CN219698495U - Three-degree-of-freedom mechanical claw for picking dragon fruits - Google Patents
Three-degree-of-freedom mechanical claw for picking dragon fruits Download PDFInfo
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- CN219698495U CN219698495U CN202321397143.1U CN202321397143U CN219698495U CN 219698495 U CN219698495 U CN 219698495U CN 202321397143 U CN202321397143 U CN 202321397143U CN 219698495 U CN219698495 U CN 219698495U
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- shearing
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- servo electric
- connecting rod
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- 244000157072 Hylocereus undatus Species 0.000 title claims abstract description 46
- 235000018481 Hylocereus undatus Nutrition 0.000 title claims abstract description 46
- 210000000078 claw Anatomy 0.000 title claims abstract description 20
- 238000010008 shearing Methods 0.000 claims abstract description 73
- 239000012636 effector Substances 0.000 claims abstract description 17
- 230000009471 action Effects 0.000 claims description 2
- 240000008086 Echinocereus enneacanthus Species 0.000 claims 4
- 235000010837 Echinocereus enneacanthus subsp brevispinus Nutrition 0.000 claims 4
- 235000006850 Echinocereus enneacanthus var dubius Nutrition 0.000 claims 4
- 238000000605 extraction Methods 0.000 claims 4
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 238000005520 cutting process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006555 catalytic reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000021022 fresh fruits Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000000050 nutritive effect Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 235000019605 sweet taste sensations Nutrition 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a three-degree-of-freedom mechanical claw for picking dragon fruits, which comprises a three-degree-of-freedom module and a mechanical claw arranged on the three-degree-of-freedom module and driven by the three-degree-of-freedom module, wherein the mechanical claw is provided with an end effector, a left shearing hand gripper and a right shearing hand gripper, the end effector drives the left shearing hand gripper and the right shearing hand gripper to act, the left shearing hand gripper and the right shearing hand gripper are both provided with shearing plates, a second connecting rod and hoppers, the hoppers are provided with bottom plates, the bottom plates of the two hoppers of the left shearing hand gripper and the right shearing hand gripper are respectively provided with side baffles except for the other three sides of the bottom plates of the two hoppers, the bottom plates of the two hoppers are respectively provided with a second connecting rod on the sides far away from each other, the tops of the second connecting rods are respectively connected with the shearing plates, and the edges of the two shearing plates are shearing edges. The device can be used for clamping, shearing and conveying in the process of picking the dragon fruits, the clamping pressure does not need to be increased, the shearing is convenient, the sheared conveying cannot slip off, and in addition, the dragon fruits cannot be clamped or damaged in the picking process.
Description
Technical Field
The utility model relates to a dragon fruit harvesting machine, in particular to a three-degree-of-freedom mechanical claw for picking up dragon fruits.
Background
The dragon fruit has fragrant and sweet taste and high nutritive value, integrates the advantages of fruits, flower buds, vegetables and medicines, and is a green fruit and health care nutrient food with certain curative effect. Dragon fruit is one of the most widely produced and sold fresh fruits in China and is deeply favored by consumers. Along with the support of policies and continuous innovation and perfection of the dragon fruit planting technology in recent years, and continuous popularization of the night light supplementing catalysis technology, the expansion of the dragon fruit seeds is continuous. Along with the shortage of domestic labor force, the production cost of the dragon fruits is increased, and the high-cost production mode is gradually replaced by mechanization, but the dragon fruit production areas are mostly concentrated in relatively unoccupied areas, and the scale, mechanization and industrialization levels are not high. In the context of the current shortage of agricultural labor, the realization of automation of picking operations has become an urgent need for the development of facility agriculture.
The utility model patent with the publication number of CN 217363840U discloses a mechanical arm assembly for a dragon fruit harvester, which comprises a connecting seat and mechanical arms connected with the connecting seat, wherein a pair of mechanical arms are symmetrically arranged on two sides of the connecting seat, each mechanical arm is provided with a joint and a connecting rod, the connecting rod is connected with the connecting rod through a joint, and a servo motor is arranged at the joint; the connecting rod at the tail end is provided with a shearing mechanism and a clamping mechanism which are adjacently arranged; the center of the connecting seat is provided with a camera. The clamping mechanism is provided with a clamping driving motor on a clamping seat plate, the clamping driving motor drives a conveying claw connecting rod through a clamping gear set, the conveying claw connecting rod is connected with a clamping conveying claw, and the clamping conveying claws are arranged in pairs; above-mentioned prior art is in the course of the work, and the centre gripping carries the claw to lift the centre gripping to the dragon fruit of waiting to cut, and the centre gripping cutting knife cuts off the root fruit stem of dragon fruit, accomplishes centre gripping shearing, and the dragon fruit bottom department after the shearing is lifted the centre gripping by the centre gripping and carries the claw, and the top is spacing by the centre gripping cutting knife of interlock. The mechanical arm works to drive the device to move, the dragon fruits are conveyed to the collecting bin of the harvester, and then the sheared dragon fruits are released.
The problems that exist are: the clamping conveying claw is small in contact area with the clamped dragon fruits, clamping of the dragon fruits is unstable in clamping shearing or conveying processes, if the clamping pressure is required to be increased, the clamping pressure is increased, and the picking efficiency and effect of the dragon fruits are affected because the clamping mark or the clamping injury of the dragon fruits are easily caused due to the small clamping contact area.
Disclosure of Invention
The utility model aims to solve the technical problem of providing the three-degree-of-freedom mechanical claw for picking the dragon fruits, which can clamp, shear and convey the dragon fruits in the picking process without increasing clamping pressure, is convenient to shear, does not slip after shearing and does not cause the clamping marks or clamping injuries of the dragon fruits in the picking process.
In order to solve the technical problems, the utility model adopts the following technical means:
a three degree of freedom gripper for dragon fruit is taken, includes three degree of freedom modules and sets up the gripper by three degree of freedom module drive on three degree of freedom modules, the gripper be provided with end effector, left shearing hand grab and right shearing hand grab, end effector drive left shearing hand grab and right shearing hand grab action, left shearing hand grab and right shearing hand grab all are provided with shear bar, second connecting rod and hopper, the hopper is equipped with the bottom plate, the bottom plate of two hoppers of left shearing hand grab and right shearing hand grab all sets up the side shield except that the other three sides of adjacent one side, the bottom plate of two hoppers all sets up the second connecting rod in the one side that keeps away from each other, the top of second connecting rod is all connected and is set up the shear bar, the border of two shear bars is the shear blade.
Compared with the prior art, the utility model adopting the technical scheme has the outstanding characteristics that:
through setting up the hopper, two hoppers are cut before shearing, cut the back and cooperate when shearing, only need to utilize two hoppers to accept with the dragon fruit that waits to cut, support, the left shearing hand after shearing is grabbed and the right shearing hand is grabbed and is only played the effect that prevents to drop above the dragon fruit, does not utilize the mode of centre gripping to fix after the shearing is accomplished and carries the dragon fruit for the dragon fruit of picking is carried and can not the slippage, and can not cause the dragon fruit clamp mark or the clamp to hinder at picking in-process.
The cutting of the shearing plate is more beneficial to rapidly and forcefully cutting off the stems of the dragon fruits.
A further preferred technical scheme is as follows:
the shearing plate is elliptical and arc-shaped, the area of the adjacent side of the shearing plate on the left shearing hand grab and the right shearing hand grab is small, and the area of the shearing plate on the side connected with the second connecting rod is large.
The above arrangement facilitates placement of the dragon fruit in the two hoppers prior to shearing.
The end effector is provided with a first servo motor, an air cylinder, a screw rod, a first connecting rod, a clamping jaw, a fixed rod, a cam and a baffle, wherein the first servo motor is connected with the baffle through a bolt, the gear is in clearance fit with the cam, the air cylinder is connected with the cam through the screw rod, the cam is connected with the fixed rod through a bolt, the fixed rod is connected with the first connecting rod through a bolt, and the clamping jaw is connected with the first connecting rod through a bolt; the screw is linked with the first connecting rod, and the first servo motor controls the rotation of the whole mechanical claw through the rotation of the driving gear; the cylinder controls the first connecting rod through controlling the movement of the screw rod, and the first connecting rod controls the clamping jaw to grasp and release.
Through above-mentioned setting, be convenient for utilize first servo motor, cylinder to carry out corresponding drive respectively to accomplish the picking work better.
The three-degree-of-freedom module is provided with a left servo electric cylinder, a right servo electric cylinder and a middle servo electric cylinder, wherein the left servo electric cylinder and the right servo electric cylinder are arranged in parallel, two ends of the middle servo electric cylinder are respectively connected with the left servo electric cylinder and the right servo electric cylinder through sliding seats, and the left servo electric cylinder and the right servo electric cylinder drive the middle servo electric cylinder to move along a straight line; the middle servo electric cylinder is provided with a sliding seat for connecting and arranging mechanical claws.
Through the setting of three degree of freedom modules, this device can be more stable along linear motion, the control of being convenient for.
The left servo electric cylinder, the right servo electric cylinder and the middle servo electric cylinder are identical in structure, a second servo motor, a lead screw and a sliding seat are arranged, the lead screw is driven by the second servo motor, and the lead screw and the sliding seat are in threaded fit to drive the sliding seat to move linearly.
The servo motor is conveniently used for driving work through the arrangement of the lead screw and the sliding seat.
Drawings
Fig. 1 is a perspective view of the present utility model.
Fig. 2 is a perspective view of the gripper of the present utility model.
Fig. 3 is a perspective view of a three degree of freedom module of the present utility model.
Fig. 4 is a perspective view of an end effector of the present utility model.
Fig. 5 is a perspective view of the left shear hand grip of the present utility model.
Fig. 6 is a perspective view of the right servo motor lever of the present utility model.
Reference numerals illustrate: 1-three-degree-of-freedom module, 2-gripper; 3-end effector, 4-left shearing hand grip, 5-right shearing hand grip, 6-right servo motor lever, 7-left servo motor lever, 8-middle servo motor lever, 9-first servo motor, 10-cylinder, 11-screw rod, 12-first connecting rod, 13-clamping jaw, 14-dead lever, 15-cam, 16-baffle, 17-shearing plate, 18-second connecting rod, 19-hopper, 20-second servo motor, 21-lead screw.
Detailed Description
The utility model will be further illustrated with reference to the following examples.
Referring to fig. 1, the three-degree-of-freedom gripper for picking dragon fruits according to the present utility model comprises a three-degree-of-freedom module and a gripper disposed on the three-degree-of-freedom module and driven by the three-degree-of-freedom module.
Referring to fig. 2, the gripper of the present utility model is comprised of an end effector 3, a left shear grip 4, and a right shear grip 5.
Referring to fig. 5, the shear grip of the present utility model is composed of a shear plate 17, a second link 18 and a hopper 19.
Referring to fig. 2, the end effector 3 is in clearance fit with the left shearing hand grip 4 and the right shearing hand grip 5 through a connecting rod, and is finally fixed by a nut to achieve connection. The end effector 3 controls the left shearing hand gripper 4 and the right shearing hand gripper 5 to grasp, shear and release the dragon fruit through opening and closing movements, and finally, the collection of the dragon fruit is realized.
Referring to fig. 4, the gripper end effector is composed of a first servo motor 9, a cylinder 10, a screw 11, a first link 12, a jaw 13, a fixed rod 14, a cam 15, and a shutter 16. Referring to fig. 4, the first servo motor 9 is bolted to the baffle 16, and then the gear is in clearance fit with the cam 15, the cylinder 10 is connected to the cam 15 through the screw 11, the cam 15 is connected to the fixed rod 14 through the bolt, the fixed rod 14 is bolted to the first link 12, and the clamping jaw 13 is connected to the first link 12 through the bolt, so as to realize the connection between the store and the clamping jaw 13. The screw 11 is coupled to the first link 12 by a screw connection. The first servomotor 9 is rotated by a drive gear, thereby controlling the rotation of the entire gripper. The cylinder 10 controls the first connecting rod 12 by controlling the movement of the screw 11, and the first connecting rod 12 controls the clamping jaw 13 to realize grabbing and releasing.
Referring to fig. 5, the shear plate 17 and the hopper 19 are connected to the second link 18 by welding. The hopper 19 receives the bottom of the dragon fruit, and the shearing plate 17 shears the stem of the dragon fruit, so that the dragon fruit falls off.
Referring to fig. 3, the three-degree-of-freedom module of the utility model is composed of a left servo electric cylinder 6, a right servo electric cylinder 7 and a middle servo electric cylinder 8, wherein the left servo electric cylinder 6 and the right servo electric cylinder 7 are arranged in parallel, two ends of the middle servo electric cylinder 8 are respectively connected with the left servo electric cylinder 6 and the right servo electric cylinder 7 through sliding seats, and the left servo electric cylinder 6 and the right servo electric cylinder 7 drive the middle servo electric cylinder 8 to move along a straight line; the middle servo electric cylinder 8 is provided with a sliding seat for connecting and arranging the mechanical claw 2.
As can be seen from fig. 6, the servo motor lever is composed of a second servo motor 20 and a screw 21.
Referring to fig. 6, the second servo motor 20 is connected to the screw 21 by a screw. The second servomotor 20 effects a relative movement by driving the movement of the lead screw 21. The screw 21 is provided with a slide seat.
The working principle or process of the utility model is as follows:
before shearing, the end effector 3 drives the left shearing hand grip 4 and the right shearing hand grip 5 to be separated, so that the dragon fruit to be sheared is placed above the bottom plate of the hopper 19, and then the end effector 3 drives the left shearing hand grip 4 and the right shearing hand grip 5 to be close together, and in the closing process, the two shearing plates 17 are meshed to enable the dragon fruit stems to be sheared; at the same time of shearing, the two hoppers 19 are folded together, and the sheared dragon fruit falls on the two hoppers 19 completely and is supported by the two hoppers 19. When the dragon fruit is released, the end effector 3 again drives the left and right shearing jaws 4, 5 apart, causing the dragon fruit to fall from between the two hoppers 19.
The foregoing description is only of the preferred embodiments of the utility model and is not intended to limit the scope of the claims, but rather the equivalent structural changes made by the application of the present description and drawings are intended to be included within the scope of the claims.
Claims (5)
1. The utility model provides a three degree of freedom gripper for dragon fruit is taken, includes three degree of freedom module (1) and sets up on three degree of freedom module (1) by three degree of freedom module (1) driven gripper (2), its characterized in that: the mechanical claw (2) be provided with end effector (3), left shearing hand is grabbed (4) and right shearing hand is grabbed (5), end effector (3) drive left shearing hand is grabbed (4) and right shearing hand is grabbed (5) action, left shearing hand is grabbed (4) and right shearing hand is grabbed (5) and all is provided with shearing plate (17), second connecting rod (18) and hopper (19), hopper (19) are equipped with the bottom plate, the bottom plate of two hoppers (19) of left shearing hand is grabbed (4) and right shearing hand is grabbed (5) all sets up the side shield except that the other three sides of adjacent one side, the bottom plate of two hoppers (19) all sets up second connecting rod (18) in the one side that keeps away from each other, the top of second connecting rod (18) is all connected and is set up shearing plate (17), the border of two shearing plates (17) is the shearing edge.
2. The three degree of freedom gripper for pitaya extraction of claim 1 wherein: the shearing plate (17) is in an elliptical arc shape, the area of the shearing plate (17) on the adjacent side of the left shearing hand grab (4) and the right shearing hand grab (5) is small, and the area of the shearing plate (17) on the side connected with the second connecting rod (18) is large.
3. The three degree of freedom gripper for pitaya extraction of claim 1 wherein: the end effector (3) is provided with a first servo motor (9), an air cylinder (10), a screw rod (11), a first connecting rod (12), a clamping jaw (13), a fixed rod (14), a cam (15) and a baffle plate (16), wherein the first servo motor (9) is in bolt connection with the baffle plate (16), and then is in clearance fit with the cam (15) through a gear, the air cylinder (10) is connected with the cam (15) through the screw rod (11), the cam (15) is connected with the fixed rod (14) through a bolt, the fixed rod (14) is in bolt connection with the first connecting rod (12), and the clamping jaw (13) is in bolt connection with the first connecting rod (12); the screw (11) is linked with the first connecting rod (12), and the first servo motor (9) controls the rotation of the whole mechanical claw through the rotation of the driving gear; the cylinder (10) controls the first connecting rod (12) through controlling the movement of the screw rod (11), and the first connecting rod (12) controls the clamping jaw (13) to grasp and release.
4. The three degree of freedom gripper for pitaya extraction of claim 1 wherein: the three-degree-of-freedom module (1) is provided with a left servo electric cylinder (6), a right servo electric cylinder (7) and a middle servo electric cylinder (8), the left servo electric cylinder (6) and the right servo electric cylinder (7) are arranged in parallel, two ends of the middle servo electric cylinder (8) are respectively connected with the left servo electric cylinder (6) and the right servo electric cylinder (7) through sliding seats, and the left servo electric cylinder (6) and the right servo electric cylinder (7) drive the middle servo electric cylinder (8) to move along a straight line; the middle servo electric cylinder (8) is provided with a sliding seat for connecting and arranging the mechanical claw (2).
5. The three degree of freedom gripper for pitaya extraction of claim 4 wherein: the left servo electric cylinder (6), the right servo electric cylinder (7) and the middle servo electric cylinder (8) are identical in structure, a second servo motor (20), a lead screw (21) and a sliding seat are arranged, the lead screw (21) is driven by the second servo motor (20), and the lead screw (21) and the sliding seat are in threaded fit to drive the sliding seat to move linearly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321397143.1U CN219698495U (en) | 2023-06-04 | 2023-06-04 | Three-degree-of-freedom mechanical claw for picking dragon fruits |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321397143.1U CN219698495U (en) | 2023-06-04 | 2023-06-04 | Three-degree-of-freedom mechanical claw for picking dragon fruits |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219698495U true CN219698495U (en) | 2023-09-19 |
Family
ID=87979461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321397143.1U Active CN219698495U (en) | 2023-06-04 | 2023-06-04 | Three-degree-of-freedom mechanical claw for picking dragon fruits |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219698495U (en) |
-
2023
- 2023-06-04 CN CN202321397143.1U patent/CN219698495U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240112 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 252000 No.1 Hunan Road, Dongchangfu District, Liaocheng City, Shandong Province Patentee before: LIAOCHENG University |