CN106576597A - Fruit and vegetable picking manipulator - Google Patents

Fruit and vegetable picking manipulator Download PDF

Info

Publication number
CN106576597A
CN106576597A CN201611109386.5A CN201611109386A CN106576597A CN 106576597 A CN106576597 A CN 106576597A CN 201611109386 A CN201611109386 A CN 201611109386A CN 106576597 A CN106576597 A CN 106576597A
Authority
CN
China
Prior art keywords
fruit
gripper
manipulator
vegetable
fruits
Prior art date
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.)
Granted
Application number
CN201611109386.5A
Other languages
Chinese (zh)
Other versions
CN106576597B (en
Inventor
李小兵
廖鸿朋
兰新强
钱浩琛
艾凌飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanchang University
Original Assignee
Nanchang University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanchang University filed Critical Nanchang University
Priority to CN201611109386.5A priority Critical patent/CN106576597B/en
Publication of CN106576597A publication Critical patent/CN106576597A/en
Application granted granted Critical
Publication of CN106576597B publication Critical patent/CN106576597B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24—Devices for picking apples or like fruit
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

The invention relates to a fruit and vegetable picking manipulator, which comprises a gripping device, a cutting device and an outer shell. The manipulator is formed by a plurality of mechanical grippers; a blade is arranged on each mechanical gripper; when fruit and vegetable is placed in an inner shell by the manipulator, branches of the fruit and vegetable can be fed into a gap between each two mechanical grippers along with the fruit and vegetable; each two adjacent mechanical grippers are connected through a spring; when the manipulator rotates outside the inner shell, the springs are not subjected to stress, and when the manipulator rotates inside the inner shell, the mechanical grippers are contacted with tracks mutually close to one another gradually on the surface of the inner shell; and the mechanical grippers draw close inwards, so that the blades on the mechanical grippers can contact and close to complete the action of cutting the branches. The manipulator adopts an innovative grabbing and cutting method, so that the speed of picking the fruit and vegetable can be remarkably improved, the preservation time of the fruit and vegetable can be ensured to be prolonged through cutting off the branches, the cost of storing the fruit and vegetable by a fruit farmer is reduced, and the manual labor is reduced.

Description

Fruit and vegetable picking machinery hand
Technical field
The present invention relates to a kind of fruit and vegetable picking machinery hand, belongs to field of mechanical technique.
Background technology
At present, most fruits are plucked is used by the way of blade circumgyration incision branch after positioning fruit branch.So And this cutting mode is in the cutting such as fruit of fruits and vegetables class, due to fruits and vegetables the moderate toughness of branch hardness preferably, most of feelings Atwirl blade can flick in fruits and vegetables branch under condition, it is impossible to complete the shearing to branch.Additionally, also a small amount of fruit picking After device is using fruit branch of having good positioning, manipulator cuts off branch with scissors-like blade, and this method is in blade dynamics foot Can cut off the branch of fruits and vegetables when enough, but shortcoming with cannot continuously cut, a fruits and vegetables just must be positioned once often to subtract one, so Afterwards manipulator stretches out again, and shearing is finished, and manipulator is retracted, and efficiency is very low, and high cost.
The content of the invention
The purpose of the present invention is not enough for prior art, there is provided a kind of fruit and vegetable picking machinery hand.
The fruit and vegetable picking machinery hand includes grabbing device, cutter sweep, motor, shell；
The grabbing device includes manipulator, main shaft, axle connection member, angular contact ball bearing, shaft-cup, straight spur gear Group；Manipulator is made up of seven grippers, and axle connection member is arranged on main shaft, and gripper is connected by hinge with axle connection member Connect, both can complete certain low-angle rotation, angular contact ball bearing is installed on main shaft, and collocation end cap is used for solid mechanical hand Position, straight spur gear group is connected by key with main shaft.Motor drives straight spur gear group to rotate and then drives main shaft to turn When dynamic, manipulator follows main shaft to rotate together, comes in contact with the fruits and vegetables in rotation space then, and manipulator is rotated and pushes away fruits and vegetables Enter in end effector.
The cutter sweep includes blade, spring, gripper, track, guide rod group；Blade is arranged on gripper by bolt On surface, gripper has seven and is all connected on a spring, by the flexible certain angle for realizing gripper of spring Rotate, on end effector surface of internal cavity, track has seven and seven track extending to length for the position of track Centre is drawn close, and guide rod group is arranged on gripper.Fruits and vegetables are entered after end effector, and fruits and vegetables branch is entered, on seven grippers Guide rod group come into contact with seven tracks, gripper constrained by rail effect compression spring all draw close to centre then, now Close per the blade contact on two grippers, the branch of fruits and vegetables is cut；
The motor includes reducing gear and output shaft；Motor is arranged on end effector surface；The output shaft of motor passes through key It is connected with straight spur gear group；
The shell is spliced by the plate of the processed mistake of several piece；Shell is placed on end effector center；It is provided with shell Hole, for placing main shaft.
Beneficial effects of the present invention：Fruits and vegetables branch can be sheared with continuous effective, had both been saved the time, be reduced into again This.
Description of the drawings
Fig. 1 is the structural representation of the present invention；In figure：1- shells, 2- motors, 3- grabbing devices, 4- cutter sweeps.
Fig. 2（a）It is the front view of grabbing device part-structure；Fig. 2（b）It is the axonometric drawing of grabbing device；Fig. 2（c）It is to grab Take the front view of device；
In figure：5- axle connection members, 6- manipulators, 7- main shafts, 8- angular contact ball bearings, 9- shaft-cups, 10- straight spur gears Group；
Fig. 3（a）It is the axonometric drawing of shear；Fig. 3（b）It is the magnified partial view of shear；
In figure：11- springs, 12- tracks, 13- blades, 14- grippers, 15- guide rod groups；
Fig. 4（a）、（b）、（c）、（d）、（e）For the signal of fruit and vegetable picking process；In figure：G is fruits and vegetables.
Specific embodiment
Referring to the drawings, the specific embodiment of the present invention is described in further detail.
As shown in figure 1, grabbing device（3）And cutter sweep（4）, motor（2）All it is arranged on shell（1）On.Such as Fig. 2 （a）Shown, motor passes through straight spur gear group（10）Drive shaft（7）Rotation, main shaft（7）It is upper that shaft-cup is housed（9）And Angular contact ball bearing（8）, main shaft（7）With manipulator（6）By axle connection member（5）Connection, main shaft（7）Band motivation during rotation Tool hand（6）Rotate, grasping movement is completed to fruits and vegetables.Such as Fig. 3（a）、（b）, Fig. 4（c）、（d）Shown, fruits and vegetables branch enters gripper （14）Between 3-4 behind gap, in rotary course, gripper（14）On guide rod group（15）Meeting and track（12）Contact, machinery Pawl（14）By track（12）The center of being pressed against is drawn close, now gripper（14）On blade（13）It is overlapped, complete to branch Shear action, after the completion of shearing, guide rod group（15）De-orbit, gripper（14）Connected spring（11）Strut further Initial position is returned to, fruits and vegetables then fall into collection device by lower section.

Claims (1)

1. a kind of fruit and vegetable picking machinery hand, it is characterised in that：Fruit and vegetable picking machinery hand include grabbing device, cutter sweep, Motor, shell；
The grabbing device includes manipulator, main shaft, axle connection member, angular contact ball bearing, shaft-cup, straight spur gear Group；Manipulator is made up of seven grippers, and axle connection member is arranged on main shaft, and gripper is connected by hinge with axle connection member Connect, both can complete certain low-angle rotation, angular contact ball bearing is installed on main shaft, and collocation end cap is used for solid mechanical hand Position, straight spur gear group is connected by key with main shaft;
When motor drives straight spur gear group to rotate and then drive main axis, manipulator follows main shaft to rotate together, then Come in contact with the fruits and vegetables in rotation space, manipulator rotates and fruits and vegetables are pushed in end effector；
The cutter sweep includes blade, spring, gripper, track, guide rod group；Blade is arranged on gripper surface by bolt On, gripper has seven and is all connected on a spring, is rotated by the flexible certain angle for realizing gripper of spring, On end effector surface of internal cavity, track has seven and seven tracks as the centre that extends to of length is leaned on for the position of track Hold together, guide rod group is arranged on gripper, fruits and vegetables are entered after end effector, fruits and vegetables branch is entered, the guide rod on seven grippers Group comes into contact with seven tracks, and gripper constrained by rail effect compression spring is all drawn close to centre then, now per two Blade contact closure on gripper, the branch of fruits and vegetables is cut；
The motor includes reducing gear and output shaft；Motor is arranged on end effector surface；The output shaft of motor passes through key It is connected with straight spur gear group；
The shell is spliced by the plate of the processed mistake of several piece；Shell is placed on end effector center；It is provided with shell Hole, for placing main shaft.
CN201611109386.5A 2016-12-06 2016-12-06 Fruit and vegetable picking manipulator Active CN106576597B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611109386.5A CN106576597B (en) 2016-12-06 2016-12-06 Fruit and vegetable picking manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611109386.5A CN106576597B (en) 2016-12-06 2016-12-06 Fruit and vegetable picking manipulator

Publications (2)

Publication Number Publication Date
CN106576597A true CN106576597A (en) 2017-04-26
CN106576597B CN106576597B (en) 2023-04-07

Family

ID=58596875

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611109386.5A Active CN106576597B (en) 2016-12-06 2016-12-06 Fruit and vegetable picking manipulator

Country Status (1)

Country Link
CN (1) CN106576597B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108551869A (en) * 2018-02-07 2018-09-21 衢州学院 A kind of high-altitude fruit picker
CN109287279A (en) * 2018-11-09 2019-02-01 南京工程学院 A kind of automatic fruit and vegetable picking machinery hand of the torsional mode of pressure controllable
CN111213492A (en) * 2020-02-12 2020-06-02 南京林业大学 Separation and vibration comb type automatic picking end effector for kiwi fruits
CN113243201A (en) * 2021-05-06 2021-08-13 北京林业大学 Portable matrimony vine harvesting device
CN115226487A (en) * 2022-08-18 2022-10-25 浙江理工大学 Picking equipment tail end actuating mechanism and picking equipment thereof

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030079458A1 (en) * 2001-10-27 2003-05-01 Maschinenfabrik Kemper Gmbh & Company Kg Gathering and picking device
AU2004203201A1 (en) * 2003-07-18 2005-02-03 Nixon, Carol Ann Apparatus for and Method of Harvesting Cotton
CN201167486Y (en) * 2008-01-31 2008-12-24 华南农业大学 String-shaped fruits picking mechanical hand
CN102090210A (en) * 2010-11-30 2011-06-15 华南农业大学 Multi-fruit-type fruit and vegetable picking robot and end effector thereof
CN102550215A (en) * 2012-01-13 2012-07-11 华南农业大学 Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables
CN103548496A (en) * 2013-10-21 2014-02-05 华南农业大学 Quasi-circular fruit and vegetable picking end executor, method and robot
CN104021719A (en) * 2014-05-12 2014-09-03 南昌大学 Planar linkage mechanism combined teaching aid
CN104365279A (en) * 2014-11-24 2015-02-25 北京工业大学 Field planting plate vegetable harvesting mechanism
CN204579180U (en) * 2015-03-04 2015-08-26 西安工程大学 Hand-held comb scissors fruit and vegetable picking device
CN205142896U (en) * 2015-11-18 2016-04-13 哈尔滨理工大学 Capsicum annum fasciculatum is picked and straw clean -up equipment
JP2016073265A (en) * 2014-10-02 2016-05-12 大介 阿部 Automatic fruit harvest device
CN205431089U (en) * 2015-12-20 2016-08-10 重庆平伟朝阳农业发展有限公司 Automatic picking machine of fruit
CN206283863U (en) * 2016-12-06 2017-06-30 南昌大学 A kind of fruit and vegetable picking machinery hand

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030079458A1 (en) * 2001-10-27 2003-05-01 Maschinenfabrik Kemper Gmbh & Company Kg Gathering and picking device
AU2004203201A1 (en) * 2003-07-18 2005-02-03 Nixon, Carol Ann Apparatus for and Method of Harvesting Cotton
CN201167486Y (en) * 2008-01-31 2008-12-24 华南农业大学 String-shaped fruits picking mechanical hand
CN102090210A (en) * 2010-11-30 2011-06-15 华南农业大学 Multi-fruit-type fruit and vegetable picking robot and end effector thereof
CN102550215A (en) * 2012-01-13 2012-07-11 华南农业大学 Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables
CN103548496A (en) * 2013-10-21 2014-02-05 华南农业大学 Quasi-circular fruit and vegetable picking end executor, method and robot
CN104021719A (en) * 2014-05-12 2014-09-03 南昌大学 Planar linkage mechanism combined teaching aid
JP2016073265A (en) * 2014-10-02 2016-05-12 大介 阿部 Automatic fruit harvest device
CN104365279A (en) * 2014-11-24 2015-02-25 北京工业大学 Field planting plate vegetable harvesting mechanism
CN204579180U (en) * 2015-03-04 2015-08-26 西安工程大学 Hand-held comb scissors fruit and vegetable picking device
CN205142896U (en) * 2015-11-18 2016-04-13 哈尔滨理工大学 Capsicum annum fasciculatum is picked and straw clean -up equipment
CN205431089U (en) * 2015-12-20 2016-08-10 重庆平伟朝阳农业发展有限公司 Automatic picking machine of fruit
CN206283863U (en) * 2016-12-06 2017-06-30 南昌大学 A kind of fruit and vegetable picking machinery hand

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
孔庆军等: "旋转剪刀式荔枝采摘机采摘机理分析与结构设计" *
李小兵等: "多功能水性纳米复合建筑隔热涂料的制备", 《化工新型材料》 *
王粮局等: "大容差高效草莓采摘末端执行器设计与试验", 《农业机械学报》 *

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108551869A (en) * 2018-02-07 2018-09-21 衢州学院 A kind of high-altitude fruit picker
CN109287279A (en) * 2018-11-09 2019-02-01 南京工程学院 A kind of automatic fruit and vegetable picking machinery hand of the torsional mode of pressure controllable
CN109287279B (en) * 2018-11-09 2024-01-23 南京工程学院 Pressure-controllable torsion type automatic fruit and vegetable picking manipulator
CN111213492A (en) * 2020-02-12 2020-06-02 南京林业大学 Separation and vibration comb type automatic picking end effector for kiwi fruits
CN113243201A (en) * 2021-05-06 2021-08-13 北京林业大学 Portable matrimony vine harvesting device
CN113243201B (en) * 2021-05-06 2022-05-03 北京林业大学 Portable matrimony vine harvesting device
CN115226487A (en) * 2022-08-18 2022-10-25 浙江理工大学 Picking equipment tail end actuating mechanism and picking equipment thereof
CN115226487B (en) * 2022-08-18 2023-12-22 浙江理工大学 Picking equipment end actuating mechanism and picking equipment thereof

Also Published As

Publication number Publication date
CN106576597B (en) 2023-04-07

Similar Documents

Publication Publication Date Title
CN106576597A (en) Fruit and vegetable picking manipulator
CN204090563U (en) A kind of fruit picking device
CN106717543B (en) Fruit and vegetable picking turnover disc
CN106472006B (en) The end effector of fruit and vegetable picking robot
CN107173826A (en) A kind of coconut decorticator
CN205432036U (en) Domestic fungus mushroom handle shearing mechanism
CN106576604B (en) Fruit and vegetable picking grabber
CN206283863U (en) A kind of fruit and vegetable picking machinery hand
CN105054238B (en) Fruit peeler
CN107333521B (en) Swing plate type corn ear picking device
CN103460916A (en) Straw scrapping machine
CN109258075A (en) The green storage machine turntable ceding of Taiwan
CN105707913A (en) Gorgon fruit seed peeling machine
CN110301225B (en) Pressure-triggered airflow suspension positioning type harvesting and adsorbing thorny removing vehicle for self-rotating wood kylin
CN111482976A (en) Bidirectional spiral fruit and vegetable picking device and picking method
CN209826229U (en) Multi-functional nuclear of taking off of yunnan olive fruit cuts device
CN206354010U (en) A kind of end effector of fruit and vegetable picking robot
CN108633472A (en) A kind of apple-picking machinery hand
CN211630896U (en) Fruit and vegetable picking device
CN114161436A (en) Mechanical gripper for picking fruits without damage
CN111418450A (en) Edible mushroom harvesting equipment
CN206713410U (en) A kind of hand-rail type weeding shear
CN208657914U (en) It is a kind of to make coconut meat machine automatically
CN108476738A (en) The rotary apple picking device of manipulator
CN102079096B (en) Chinese medicinal material slicing device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant