CN221381826U

CN221381826U - End effector mechanism is picked in cutting of broccoli stem portion

Info

Publication number: CN221381826U
Application number: CN202322926320.7U
Authority: CN
Inventors: 杨庆华; 倪淯洡; 王志恒; 荀一
Original assignee: Taizhou Research Institute of Zhejiang University of Technology
Current assignee: Taizhou Research Institute of Zhejiang University of Technology
Priority date: 2023-05-23
Filing date: 2023-10-31
Publication date: 2024-07-23
Anticipated expiration: 2033-10-31

Abstract

The utility model discloses a broccoli stem cutting and picking end effector mechanism which comprises a top mounting plate, a transparent cylinder, a bottom plate, an upper plate, a lower plate, a stepping motor, an arc rack, a sliding block and a blade, wherein the top mounting plate is arranged on the bottom plate; the upper part of the transparent cylinder is connected with the top mounting plate, the lower part of the transparent cylinder is connected with the bottom plate, the upper plate is placed on the bottom plate and fixedly connected with the lower plate, the stepping motor is fixed at the side part of the transparent cylinder, the driving end of the stepping motor is provided with a gear, the circular arc rack is fixedly connected with the upper plate, and the circular arc rack is meshed with the gear; a group of inclined straight grooves are formed in the bottom plate along the circumferential direction of the bottom plate, a group of centripetal straight grooves are formed in the lower plate along the circumferential direction of the bottom plate, the sliding blocks are arranged in the inclined straight grooves in a matched mode, and the blades are arranged on the sliding blocks. The utility model has the characteristics of convenient and safe use, high working efficiency, good stability and low production cost.

Description

End effector mechanism is picked in cutting of broccoli stem portion

Technical Field

The utility model relates to the technical field of agricultural machinery, in particular to an end effector mechanism suitable for picking broccoli.

Background

With the development of the times, the demands of people for vegetables are increased year by year, and the broccoli serving as one of important vegetables is deeply favored by people worldwide, so that the planting area of the broccoli in China at present reaches millions mu, and the annual output of the broccoli is basically kept at hundreds of thousands of tons.

The whole planting process of the broccoli is the most time-consuming in the process of picking the broccoli, and the research on the automatic broccoli picking technology in China is less at present, and manual picking is still adopted in most places, so that an end effector mechanism suitable for the broccoli picking needs to be designed, the fruit integrity of the broccoli is effectively ensured, the picking efficiency is high, the structure is simple, the picking cost is low, and the manual labor force is liberated, and the production efficiency is accelerated.

Disclosure of utility model

The present utility model is directed to an end effector mechanism suitable for picking broccoli, which solves the above-mentioned problems.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A broccoli stem cutting and picking end effector mechanism comprises a top mounting plate, a transparent cylinder, a bottom plate, an upper plate, a lower plate, a stepping motor, an arc rack, a sliding block and a blade; the upper part of the transparent cylinder is connected with the top mounting plate, the lower part of the transparent cylinder is connected with the bottom plate, the upper plate is placed on the bottom plate, and the upper plate is fixedly connected with the lower plate; the stepping motor is fixed at the side part of the transparent cylinder, a gear is arranged at the driving end of the stepping motor, the arc rack is fixedly connected with the upper plate, and the arc rack is meshed with the gear; a group of inclined straight grooves are formed in the bottom plate along the circumferential direction of the bottom plate, a group of centripetal straight grooves are formed in the lower plate along the circumferential direction of the bottom plate, the sliding block is arranged in the inclined straight grooves in a matched mode, the blade is arranged on the sliding block, a vertical shaft is arranged on the blade in a penetrating mode, one end of the vertical shaft is matched with the sliding block, and the other end of the vertical shaft is matched with the straight grooves.

Further, the circular arc rack is arranged on the upper plate through a circular arc rack support bottom.

Further, the end effector mechanism for cutting and picking the broccoli stems further comprises a middle ring, the middle ring is fixedly connected with the upper plate, the inner ring of the middle ring is attached to the transparent cylinder, and stability in the rotation process is improved.

Further, the stepping motor is arranged on the transparent cylinder through a motor bracket.

Further, a group of spacing blocks are arranged at the edge of the lower plate along the circumferential direction of the lower plate, and the upper plate and the lower plate are connected together through the spacing blocks.

Further, the housing is connected to the motor support below, and a sensor mounting plate is arranged at one end of the housing and used for mounting a sensor.

Further, the number of the straight grooves is consistent with that of the inclined straight grooves, and the positions of the straight grooves are corresponding to that of the inclined straight grooves.

The utility model has the beneficial effects that:

Compared with the prior art, the utility model utilizes the mechanical mechanism to conveniently and effectively realize the cutting and picking of the roots of the broccoli by utilizing a single actuating mechanism, and carries out short storage and feeding after the roots of the broccoli are cut, and has the characteristics of convenient and safe use, high working efficiency, good stability and low production cost.

Drawings

FIG. 1 is a schematic view of the structure of the shaft side of the present utility model;

FIG. 2 is a schematic view of the structure of the present utility model;

FIG. 3 is a schematic view of a blade mounting structure of the present utility model;

FIG. 4 is a schematic view of the bottom of the present utility model in an open configuration;

FIG. 5 is a schematic view of the bottom of the present utility model in a cut state;

In the figure: 1. a top mounting plate; 2. a transparent tube; 3. an upper plate; 4. a bottom plate; 5. an intermediate ring; 6. a sensor mounting plate; 7. a spacer block; 8. a lower plate; 9. a stepping motor; 10. a motor bracket; 11. a housing; 12. arc racks; 13. arc rack support bottom; 14. a slide block; 15. a blade.

Detailed Description

The utility model is further described below with reference to the drawings.

As shown in fig. 1-3, the utility model relates to a broccoli stem cutting and picking end effector mechanism, which comprises a top mounting plate 1, a transparent cylinder 2, an upper plate 3, a bottom plate 4, an intermediate ring 5, a sensor mounting plate 6, a spacer 7, a lower plate 8, a stepping motor 9, a motor bracket 10, a housing 11, an arc rack 12, an arc rack support 13, a sliding block 14 and a blade 15.

In the embodiment of the utility model, as the mechanism is an end effector mechanism for picking broccoli, the original purpose of the design is to connect the transparent cylinder 2 on the main bracket for fixing and positioning the broccoli and picking, fix the transparent cylinder 2 in a good position, and enable the whole opening direction of the transparent cylinder 2 to be vertically downward, the upper part of the transparent cylinder 2 is connected with the top mounting plate 1 by bolts, and the lower part is connected with the bottom plate 4; the middle ring 5 is fixed on the upper plate 3, the inner ring of the middle ring 5 is attached to the transparent cylinder 2, and the outer ring is not connected with the circular arc rack support 13, the circular arc rack 12 and the housing 11.

The transparent cylinder 2 is of an annular cylindrical structure as a whole, and a plurality of rectangular through grooves are formed in the outer wall of the transparent cylinder along the circumferential direction to form a transparent grid.

The side of the transparent cylinder 2 is connected with a motor bracket 10 through bolts and nuts, a stepping motor 9 is arranged on the L-shaped motor bracket 10, a housing 11 is connected below the L-shaped motor bracket through four pairs of bolts and nuts, a sensor mounting plate 6 is connected to the end of the housing 11, and sensor components are arranged on the sensor mounting plate 6.

The driving end of the stepping motor 9 is provided with a gear which is meshed with an arc rack 12 arranged on an arc rack support 13, the lower part of the arc rack support 13 is connected with the upper half wall surface of the upper plate 3 through bolts and nuts, 6 spacing blocks 7 are equally distributed on the lower plate 8, and each spacing block 7 connects the upper plate 3, the lower plate 8 and the spacing blocks 7 together through two pairs of bolts and nuts.

Six centripetal straight grooves are formed in the bottom of the lower plate 8, six oblique straight grooves are formed in the bottom of the bottom plate 4, six blades 15 penetrate through the six oblique straight grooves through six vertical shafts respectively, the upper parts of the six vertical shafts are matched with corresponding sliding blocks 14, bearing stop pins are arranged below the six vertical shafts, and the bearing stop pins are matched and connected with the corresponding straight grooves.

A square slide block 14 is arranged in the inclined straight groove of the bottom plate 4 and is connected with the blade 15 by two pairs of bolts and nuts, and the blade 15 is limited to perform linear motion and prevent rotation. The blade 15 moves in the gap between the bottom plate 4 and the lower plate 8, and the gap is as small as possible while ensuring that the blade moves smoothly, so that the blade cannot displace up and down to affect the cutting effect.

The working process comprises the following steps: when the stepping motor is electrified to start driving, the gear at the driving end of the stepping motor rotates to drive the circular arc rack meshed with the stepping motor to rotate, so that the circular arc rack supports the bottom, the upper plate and the spacing block, the lower plate simultaneously rotates around the circumference, and the bottom plate is connected with the transparent cylinder and is not connected with the transparent cylinder, the bottom plate cannot rotate around the circumference, so that the rotation of the lower plate drives the vertical shaft penetrating through the centers of the two straight grooves to move, and meanwhile, the sliding block in the bottom plate starts to move, so that the six blades realize linear movement inwards or outwards, and the effect of cutting the broccoli stems is achieved.

The utility model has the following general working principle: assuming that the initial position is the position shown in fig. 4, the blades 15 are all retracted, the stepping motor 9 mounted on the motor bracket 10 drives the gear to rotate, the circular arc rack 12 is driven to rotate, the upper plate 3 connected with the circular arc rack support 13 rotates circumferentially, the lower plate 8 and the spacing block 7 are connected together, so that the upper plate 3 and the lower plate 8 rotate together along the circular shaft with equal speed, the bottom plate 4 is connected with the transparent cylinder 2 and is not connected with the upper plate 3 and the lower plate 8, the bottom plate 4 does not rotate around the circular shaft, the rotation of the lower plate 8 drives the shaft passing through the centers of the two straight grooves, the sliding block 14 is limited to rotate in the degree of freedom inside the inclined straight groove of the bottom plate 4, so that the sliding block 14 only moves towards one direction, namely moves towards the direction close to the center of the circle, and simultaneously, the shaft inside the straight groove of the lower plate 8 moves towards the direction close to the center of the circle, and the shaft is connected with the blades 15, so that the six blades 15 move linearly inwards, the cut effect is achieved, and the transparent cylinder 2 can be accommodated in the position shown in the picture 5. The reverse is to withdraw the blade 15 and discharge the broccoli in the transparent tube 2.

The above embodiments are only preferred embodiments of the present utility model, and are not limiting to the technical solutions of the present utility model, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present utility model.

Claims

1. The end effector mechanism for cutting and picking the broccoli stems is characterized by comprising a top mounting plate (1), a transparent cylinder (2), a bottom plate (4), an upper plate (3), a lower plate (8), a stepping motor (9), an arc rack (12), a sliding block (14) and a blade (15); the upper part of the transparent cylinder (2) is connected with the top mounting plate (1), the lower part of the transparent cylinder (2) is connected with the bottom plate (4), the upper plate (3) is placed on the bottom plate (4), and the upper plate (3) is fixedly connected with the lower plate (8); the stepping motor (9) is fixed at the side part of the transparent cylinder (2), a gear is arranged at the driving end of the stepping motor (9), the circular arc rack (12) is fixedly connected with the upper plate (3), and the circular arc rack (12) is meshed with the gear; a group of inclined straight grooves are formed in the bottom plate (4) along the circumferential direction of the bottom plate, a group of centripetal straight grooves are formed in the lower plate (8) along the circumferential direction of the bottom plate, the sliding blocks (14) are arranged in the inclined straight grooves in a matched mode, the blades (15) are arranged on the sliding blocks (14), vertical shafts are arranged on the blades (15) in a penetrating mode, one ends of the vertical shafts are matched with the sliding blocks (14), and the other ends of the vertical shafts are matched with the straight grooves.

2. The broccoli stem cutting and picking end effector mechanism according to claim 1, wherein the circular arc rack (12) is mounted on the upper plate (3) through a circular arc rack support (13).

3. The broccoli stem cutting and picking end effector mechanism according to claim 1, further comprising an intermediate ring (5), wherein the intermediate ring (5) is fixedly connected with the upper plate (3), and an inner ring of the intermediate ring (5) is attached to the transparent tube (2).

4. A broccoli stem cutting and picking end effector mechanism according to claim 1, characterized in that the stepper motor (9) is mounted on the transparent cylinder (2) by means of a motor mount (10).

5. The broccoli stem cutting and picking end effector mechanism according to claim 1, wherein a set of spacer blocks (7) are provided at the edge of the lower plate (8) along the circumferential direction thereof, and the upper plate (3) and the lower plate (8) are connected together by the spacer blocks (7).

6. The broccoli stem cutting and picking end effector mechanism according to claim 4, wherein a housing (11) is connected below the motor bracket (10), and a sensor mounting plate (6) is provided at one end of the housing (11) for mounting a sensor.

7. The broccoli stem cutting and picking end effector mechanism of claim 1, wherein the number of straight slots corresponds to the number of diagonal straight slots and the positions correspond.