CN113748846A - Fruit and vegetable picking device and using method thereof - Google Patents
Fruit and vegetable picking device and using method thereof Download PDFInfo
- Publication number
- CN113748846A CN113748846A CN202111005634.2A CN202111005634A CN113748846A CN 113748846 A CN113748846 A CN 113748846A CN 202111005634 A CN202111005634 A CN 202111005634A CN 113748846 A CN113748846 A CN 113748846A
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- fruit
- module
- rotary drum
- spring
- sliding block
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- 235000012055 fruits and vegetables Nutrition 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 4
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 235000013311 vegetables Nutrition 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- 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
- A01D46/247—Manually operated fruit-picking tools
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fruit and vegetable picking device and a using method thereof. The device comprises a grabbing module, a rotating module and a resetting module. The gripper in the grabbing module is improved, and the slider, the spring and the connecting rod are matched with each other, so that the gripper can be suitable for various articles to be picked in different sizes. The rotating module adopts a stay wire driving mode, and the grabbing module is driven to rotate through the stay wire to complete fruit and vegetable picking. The reset module adopts a rotor magnet and a stator magnet to be matched, and the reset of the rotating module and the grabbing module is realized through the repulsion and attraction of magnetic poles. In the using process, the picking operation with different heights can be realized by matching with the rods with different lengths on the rod mounting device. An automatic control system is not used in the picking device, the intelligent degree of the device is improved through the design and improvement of a mechanical structure, and the advantage of reliability is also kept. Meanwhile, the device is simple in structure, low in production cost and convenient to operate, and the efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of mechanical picking, and particularly relates to a fruit and vegetable picking device and a using method thereof.
Background
With the popularization of mechanical products, more and more scenes apply mechanical devices to replace partial manual operation. The method is not exceptional in the field of fruit and vegetable picking. Many fruits and vegetables grow on relatively high branches, workers need to stand on ladders for picking, and the method is very dangerous. If the fruit and vegetable picking device is used, picking can be finished on the ground, the operation is convenient, the picking efficiency is improved, and meanwhile, the safety can be improved.
The fruit and vegetable picking machine in the prior art is mainly divided into two types, one type is an electric control type picking machine, and the other type is a pure mechanical type picking machine. The electrically controlled picking machine is driven by a motor and assisted by an automatic system, so that the intelligent degree is high, the running and maintenance cost is correspondingly increased, the learning difficulty is high, and the electrically controlled picking machine is suitable for picking operation in a small range. The pure mechanical picking machine has lower use and maintenance cost, is easy to learn, and has higher reliability than an intelligent system. The disadvantage of purely mechanical systems is that most of the steps require human intervention, which is more labor intensive than intelligent systems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the fruit and vegetable picking device, which improves the freedom degree of a mechanical claw, so that the device can be suitable for more fruits and vegetables with different sizes and has strong universality. Through the line pulling drive and the electromagnetism resets, has improved the degree of automation of device, reduces work load.
A fruit and vegetable picking device comprises a grabbing module, a rotating module and a resetting module.
The rotating module comprises a driving wire, a shell, a rotary drum, a sliding sheet, a thimble and a magnet. The rotary drum is arranged in the shell and forms a revolute pair with the shell. A plurality of gleitbretters are along rotary drum circumference evenly distributed, and the one end and the rotary drum swivelling joint of gleitbretter. A thimble is arranged between the slip sheet and the shell. One end of the thimble, which is in contact with the slip sheet, is fixed with a magnet, and the other end of the thimble is fixed on the shell. The mechanical finger is installed on the top end of the rotary drum through the fixed base, and the claw finger points to the center of the circle of the rotary drum. One end of the driving wire is fixed at the bottom of the rotary drum, the notch at the bottom of the shell at the other end is led out, and the fixed position and the notch position of the driving wire are staggered along the circumferential direction of the rotary drum in an initial state.
Preferably, the housing and the drum form a revolute pair by means of tapered roller bearings.
The grabbing module comprises a plurality of mechanical fingers which are uniformly distributed. The mechanical finger comprises a round wheel, a claw finger, a spring sliding block, a first spring, a second spring, a connecting rod, a positioning sliding block, a fixed base and a limiting support. The limiting bracket is fixed on the fixed base. The positioning slide block and the spring slide block are in sliding pair with the limiting bracket, and the positioning slide block slides along the radial direction of the roller; the sliding directions of the positioning slide block and the spring slide block are not parallel. The spring sliding block is rotatably connected with the middle part of the claw finger, and a first spring is arranged between the bottom of the spring sliding block and the limiting support. A second spring is arranged between the bottom of the claw finger and the positioning sliding block. Two ends of the connecting rod are respectively connected with the spring sliding block and the positioning sliding block in a rotating way. The round wheel is supported at the top ends of the claw fingers.
Preferably, the sliding directions of the spring slider and the positioning slider form an included angle of 45 degrees.
Preferably, the number of mechanical fingers in the gripping module is 3.
Preferably, the circular wheel can rotate only in one direction, and the rotation direction of the circular wheel is limited to that the side close to the axis can only rotate downwards.
The reset module includes one or more pairs of rotor magnets and positioning magnets. The rotor magnet is fixed outside the rotating drum, and the positioning magnet is fixed inside the casing. In the pair of rotor magnets and stator magnets, the magnetic poles of the rotor magnets facing outward are opposite in polarity to the magnetic poles of the stator magnets facing inward.
Preferably, the outer side of the shell also comprises a rod mounting device for mounting rod bodies with different lengths to finish high-altitude operation.
Preferably, the bottom end of the shell is further fixed with a base, and the bottom end of the base is provided with a plurality of threaded holes along the circumferential direction.
A use method of a fruit and vegetable picking device comprises the following steps:
step one, selecting an installation rod to be installed on a rod installer according to the height of operation. One end of the pipeline is fixed with the base, so that the pipeline is in butt joint with the inner cavity of the rotary drum.
And step two, the fruit and vegetable picking device is placed below the object to be picked, the fruit and vegetable picking device is slowly upwards, the object to be picked is in contact with the round wheel on the grabbing module, and the object to be picked enters the cavity formed by the claw fingers under the guidance of the round wheel.
And step three, after the grabbing module completely wraps the object to be picked, pulling the driving wire, driving the grabbing module and the sliding blade to rotate by the rotary drum, and ejecting the sliding blade by the ejector pin to provide upward supporting force for the object to be picked.
And step four, after the picked articles leave the branch heads, loosening the driving wire, resetting the roller under the action force of the resetting module, and withdrawing the sliding sheet by the attraction of the magnet on the thimble. The picked articles slide down along the pipeline below the roller to finish picking.
The invention has the following beneficial effects:
1. the mechanical fingers of the grabbing module are improved, the design that the springs, the connecting rods and the sliding blocks are combined mutually is adopted, the degree of freedom and the universality of the grabbing module are improved, and the picking of fruits with different sizes can be realized on the premise that manual intervention is not needed.
2. The hollow rotary drum is arranged, so that picked fruits directly slide downwards from the center of the device without being transferred from two sides. .
3. The rotating module is driven to rotate by a wire-pulling mode through a driving wire, and can be automatically reset through the matching of the rotor magnet and the positioning magnet. The intelligent automation degree of the machine is improved, and the advantage of high reliability of a pure mechanical device is reserved. Meanwhile, the manufacturing cost is low, the operation is convenient, and the operation is easy.
Drawings
FIG. 1 is a schematic structural diagram of a fruit and vegetable picking device;
FIG. 2 is a schematic view of a mechanical finger in the gripping module;
FIG. 3 is a schematic structural diagram of a rotating module;
FIG. 4 is a top view of the fruit and vegetable picking apparatus;
FIG. 5 is a schematic structural diagram of a reset module;
fig. 6 is a bottom view of the fruit and vegetable picking device.
Detailed Description
The invention is further explained below with reference to the drawings;
as shown in figure 1, the fruit and vegetable picking device comprises a grabbing module, a rotating module and a resetting module.
The gripping module comprises 3 mechanical fingers as shown in fig. 2. The mechanical finger comprises a round wheel 1, a claw finger 2, a spring sliding block 3, a first spring 4, a second spring 10, a connecting rod 5, a positioning sliding block 6, a fixed base 7 and a limiting support. The limiting bracket is fixed on the fixed base 7. The bottom of the limiting support is provided with a first sliding groove in the horizontal direction and a second sliding groove located above the first sliding groove, and the included angle between the second sliding groove and the first sliding groove is 45 degrees. The spring sliding block 3 is connected with the second sliding groove in a sliding mode. The two ends of the first spring 4 are respectively connected with the bottom end of the second sliding chute and the bottom of the spring sliding block 3. The spring sliding block 3 is rotatably connected with the middle part of the claw finger 2, and the circular wheel 1 is supported on the top part of the claw finger 2 through a one-way bearing and rotates from the outer side to the inner side far away from the claw finger 2. The positioning slide block 6 is connected with the first sliding groove in a sliding mode. Two ends of the connecting rod 5 are respectively connected with the spring slide block 3 and the positioning slide block 6 in a rotating way. Two ends of the second spring 10 are respectively connected with the bottom of the claw finger 2 and the positioning slide block 6. The mechanical finger is fixed on the top end of the rotary drum through a fixed base 7.
As shown in fig. 3, the rotating module includes a driving wire, a housing, a drum, a slide 8, a thimble 9, and a magnet. The rotor drum is formed by coaxially connecting two rotors 18 and 11 with the same size through a cylindrical pin 17. The housing is comprised of an upper housing 12 and a lower housing 14. The drum is mounted in a housing forming a revolute pair with the housing by means of tapered roller bearings 16. As shown in fig. 4, the 3 sliding vanes 8 are uniformly distributed along the circumferential direction of the second rotor 11 and do not coincide with the installation position of the mechanical finger. One end of the sliding sheet 8 is rotatably connected with the second rotor 11. A thimble 9 is arranged between the slide sheet 8 and the shell. One end of the thimble 9 contacting with the slide sheet 8 is fixed with a magnet, and the other end is fixed on the top end of the upper shell 12. One end of the driving wire is fixed at the bottom of the first rotor 18, the other end of the driving wire is led out from a notch at the bottom of the lower shell 14, and the fixed position of the driving wire is not coincident with the notch. The outer side of the lower housing 14 is provided with a rod mounting means 13, which allows the length of the rod to be changed when picking operations are performed at different heights.
As shown in fig. 5, the reset module includes a rotor magnet 20 and a stator magnet 21. The rotor magnet 20 is fixed on the outer side of the rotor one 18, the stator magnet 21 is fixed on the inner side of the lower shell 14, and the magnetic poles of the rotor magnet 20 and the stator magnet 21 are opposite in polarity.
A use method of a fruit and vegetable picking device comprises the following steps:
step one, according to the height of the job, select the installation pole to install on pole installer 13. One end of the tube is secured to the base by a screw 22 so that the tube abuts the interior of the bowl.
And step two, the fruit and vegetable picking device is placed below the object to be picked, the fruit and vegetable picking device is slowly upwards, the object to be picked is in contact with the round wheel 1 on the grabbing module, and the object to be picked enters the cavity formed by the claw fingers 2 under the guidance of the round wheel.
And step three, after the grabbing module completely wraps the articles to be picked, pulling the driving wire, driving the grabbing module and the sliding blade 8 to rotate by the rotary drum, and ejecting the sliding blade 8 by the ejector pin 9 to provide upward supporting force for the articles to be picked.
And step four, after the picked articles leave the branch heads, loosening the driving wire, resetting the roller under the action of the resetting module, and withdrawing the sliding sheet 8 by the attraction of the magnet on the thimble 9. The picked articles slide down along the pipeline below the roller to finish picking.
Claims (8)
1. The utility model provides a fruit vegetables pick device which characterized in that: the device comprises a grabbing module, a rotating module and a resetting module;
the rotating module comprises a driving wire, a shell, a rotary drum, a sliding sheet (8), a thimble (9) and a magnet; the rotary drum is arranged in the shell and forms a revolute pair with the shell; a plurality of sliding sheets (8) are distributed along the circumferential direction of the rotary drum, and one end of each sliding sheet (8) is rotatably connected with the rotary drum; a thimble (9) is arranged between the slip sheet (8) and the shell; a magnet is fixed at one end of the thimble (9) which is contacted with the slip sheet (8), and the other end of the thimble is fixed on the shell; one end of the driving wire is fixed at the bottom of the rotary drum, and a notch at the bottom of the shell at the other end is led out; in the initial state, the fixed position of the driving wire and the position of the gap are staggered along the circumferential direction of the rotary drum;
the grabbing module comprises a plurality of mechanical fingers which are uniformly distributed; the mechanical finger comprises a round wheel (1), a claw finger (2), a spring sliding block (3), a first spring (4), a second spring (10), a connecting rod (5), a positioning sliding block (6), a fixed base (7) and a limiting bracket; the mechanical finger is arranged at the top end of the rotary drum through a fixed base (7), and the claw finger (2) points to the center of the rotary drum; the limiting bracket is fixed on the fixed base (7); the positioning sliding block (6) and the spring sliding block (3) are in sliding pair with the limiting bracket, and the positioning sliding block (6) slides along the radial direction of the roller; the spring sliding block (3) is rotatably connected with the middle part of the claw finger (2), and a first spring (4) is arranged between the bottom of the spring sliding block (3) and the limiting bracket; a second spring (10) is arranged between the bottom of the claw finger (2) and the positioning slide block (6); two ends of the connecting rod (5) are respectively connected with the spring sliding block (3) and the positioning sliding block (6) in a rotating way; the round wheel (1) is supported at the top end of the claw finger (2);
the reset module comprises one or more pairs of rotor magnets (20) and stator magnets (21); the rotor magnet (20) is fixed on the outer side of the rotary drum, and the stator magnet (21) is fixed on the inner side of the shell; in the pair of rotor magnet (20) and stator magnet (21), the magnetic poles of the rotor magnet (20) facing the outside are opposite to the magnetic poles of the stator magnet (21) facing the inside.
2. The fruit and vegetable picking device according to claim 1, characterized in that: the housing and the rotating drum form a rotating pair through a tapered roller bearing (16).
3. The fruit and vegetable picking device according to claim 1, characterized in that: the sliding direction of the spring sliding block (3) and the sliding direction of the positioning sliding block (6) form an included angle of 45 degrees.
4. The fruit and vegetable picking device according to claim 1, characterized in that: the number of mechanical fingers in the gripping module is 3.
5. The fruit and vegetable picking device according to claim 1, characterized in that: the round wheel (1) can only rotate in one direction, and the rotation direction of the round wheel is limited to that one side close to the axis can only rotate downwards.
6. The fruit and vegetable picking device according to claim 1, characterized in that: the outer side of the shell also comprises a rod mounting device (13) for mounting rod bodies with different lengths to finish high-altitude operation.
7. The fruit and vegetable picking device according to claim 1, characterized in that: the bottom end of the shell is also fixedly provided with a base (15), and the bottom end of the base is provided with a plurality of threaded holes along the circumferential direction.
8. The use method of the fruit and vegetable picking device as claimed in any one of claims 1 to 7, characterized in that: the method comprises the following steps:
step one, selecting an installation rod to be installed on a rod installer according to the height of operation; fixing one end of the pipeline with the base so that the pipeline is in butt joint with the inner cavity of the rotary drum;
placing the fruit and vegetable picking device below the object to be picked, slowly moving the fruit and vegetable picking device upwards to enable the object to be picked to be in contact with the round wheel on the grabbing module, and enabling the object to be picked to enter the cavity formed by the claw fingers under the guidance of the round wheel;
pulling the driving wire after the grabbing module completely wraps the articles to be picked, driving the grabbing module and the sliding blade to rotate by the rotary drum, and ejecting the sliding blade by the ejector pin to provide upward supporting force for the articles to be picked;
step four, after the picked articles leave the branch heads, the driving wire is loosened, the roller is reset under the acting force of the reset module, and the sliding sheet is retracted by the attraction of the magnet on the thimble; the picked articles slide down along the pipeline below the roller to finish picking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005634.2A CN113748846B (en) | 2021-08-30 | 2021-08-30 | Fruit and vegetable picking device and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005634.2A CN113748846B (en) | 2021-08-30 | 2021-08-30 | Fruit and vegetable picking device and using method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113748846A true CN113748846A (en) | 2021-12-07 |
| CN113748846B CN113748846B (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111005634.2A Active CN113748846B (en) | 2021-08-30 | 2021-08-30 | Fruit and vegetable picking device and using method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN207589543U (en) * | 2017-11-02 | 2018-07-10 | 贵州山王果健康实业有限公司 | One kind can deburring Single Roxburgh Rose Fruit device for picking |
| CN109479521A (en) * | 2018-12-27 | 2019-03-19 | 甘肃农业大学 | A kind of fruit picking robot end effector |
| CN210130144U (en) * | 2019-05-29 | 2020-03-10 | 西安航空学院 | Fruit picking device |
| WO2020082693A1 (en) * | 2018-10-23 | 2020-04-30 | 赵昕玥 | Fruit picking assist device |
-
2021
- 2021-08-30 CN CN202111005634.2A patent/CN113748846B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN207589543U (en) * | 2017-11-02 | 2018-07-10 | 贵州山王果健康实业有限公司 | One kind can deburring Single Roxburgh Rose Fruit device for picking |
| WO2020082693A1 (en) * | 2018-10-23 | 2020-04-30 | 赵昕玥 | Fruit picking assist device |
| CN109479521A (en) * | 2018-12-27 | 2019-03-19 | 甘肃农业大学 | A kind of fruit picking robot end effector |
| CN210130144U (en) * | 2019-05-29 | 2020-03-10 | 西安航空学院 | Fruit picking device |
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| Publication number | Publication date |
|---|---|
| CN113748846B (en) | 2022-11-04 |
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Effective date of registration: 20240119 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: 310018 No. 2 street, Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University |
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Effective date of registration: 20240509 Address after: 716100 Sigouhe Village, Daozhen Town, Ganquan County, Yan'an City, Shaanxi Province Patentee after: Yan'an Jifeng Agricultural Development Co.,Ltd. Country or region after: China Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Country or region before: China |