaft 26 is fixed on a bearing seat 18 arranged on the bottom surface of the fixed layer 16, the first driving motor 15 and the second driving motor 28 arranged on the fixed layer 16 are connected with a first bevel gear 27, the first bevel gear 27 is matched with the second bevel gear 24, the second bevel gear 24 drives the bevel gear shaft 26 to rotate, the third bevel gear 23 is matched with the fourth bevel gear 22, the fourth bevel gear 22 is arranged at one end of the screw 20, at the moment, the screw 20 starts to rotate, and the screw 21 fixed on the screw nut of the screw transmission 19 starts to adjust the distance between the shear layer device 25.

The clamping layer device 25 is composed of a transmission fixing plate 29, a moving slide block 31, a linkage rod 33, a linkage rod moving slide block 35, a linkage rod slide block connecting rod 36, a clamping fixing plate 55, a V-shaped clamping finger 54, a crank slide block mechanism 52 and a driving motor III 43.

Wherein, four fixed bosses 34 are arranged at equal intervals on the circumference of the bottom of the transmission fixing plate 29.

Wherein, 3 clamping fixing plates 55 are fixed on the circumference of the clamping layer device 25 at equal intervals, the clamping fixing plates 55 are arranged in fixing holes 48 arranged on the inner side of the movable sliding block 31, a V-shaped clamping finger 56 is arranged on the clamping fixing plates 55, pressure sensors 59 are arranged on two sides of the V-shaped clamping finger 56, rubber layers 57 are arranged on two sides of the V-shaped clamping finger 56 to increase the friction force between the oranges and the V-shaped finger 56, and an external infrared sensor 58 is arranged in the middle of the V-shaped finger 56; according to the size of the citrus fruit obtained after the image processing shot by the camera 2, when the citrus picking device 10 moves from bottom to top, the correlation infrared sensor 58 loses a signal and starts timing, the time of the picking device 10 from bottom to top is set according to the size of the citrus fruit, the moving slide block 31 of the clamping device layer 25 starts to move at the end time, the V-shaped fingers 56 start to clamp the fruit, the pressure sensor 59 reaches a preset threshold value when the citrus fruit is clamped, the driving motor III 43 stops moving, the moving slide block 31 stops moving, and the citrus fruit is clamped in the middle of the V-shaped fingers 56.

Wherein, the distance between adjustment of size and the centre gripping layer device 25 according to the fruit after the picture that camera 2 was taken is handled to shear layer device 21, realizes that different oranges and tangerines size guarantees the same fruit stalk length when plucking, and the oranges and tangerines of being convenient for are collected.

Wherein, shear layer device 21 is after the shearing, and centre gripping layer device 25 begins to reset, and the oranges and tangerines fruit drops in buffering collection device 7, and shear layer device 21 begins to reset simultaneously, and the distance between shear layer device 21 and the centre gripping layer device 25 begins to recover initial value, and rubber buffering circle 62 cushions the kinetic energy of oranges and tangerines, and the oranges and tangerines fruit moves to the collection frame along collecting pipe 8.

An end effector for nondestructive picking of oranges has a simple structure and is convenient to use; the problem of current pick end effector can not pick the single oranges and tangerines fruit in the fruit cluster, the fruit stalk length is different when picking not unidimensional oranges and the longer oranges and tangerines fruit that is not convenient for of oranges and tangerines stalk length after picking is solved, very big improvement the degree of automation that oranges and tangerines were picked, satisfy people's user demand.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides an end effector is picked to oranges and tangerines harmless which characterized in that: comprises a mechanical arm connecting device (1), a picking device (10) and a buffering and collecting device (7);

the mechanical arm connecting device (1) is used for connecting a mechanical arm and the orange picking device (10), wherein the mechanical arm connecting device (1) is provided with a second fixing groove (61) for mounting the camera fixing device (3), the camera fixing device (3) is provided with a first fixing groove (4), the second fixing groove (61) and the first fixing groove (4) are matched with each other through a stud (6) and a nut, and the height of the camera (2) can be adjusted according to actual production;

the picking device (10) comprises a protective shell (17), a shear layer device (21) and a clamping layer device (25).

2. A citrus non-invasive picking end effector according to claim 1, wherein: the shearing layer device (21) consists of a transmission fixing plate (29), a movable sliding block (31), a linkage rod (33), a linkage rod movable sliding block (35), a linkage rod sliding block connecting rod (36), a cutter fixing plate (38), a cutter (37), a crank sliding block mechanism (52) and a driving motor III (43);

the transmission fixing plate (29) is provided with 6 limiting grooves II (46) at equal intervals on the circumference, 4 limiting grooves I (30) at equal intervals on the circumference, a screw nut fixing hole I (44) and a screw nut fixing hole II (47) which are arranged at 180 degrees on the left and right, and citrus fruit through holes (45), the transmission fixing plate (29) is provided with 6 moving slide block tracks (32) at equal intervals according to 360 degrees on the circumference, wherein the moving slide block tracks (32) are used for limiting the moving direction of the moving slide block (31);

a cutter fixing hole (48) is formed in the inner ring of the movable sliding block (31) close to the fruit passing hole (45), a cutter fixing plate (38) is installed in the cutter fixing hole (48), a linkage rod limiting groove (53) is formed in the side edge of the movable sliding block (31), a linkage rod installing hole (54) is formed in the top surface of the movable sliding block (31), two layers of auxiliary pulley fixing plates (50) are arranged at two ends of the movable sliding block (31), three auxiliary pulleys (49) with equal distance are arranged on the upper surface and the lower surface of each layer of fixing plate (50), the movable sliding block (31) is installed in the movable sliding block track (32), and the auxiliary pulleys (49) roll in the movable sliding block track (32) to reduce working resistance;

the crank-slider mechanism (52) is used for driving the movable slider (31) to move in the movable slider track (32), the shearing layer device (21) is provided with two crank-slider mechanisms (52) which are arranged at 180 degrees from left to right, a crank (42) in each crank-slider mechanism (52) is arranged at the bottom of the transmission fixing plate (29) and connected with the driving motor III (43), a crank-slider mechanism slider (51) of each crank-slider mechanism (52) is fixed on the second limiting groove (46), the crank-slider mechanism slider (51) is connected with the bottom of the movable slider (31) through a crank-slider connecting rod (40), the driving crank-slider mechanism slider (51), the rocker (39), the crank connecting rod (41) and the crank (42) are connected, and the movement is realized under the driving of the driving motor III (43);

the linkage rod (33) is fixed in a linkage rod limiting groove (53) formed in the side edge of the movable sliding block (31), the linkage rod (33) is connected with a linkage rod movable sliding block (35) fixed in the limiting groove I (30) through a linkage rod sliding block connecting rod (36), and the movement of the rest movable sliding blocks (31) which are not directly driven is realized under the condition that the left and right driving motors III (43) drive the crank (42);

the clamping layer device (25) consists of a transmission fixing plate (29), a moving slide block (31), a linkage rod (33), a linkage rod moving slide block (35), a linkage rod slide block connecting rod (36), a clamping fixing plate (55), a V-shaped clamping finger (56), a crank slide block mechanism (52) and a driving motor III (43);

3 clamping fixing plates (55) are fixed on the circumference of the clamping layer device (25) at equal intervals, the clamping fixing plates (55) are installed in fixing holes (48) formed in the inner side of the movable sliding block (31), V-shaped clamping fingers (56) are installed on the clamping fixing plates (55), and pressure sensors (58) are installed on two sides of each V-shaped clamping finger (56).