CN110431998A - A kind of fuzzy picker of apple - Google Patents
A kind of fuzzy picker of apple Download PDFInfo
- Publication number
- CN110431998A CN110431998A CN201910647449.XA CN201910647449A CN110431998A CN 110431998 A CN110431998 A CN 110431998A CN 201910647449 A CN201910647449 A CN 201910647449A CN 110431998 A CN110431998 A CN 110431998A
- Authority
- CN
- China
- Prior art keywords
- picker
- rubber claws
- apple
- obscures
- stepper motor
- 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.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 52
- 238000010521 absorption reaction Methods 0.000 claims abstract description 29
- 238000007667 floating Methods 0.000 claims abstract description 17
- 210000000707 wrist Anatomy 0.000 claims abstract description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 230000013011 mating Effects 0.000 claims 1
- 235000021016 apples Nutrition 0.000 abstract description 4
- 244000141359 Malus pumila Species 0.000 abstract 1
- 241000220225 Malus Species 0.000 description 52
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000001179 sorption measurement Methods 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000004088 simulation 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
-
- 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
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of apples to obscure picker, including vacuum suction component, grabbing assembly, wrist runner assembly；The vacuum suction component includes lose heart sponge, suction tray, absorption pipeline, pump-line；The grabbing assembly includes two symmetrical short rubber claws, long rubber claws, connecting rod, positioning ring, screw rod stepper motor base, floating cover, screw rod stepper motor and the feed screw nut coaxially connected with absorption pipeline, two symmetrical short rubber claws and long rubber claws one end are connect with positioning ring, connecting rod connects floating cover, and feed screw nut is connected by screw to floating cover；The wrist runner assembly includes being fixed on supporting for long rubber claws top to obstruct part, wirerope, pedestal, the rotating electric machine being mounted on the base and the line wheel connecting with rotating electric machine, and wirerope one end is connect with absorption pipeline, and the other end is connect with line wheel.The present invention, which can simulate manpower and resist carpopodium and break the mode taken, to be won, and the present apparatus is simple light to be easily achieved.
Description
Technical field
The present invention relates to picking robot technology and application fields, obscure picker more particularly to a kind of apple.
Background technique
Existing apple-picking device mainly includes mechanical paw picker and vacuum suction picker.Mechanical paw
Picker is by torsion or pullling apple makes apple fall off, and vacuum suction picker, which pulls apple by absorption, keeps apple de-
It falls.For the problem that existing apple-picking device is easy to cause apple stem to fall off, it is unfavorable for the long-term preservation of apple, the present invention
It is proposed that a kind of apple obscures picker.Using vacuum suction component, grabbing assembly, wrist runner assembly integral structure, solution
Having determined, it is disconnected to break to different size apple in carpopodium same area in original apple-picking device, and torsion and pullling causes
The problem of apple stem falls off.The device can in the case where fuzzy diagnosis, simulate manpower resist carpopodium break the mode that takes into
Row is accurately won, and improves the picking of apple without loss rate.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of apples to obscure picker.
The present invention is realized at least through one of following technical solution.
A kind of fuzzy picker of apple, including vacuum suction component, grabbing assembly, wrist runner assembly；
The vacuum suction component includes that suction tray, the discouraged sponge in suction tray and the suction tray coaxial cooperation connect
The absorption pipeline connect and the pump-line being connect with the sidewise hole of the absorption pipeline；
The grabbing assembly includes two symmetrical short rubber claws, long rubber claws, three connecting rods, coaxially connects with the absorption pipeline
It is the positioning ring that connects, the screw rod stepper motor base coaxially connected with the absorption pipeline, same with the screw rod stepper motor base
The floating cover of axis sliding connection, the screw rod stepper motor that is mounted on the screw rod stepper motor base and with the silk
The feed screw nut of bar stepper motor coaxial cooperation；Face is vertical where the long rubber claws are located at two symmetrical short rubber claws
Face；The Kong Yuchang rubber claws connection of a piece connecting rod one end, remaining two connecting rod are connect with two symmetrical short rubber claws respectively, and three
The other end of root connecting rod is connected on the mounting hole of the floating cover side；The feed screw nut passes through with the floating cover
Screw connection；
The wrist runner assembly includes being fixed on supporting stalk part, wire line thimble, pedestal, being mounted on institute for the long rubber claws top
State the rotating electric machine on pedestal and the line wheel with the output end drive connection of the rotating electric machine；Described wire line thimble one end and institute
Absorption pipeline lateral projections axis connection is stated, the other end is connect with the line wheel.
Preferably, the suction tray is hollow cone, and big end internal diameter is 80 ~ 110mm, and small end inner diameter is 75 ~ 95mm.
Preferably, the absorption pipeline is hollow cylinder, and one end of cylinder is connect with suction tray, and the other end and screw rod walk
It is connected into electric machine stand.
Preferably, the discouraged sponge is cone, and diameter of bore is 20 ~ 40mm, the big end centre of surface of cone
Arc sponge notch depth is 8 ~ 12mm, and arc diameter is 100 ~ 120mm, and the discouraged hole width of curved surfaces is 3 ~ 7mm.
Preferably, radian diameter is 120 ~ 140mm in each short rubber claws, and arc length is 60 ~ 80mm.
Preferably, radian diameter is 140 ~ 160mm in the long rubber claws, and arc length is 100 ~ 120mm.
Preferably, the stalk part that supports is isosceles triangle plate, and outwardly, the width of long side is 20 ~ 40mm to long side；The length
When rubber claws close up, supporting stalk part angle with horizontal plane is 8 ~ 12 degree.
Preferably, the side protruding shaft of the absorption pipeline is mounted on the base.
Preferably, one end of described two symmetrical short rubber claws and long rubber claws is equipped with bottom end hole, each bottom end
It is provided with side hole above hole, each bottom end hole is connected on the mounting hole of the positioning ring, each side hole difference
It is connected on three connecting rods.
Compared with prior art, the beneficial effects of the present invention are:
By using vacuum suction component, grabbing assembly, wrist runner assembly integral structure, mechanical paw picking dress is combined
It sets securely crawl and vacuum suction picker can adjust the advantages of grabbing direction, can be simulated in the case where fuzzy diagnosis
Manpower, which resists carpopodium, to be broken the mode taken and is accurately won.The variation of apple size is reduced to the shadow for resisting carpopodium this operation
It rings, solves the problems, such as to reverse and pull in mechanical paw picker and vacuum suction picker that apple stem is caused to fall off.
Apple-picking of the present invention suitable for most of orchards at this stage, this picker is simply light to be easily achieved, and fault-tolerance
Height is controllable.
Detailed description of the invention
Fig. 1 is that the apple of the present embodiment obscures the structural schematic diagram of picker；
Fig. 2 is the partial structural diagram that the apple of embodiment obscures the vacuum suction component in picker；
Fig. 3 is that the apple of embodiment obscures the cross-sectional view of picker；
Fig. 4 is that the apple of embodiment obscures another cross-sectional view of picker；
Fig. 5 is that the apple of embodiment obscures the schematic diagram of rounding state in picking process；
Fig. 6 is that the apple of embodiment obscures open configuration schematic diagram in picking process；
Fig. 7 is obscured in picking process for the apple of embodiment and is resisted carpopodium status diagram；
Wherein: 1- supports stalk part；The short rubber claws of 2-；3- long rubber claws；4- loses heart sponge；5- suction tray；6- positioning ring；7- connecting rod；
8- adsorbs pipeline；9- screw rod stepper motor base；10- floating cover；11- pump-line；12- pedestal；13- rotating electric machine；14-
Bar stepper motor；15- wire line thimble；16- line wheel；17 feed screw nuts.
Specific embodiment
The object of the invention will be described in further detail in the following with reference to the drawings and specific embodiments, and embodiment is not
It can repeat one by one herein, but therefore embodiments of the present invention are not limited to the following examples.Unless stated otherwise, of the invention
The material and processing method used is the art conventional material and processing method.
As shown in figures 1 and 3, a kind of apple obscures picker, including vacuum suction component, grabbing assembly, wrist turn
Dynamic component.
As shown in Figure 1, the vacuum suction component includes that discouraged sponge 4 and discouraged 4 coaxial cooperation of sponge are installed
Suction tray 5, the absorption pipeline 8 being connect with 5 coaxial cooperation of suction tray, the pumping being connect with the sidewise hole of the absorption pipeline 8
Feed channel 11.Air is extracted by pump-line 11, negative pressure is formed in absorption pipeline 8, forms suction adsorption at suction tray 5
Apple.Sponge 4 of losing heart has won buffer function to the absorption of apple.Large volume apple and discouraged 4 contact area of sponge are big, lose heart
Hole is plugged, and vacuum degree is big in suction tray 5, and suction suffered by apple is big, and the degree that apple squeezes sponge 4 of losing heart is big.Small size apple
Fruit and discouraged 4 contact area of sponge are small, and bleeder port is not blocked completely, and vacuum degree is small in suction tray 5, and suction suffered by apple is small,
The degree that apple squeezes sponge 4 of losing heart is small, to realize in crawl, makes different size apple stem bottom end and long rubber claws 3
The stalk part positional distance that supports on top furthers.
As shown in Fig. 2, the suction tray 5 be hollow cone, big end internal diameter be 80 ~ 110mm, small end inner diameter be 75 ~
95mm is suitable for diameter range in the adsorption process of the apple of 80mm ~ 100mm.
The diameter of bore of the discouraged sponge 4 is 20 ~ 40mm, it is ensured that provides enough suctions to different size of apple
Attached power.The discouraged sponge 4 is cone, and the central arcuate sponge notch depth of the big end surfaces of cone is 8 ~ 12mm, arc
Shape diameter is 100 ~ 120mm, it is ensured that largely coincide apple form, enhances adsorption effect.4 surface of discouraged sponge
Discouraged hole width be 3 ~ 7mm, it is ensured that lose heart sponge 4 will not be deformed when being squeezed by apple.
As shown in figure 3, the grabbing assembly includes two symmetrical short rubber claws 2, is located at two symmetrical short rubber claws 2
3, three connecting rods 7 of long rubber claws of the vertical plane in place face, the positioning ring 6 coaxially connected with absorption pipeline 8 and absorption pipeline 8
Coaxially connected screw rod stepper motor base 9 take screw rod stepper motor base 9 as sliding rail, the floating of coaxially slide cooperation
Lid 10, the screw rod stepper motor 14 being mounted on the screw rod stepper motor base 9 and feed screw nut 17.The feed screw nut 17
It is connect with 14 screw rod output end coaxial cooperation of screw rod stepper motor；The one of described two symmetrical short rubber claws 2 and long rubber claws 3
End is equipped with bottom end hole, is provided with side hole above each bottom end hole, each bottom end hole is connected to the positioning
On the mounting hole of ring 6, each side hole is connected on the hole of three 7 one end of connecting rod, and the hole of three 7 other ends of connecting rod connects respectively
It connects on the mounting hole of 10 side of floating cover, the feed screw nut 17 is connected by screw to the floating cover 10.It is described
14 output end of screw rod stepper motor drives 17 coaxially slide of feed screw nut, to drive floating cover 10 along screw rod stepper motor base
9 coaxially slides, and then drive two symmetrical short rubber claws 2 and long rubber claws 3 to realize by connecting rod 7 and open gathering operation.
Radian diameter is 130mm, arc length 70mm in each short rubber claws 2, and radian diameter is in the long rubber claws 3
150mm, arc length 110mm, it is ensured that when two symmetrical short rubber claws 2 grab apple, it is slow that long rubber claws 3 only play protection
Punching effect does not touch apple to have an impact to apple crawl effect.
As shown in figure 4, the wrist runner assembly includes being fixed on supporting for 3 top of long rubber claws by screw to obstruct part
1, wire line thimble 15, with it is described absorption 8 lateral projections axis coaxial rotating of pipeline cooperation pedestal 12, be mounted on the pedestal 12
Rotating electric machine 13 and the line wheel 16 that is drivingly connected with the output end of the rotating electric machine 13.Described 15 one end of wire line thimble with
The 8 lateral projections axis connection of absorption pipeline, the other end are connect with the line wheel 16.When the rotating electric machine 13 drives line wheel 16
When rotation, wire line thimble 15 is driven to move along track, to drive absorption pipeline 8 around lateral projections axis with respect to the coaxially rotation of pedestal 12
Turn, concrete structure schematic diagram is as shown in figure 4, section shade position is the side rotary shaft for adsorbing pipeline 8.The long rubber claws
3 under rounding state, and top can realize the operation for resisting apple stem to stalk part 1, as rotating electric machine 13 drives adsorption tube
Road 8 drives entire picker to rotate, can simulate manpower and resist carpopodium realization and break and take.
The stalk part width that supports is 30mm, and it is 10 degree that stalk part angle with horizontal plane is supported when the long rubber claws 3 close up, can
To realize fuzzy picking to the different growth orientation apples under different picking angles, the success rate to stalk operation is provided.
Apple provided by the above embodiment obscures the picking method of picker, comprising the following steps:
1. leaning on close-target apple.14 output end of screw rod stepper motor drives feed screw nut 17 coaxially to move downward, to drive floating
Lid 10 is moved along 9 coaxially slide of screw rod stepper motor base, and then two symmetrical short rubber claws 2 and long rubber are driven by connecting rod 7
Glue pawl 3, which is realized, collapses operation, as shown in Figure 5.The footprint that apple obscures picker is reduced, the interference shadow of branches and leaves is reduced
It rings, avoids touching non-targeted apple.
2. preparing crawl apple.14 output end of screw rod stepper motor drives feed screw nut 17 coaxially to move upwards, thus band
Floating cover 10 is moved along 9 coaxially slide of screw rod stepper motor base, and then two symmetrical short 2 Hes of rubber claws are driven by connecting rod 7
Long rubber claws 3 realize flaring operation, as shown in Figure 6.
3. crawl apple simultaneously resists apple stem.Air is extracted by pump-line 11, is formed in absorption pipeline 8 negative
Pressure forms suction adsorption apple at suction tray 5.14 output end of screw rod stepper motor drives the coaxial lower fortune of feed screw nut 17
It is dynamic, to drive floating cover 10 along 9 coaxially slide of screw rod stepper motor base, and then symmetrical short by the drive of connecting rod 7 two
Rubber claws 2 and long rubber claws 3, which are realized, collapses operation.Long 3 top of rubber claws supports stalk part realization and resists carpopodium operation.
Apple is taken 4. supporting stalk and breaking.Rotating electric machine 13 drives line wheel 16 to rotate, so that wire line thimble 15 is driven to move along track,
And then absorption pipeline 8 is driven to rotate, it realizes grabbing assembly in horizontal plane and rotates, simulation manpower resists carpopodium realization and breaks and take, such as
Shown in Fig. 7.
In conclusion a kind of apple provided by the above embodiment, which obscures picker, is suitable for most of orchard kinds at this stage
Apple-picking, this picker it is simple it is light is easily achieved, and fault-tolerance height is controllable.
The present apparatus can simulate manpower and resist carpopodium and break the mode taken and accurately be won in the case where fuzzy diagnosis,
By using vacuum suction component, grabbing assembly, wrist runner assembly, integral structure, mechanical paw picker is combined
Securely crawl and the advantages of vacuum suction picker adjustable crawl direction reduces the variation of apple size to resisting carpopodium
The influence of this operation, solving to reverse and pull in mechanical paw picker and vacuum suction picker leads to Apples
Obstruct the problem that falls off, improves the picking of apple without loss rate.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (9)
1. a kind of apple obscures picker, which is characterized in that including vacuum suction component, grabbing assembly, wrist runner assembly；
The vacuum suction component includes suction tray (5), the discouraged sponge (4) being located in suction tray (5) and the suction tray
(5) the absorption pipeline (8) of coaxial cooperation connection and the pump-line (11) being connect with the sidewise hole of absorption pipeline (8)；
The grabbing assembly includes two symmetrical short rubber claws (2), long rubber claws (3), three connecting rods (7) and the absorption
The coaxially connected positioning ring (6) of pipeline (8), with the coaxially connected screw rod stepper motor base (9) of absorption pipeline (8), with
The floating cover (10) of screw rod stepper motor base (9) the coaxially slide mating connection is mounted on the screw rod stepper motor machine
Screw rod stepper motor (14) on seat (9) and the feed screw nut (17) with screw rod stepper motor (14) coaxial cooperation；Institute
Long rubber claws (3) are stated positioned at the vertical plane in face where two symmetrical short rubber claws (2)；The Kong Yuchang of piece connecting rod (7) one end
Rubber claws (3) connection, remaining two connecting rod (7) connect with two symmetrical short rubber claws (2) respectively, three connecting rods (7) it is another
One end is connected on the mounting hole of the floating cover (10) side；The feed screw nut (17) and the floating cover (10) are logical
Cross screw connection；
The wrist runner assembly includes being fixed on supporting for long rubber claws (3) top to obstruct part (1), wire line thimble (15), bottom
Seat (12), the rotating electric machine (13) being mounted on the pedestal (12) and the output end drive connection with the rotating electric machine (13)
Line wheel (16)；Described wire line thimble (15) one end and absorption pipeline (8) the lateral projections axis connection, the other end and the line
Take turns (16) connection.
2. apple according to claim 1 obscures picker, which is characterized in that the suction tray (5) is hollow cone
Body, big end internal diameter are 80 ~ 110mm, and small end inner diameter is 75 ~ 95mm.
3. apple according to claim 1 obscures picker, which is characterized in that the absorption pipeline (8) is open circles
One end of column, cylinder is connect with suction tray (5), and the other end is connect with screw rod stepper motor base (9).
4. apple according to claim 1 obscures picker, which is characterized in that the discouraged sponge (4) is cone,
Its diameter of bore is 20 ~ 40mm, and the big end centre of surface arc sponge notch depth of cone is 8 ~ 12mm, and arc diameter is
100 ~ 120mm, the discouraged hole width of curved surfaces are 3 ~ 7mm.
5. apple according to claim 1 obscures picker, which is characterized in that the interior radian of each short rubber claws (2) is straight
Diameter is 120 ~ 140mm, and arc length is 60 ~ 80mm.
6. apple according to claim 1 obscures picker, which is characterized in that the interior radian of the long rubber claws (3) is straight
Diameter is 140 ~ 160mm, and arc length is 100 ~ 120mm.
7. apple according to claim 1 obscures picker, which is characterized in that stalk part (1) that supports is isoceles triangle
Shape plate, outwardly, the width of long side is 20 ~ 40mm to long side；When the long rubber claws (3) are closed up, supports stalk part (1) and horizontal plane presss from both sides
Angle is 8 ~ 12 degree.
8. apple according to claim 1 obscures picker, which is characterized in that the side of absorption pipeline (8) is convex
Axis is mounted on pedestal (12).
9. apple according to claim 1 obscures picker, which is characterized in that described two symmetrical short rubber claws
(2) and one end of long rubber claws (3) is equipped with bottom end hole, is provided with side hole, each bottom end above each bottom end hole
Hole is connected on the mounting hole of the positioning ring (6), and each side hole is connected on three connecting rods (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910647449.XA CN110431998A (en) | 2019-07-17 | 2019-07-17 | A kind of fuzzy picker of apple |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910647449.XA CN110431998A (en) | 2019-07-17 | 2019-07-17 | A kind of fuzzy picker of apple |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110431998A true CN110431998A (en) | 2019-11-12 |
Family
ID=68430632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910647449.XA Pending CN110431998A (en) | 2019-07-17 | 2019-07-17 | A kind of fuzzy picker of apple |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110431998A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113330912A (en) * | 2021-07-01 | 2021-09-03 | 塔里木大学 | Multifunctional fragrant pear is with picking beta pruning device |
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| CN114982478A (en) * | 2022-04-29 | 2022-09-02 | 山东省农业机械科学研究院 | Self-suction type fruit twisting picking manipulator, equipment and method |
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