CN110063137A - A kind of combing formula sawtooth pattern mechanical arm and its control method - Google Patents
A kind of combing formula sawtooth pattern mechanical arm and its control method Download PDFInfo
- Publication number
- CN110063137A CN110063137A CN201910431934.3A CN201910431934A CN110063137A CN 110063137 A CN110063137 A CN 110063137A CN 201910431934 A CN201910431934 A CN 201910431934A CN 110063137 A CN110063137 A CN 110063137A
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- China
- Prior art keywords
- sawtooth
- comb teeth
- mechanical arm
- movable
- shell
- 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.)
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000009826 distribution Methods 0.000 claims abstract description 7
- 238000009960 carding Methods 0.000 claims description 25
- 238000005520 cutting process Methods 0.000 claims description 7
- 235000013399 edible fruits Nutrition 0.000 abstract description 17
- 208000027418 Wounds and injury Diseases 0.000 abstract description 7
- 230000006378 damage Effects 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 238000010008 shearing Methods 0.000 description 5
- 229910001220 stainless steel Inorganic materials 0.000 description 3
- 239000010935 stainless steel Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 241001629511 Litchi Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Preliminary Treatment Of Fibers (AREA)
Abstract
The invention discloses a kind of combing formula sawtooth pattern mechanical arms, comprising: shell；Multiple comb teeth, shell described in integrally connected, array distribution is in the shell side；Movable sawtooth is arranged in parallel with the comb teeth；Be slidably connected mechanism, is detachably arranged in the shell, and connects the movable sawtooth；Wherein, the mechanism that is slidably connected is able to drive the movable sawtooth and slides along the comb teeth array direction, the present invention has designed and developed a kind of combing formula sawtooth pattern mechanical arm, there is comb teeth plucking height can be accurately positioned for front end, it drives movable sawtooth to slide relative to comb teeth using the mechanism that is slidably connected again, shears lichee root, the two, which combines, can precisely shear picking, small to fruit and branch injury, the present invention also provides a kind of combing formula sawtooth pattern mechanical arm control methods.
Description
Technical field
The present invention relates to fruit picker technical field, in particular to a kind of picking mechanical arm and its control method.
Background technique
In recent years, with national economic sustainable development, demand of the people to fruits and vegetables is increasing.Lichee is south China
The good fruit of specialty, economic value is higher, the hat in cultivated area and the world yield Jun Ju, in China lichee production and processing
Form an industry.Picking is a link of most time-consuming most effort in agricultural production chain, at high cost, seasonal strong, need
Want the work of a large amount of labour's high intensity.
Due to the complexity of litchi fruits form, color and growing environment, currently, the picking of lichee mostly uses greatly complete by hand
At the amount of labour is big and costly.In the long term, before automation picking has very big economical, societal benefits and wide market
Scape.Therefore, the automation picking research of lichee has theory significance and realistic meaning.
At present to solve fruit picking problem, a variety of machinery about fruit picking are had developed both at home and abroad, can substantially be divided
For absorption type, grab pull-type, shearing three classes, absorption type need to be equipped with and be vacuum formed device, grab it is pull-type fruit and branch are injured it is big,
Shearing positioning requirements are high.
Summary of the invention
The present invention has designed and developed a kind of combing formula sawtooth pattern mechanical arm, and there is comb teeth picking can be accurately positioned for front end
Highly, then using the mechanism that is slidably connected it drives movable sawtooth to slide relative to comb teeth, shears lichee root, the two combines being capable of essence
Quasi- shearing picking, it is small to fruit and branch injury.
A further object of the invention is carding to be arranged below comb teeth, and hose is connected to below carding, picking
To fruit fall into hose by carding, pop-up when preventing lichee from falling down.
The present invention also provides a kind of combing formula sawtooth pattern mechanical arm control methods, provide movable sawtooth relative to comb teeth
Motion frequency guarantee cutting effect by adjusting motion frequency, prevent incised wound branch.
Technical solution provided by the invention are as follows:
A kind of combing formula sawtooth pattern mechanical arm, comprising:
Shell；
Multiple comb teeth, shell described in integrally connected, array distribution is in the shell side；
Movable sawtooth is arranged in parallel with the comb teeth；
Be slidably connected mechanism, is detachably arranged in the shell, and connects the movable sawtooth；
Wherein, the mechanism that is slidably connected is able to drive the movable sawtooth and slides along the comb teeth array direction.
Preferably, the movable sawtooth includes:
Wheel belt, for annular, inside has tooth；
Multiple sawtooth, array distribution is on the outside of the wheel belt.
Preferably, the mechanism that is slidably connected includes:
First gear is rotatably supported in the shell；
Second gear is rotatably supported in the shell；
Wherein, the wheel belt is set in the first gear and the second gear, and respectively with the first gear
It is engaged with the second gear.
Preferably, further includes:
Motor；
Bevel gear is set in the motor output shaft；
Pinion gear is coaxially disposed with the first gear, and engages with the bevel gear.
Preferably, the movable sawtooth includes:
Saw blade；
Connector, one side are detachably connected the Saw blade, and the Saw blade other side has connecting hole.
Preferably, the mechanism that is slidably connected is horizontal sliding bar, is arranged in the shell, the connector is arranged
On the horizontal sliding bar, and can be along the sliding bar.
Preferably, further includes:
Motor；
Rotating wheel, one side connect the motor output shaft；
Column spinner, setting are arranged in the connecting hole in the rotating wheel other side, the column spinner, and being capable of band
It is mobile to move the connector；
Wherein, the column spinner and the rotating wheel be not coaxial.
Preferably, further include carding, be arranged below the comb teeth, and can be slided along the shell, to adjust
Save the distance between the carding and the comb teeth.
Preferably, the carding is square box, and has the soft comb teeth of array at the top of the square box.
Preferably, further include hose, be connected to the carding bottom.
A kind of combing formula sawtooth pattern mechanical arm control method, motion frequency of the movable sawtooth relative to comb teeth are as follows:
Wherein, δkMotion frequency for movable sawtooth relative to comb teeth, D are comb teeth spacing, n1For comb teeth number, G1For can
Dynamic sawtooth effective cutting length, a are the spacing of movable sawtooth, δ1For the spacing of movable sawtooth, b is movable tooth width, f0It is flat
Equal vibration frequency.
Beneficial effect of the present invention
The present invention has designed and developed a kind of combing formula sawtooth pattern mechanical arm, and there is comb teeth picking can be accurately positioned for front end
Highly, then using the mechanism that is slidably connected it drives movable sawtooth to slide relative to comb teeth, shears lichee root, the two combines being capable of essence
Quasi- shearing picking, it is small to fruit and branch injury.Carding is also set below comb teeth, and is connected to hose below carding,
The fruit picked is fallen into hose by carding, and pop-up when preventing lichee from falling down, carding moves up to certain height
Degree blocks lichee branch, slips after preventing, while the imitative comb of carding shows that structure can also play pop-up when preventing lichee from falling down
The effect come, the present invention also provides a kind of combing formula sawtooth pattern mechanical arm control methods, provide movable sawtooth relative to comb
The motion frequency of tooth guarantees cutting effect by adjusting motion frequency, prevents incised wound branch.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of combing formula sawtooth pattern mechanical arm of the present invention.
Fig. 2 is the schematic diagram of internal structure of combing formula sawtooth pattern mechanical arm of the present invention.
Fig. 3 is the structural schematic diagram of movable sawtooth of the present invention.
Fig. 4 is another example structure schematic diagram of combing formula sawtooth pattern mechanical arm of the present invention.
Fig. 5 is another embodiment schematic diagram of internal structure of combing formula sawtooth pattern mechanical arm of the present invention.
Fig. 6 is the structural schematic diagram of movable another embodiment of sawtooth of the present invention.
Fig. 7 is the structural schematic diagram of carding of the present invention.
Fig. 8 is picking process schematic diagram of the present invention.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, combing formula sawtooth pattern mechanical arm provided by the invention include: shell 110, multiple comb teeth 120, can
Dynamic sawtooth 130 and the mechanism that is slidably connected.
Wherein, shell 110 is rectangular, and multiple 120 integrally connected shells 110 of comb teeth, array distribution is in 110 side of shell；
Movable sawtooth 130 is arranged in parallel with comb teeth 120；The mechanism that is slidably connected is detachably arranged in shell, and connects movable sawtooth；Its
In, the mechanism that is slidably connected is able to drive movable sawtooth and slides along comb teeth array direction.
As shown in Fig. 2, movable sawtooth 130 includes: wheel belt 131 and multiple sawtooth 132, wheel belt 131 is annular, and inside has
Tooth；Multiple 132 array distributions of sawtooth in the outside of wheel belt 131, as a preference, sawtooth 132 be it is rectangular, unilateral or bilateral has
There is blade.
As shown in figure 3, the mechanism that is slidably connected includes: that first gear 133 is rotatably supported in shell 110, second gear
134 are rotatably supported in shell 110；Wherein, wheel belt 131 is set in first gear 133 and second gear 134, and respectively
It is engaged with first gear 133 and second gear 134.When first gear 133 and second gear 134 rotate, movable sawtooth is driven
130 slide along comb teeth array direction, form electric saw structure with comb teeth 120.
As a preference, further including bevel gear transmission, first gear 133 is driven by motor 135, bevel gear 136
It is set on the output shaft of motor 135, pinion gear 137 and first gear 133 are coaxially disposed, and are engaged with bevel gear 136.It is described
Bevel gear transmission includes bevel gear, stainless steel shaft, bearing block, gear, and two pairs of bevel gears are solid by bearing block, stainless steel shaft
Fixed, one pair of them bevel gear and motor are located on same root stainless steel shaft, and two motors impart power to coaxial with it respectively
The bevel gear of the heart, bevel gear rotation drive corresponding concentric gear rotation.
As shown in Fig. 4,6, in another embodiment, movable sawtooth includes: Saw blade 211 and connector 212, connector
212 are detachably connected Saw blade 211, and the side of connector 212 has connection lifting lug 213, is equipped with horizontal sliding bar in shell 110
111, connection lifting lug 213 is set on horizontal sliding bar 111, and can transversely slide bar 111 be slided.Have below connector 212
Connecting column offers circular hole on connecting column.
As shown in figure 5, the side of rotating wheel 215 connects motor as a preference, movable sawtooth is driven by motor 214
214 output shaft；Column spinner 216 is connected to the other side of rotating wheel 215, wherein and column spinner 216 is not coaxial with rotating wheel 215,
Eccentric wheel structure is formed, column spinner 215 can be embedded in circular hole, and be able to drive the transversely laterally shifting of slide bar 111 of connector 212
It is dynamic, electric saw structure is formed with comb teeth 120.
As shown in fig. 7, in another embodiment, carding 300 is arranged in the case where combing formula sawtooth pattern mechanical arm, it is located at comb
120 lower section of tooth, and can be slided along shell 110, to adjust the distance between carding 300 and comb teeth 120.Carding 300 is
Square box, and there is the soft comb teeth 310 of array at the top of square box.Further include hose, 300 bottom of carding is connected to, for containing
The fruit fallen is connect, the lichee sawed is received.
In another embodiment, the comb teeth 120 of mechanical finger front end is made of flexible glue material, prevents from breaking fruit.
Implement for combing the course of work of formula sawtooth pattern mechanical arm, is described further
As shown in figure 8, combing formula sawtooth pattern mechanical arm is mounted on elevating mechanism, the height of adjustable arm,
And before navigating to the comb teeth of mechanical arm front end 120 wait pick branch, branch and it is fixed in the gap of comb teeth 120, blocks
Lichee branch slips after preventing, and lichee branch 500 is located at the front end of movable sawtooth 130, then is driven movably using the mechanism that is slidably connected
Sawtooth 130 is slided relative to comb teeth, shears lichee root, and the two, which combines, can precisely shear picking, injure to fruit and branch
It is small.The fruit fallen enters in carding 300, and has the soft comb teeth 310 of array at the top of square box, can prevent lichee bullet
Out, lichee rolls into the storage device of underground after directly rolling down to hose.
A kind of combing formula sawtooth pattern mechanical arm control method, motion frequency of the movable sawtooth relative to comb teeth are as follows:
Wherein, δkMotion frequency for movable sawtooth relative to comb teeth, D are comb teeth spacing, n1For comb teeth number, G1For can
Dynamic sawtooth effective cutting length, a are the spacing of movable sawtooth, δ1For the spacing of movable sawtooth, b is movable tooth width, f0It is flat
Equal vibration frequency.
The present invention provides motion frequency of the movable sawtooth relative to comb teeth, by adjusting motion frequency, guarantees cutting effect,
The motion frequency for meeting the cutting of lichee root is designed, effectively avoids preventing incised wound branch.
The present invention has designed and developed a kind of combing formula sawtooth pattern mechanical arm, and there is comb teeth picking can be accurately positioned for front end
Highly, then using the mechanism that is slidably connected it drives movable sawtooth to slide relative to comb teeth, shears lichee root, the two combines being capable of essence
Quasi- shearing picking, it is small to fruit and branch injury.Carding is also set below comb teeth, and is connected to hose below carding,
The fruit picked is fallen into hose by carding, and pop-up when preventing lichee from falling down, carding moves up to certain height
Degree blocks lichee branch, slips after preventing, while the imitative comb of carding shows that structure can also play pop-up when preventing lichee from falling down
The effect come.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of combing formula sawtooth pattern mechanical arm characterized by comprising
Shell；
Multiple comb teeth, shell described in integrally connected, array distribution is in the shell side；
Movable sawtooth is arranged in parallel with the comb teeth；
Be slidably connected mechanism, is detachably arranged in the shell, and connects the movable sawtooth；
Wherein, the mechanism that is slidably connected is able to drive the movable sawtooth and slides along the comb teeth array direction.
2. combing formula sawtooth pattern mechanical arm according to claim 1, which is characterized in that the movable sawtooth includes:
Wheel belt, for annular, inside has tooth；
Multiple sawtooth, array distribution is on the outside of the wheel belt.
3. combing formula sawtooth pattern mechanical arm according to claim 2, which is characterized in that the mechanism packet that is slidably connected
It includes:
First gear is rotatably supported in the shell；
Second gear is rotatably supported in the shell；
Wherein, the wheel belt is set in the first gear and the second gear, and respectively with the first gear and institute
State second gear engagement.
4. combing formula sawtooth pattern mechanical arm according to claim 3, which is characterized in that further include:
Motor；
Bevel gear is set in the motor output shaft；
Pinion gear is coaxially disposed with the first gear, and engages with the bevel gear.
5. combing formula sawtooth pattern mechanical arm according to claim 1, which is characterized in that the movable sawtooth includes:
Saw blade；
Connector, one side are detachably connected the Saw blade, and the Saw blade other side has connecting hole.
6. combing formula sawtooth pattern mechanical arm according to claim 5, which is characterized in that cross is in the mechanism that is slidably connected
To slide bar, it is arranged in the shell, the connector is set on the horizontal sliding bar, and can be sliding along the slide bar
It is dynamic.
7. combing formula sawtooth pattern mechanical arm according to claim 6, which is characterized in that further include:
Motor；
Rotating wheel, one side connect the motor output shaft；
Column spinner, in the rotating wheel other side, the column spinner is arranged in the connecting hole, and is able to drive institute for setting
It is mobile to state connector；
Wherein, the column spinner and the rotating wheel be not coaxial.
8. the combing formula sawtooth pattern mechanical arm according to claim 4 or 7, which is characterized in that further include carding, set
It sets below the comb teeth, and can be slided along the shell, to adjust the distance between the carding and the comb teeth.
9. a kind of combing formula sawtooth pattern mechanical arm control method, which is characterized in that movement frequency of the movable sawtooth relative to comb teeth
Rate are as follows:
Wherein, δkMotion frequency for movable sawtooth relative to comb teeth, D are comb teeth spacing, n1For comb teeth number, G1For movable saw
Tooth effective cutting length, a are the spacing of movable sawtooth, δ1For the spacing of movable sawtooth, b is movable tooth width, f0For average vibration
Dynamic frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910431934.3A CN110063137A (en) | 2019-05-23 | 2019-05-23 | A kind of combing formula sawtooth pattern mechanical arm and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910431934.3A CN110063137A (en) | 2019-05-23 | 2019-05-23 | A kind of combing formula sawtooth pattern mechanical arm and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN110063137A true CN110063137A (en) | 2019-07-30 |
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|---|---|---|---|
| CN201910431934.3A Pending CN110063137A (en) | 2019-05-23 | 2019-05-23 | A kind of combing formula sawtooth pattern mechanical arm and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114303627A (en) * | 2021-12-10 | 2022-04-12 | 中国科学院长春光学精密机械与物理研究所 | Reciprocating type picking machine |
| CN116138039A (en) * | 2023-01-10 | 2023-05-23 | 华南农业大学 | Unmanned fruit picking machine and operation method |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114303627A (en) * | 2021-12-10 | 2022-04-12 | 中国科学院长春光学精密机械与物理研究所 | Reciprocating type picking machine |
| CN116138039A (en) * | 2023-01-10 | 2023-05-23 | 华南农业大学 | Unmanned fruit picking machine and operation method |
| CN116138039B (en) * | 2023-01-10 | 2024-04-12 | 华南农业大学 | Unmanned fruit picking machine and operation method |
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