CN114800585A - High-precision tail end mechanical clamping jaw and method for picking grapes - Google Patents
High-precision tail end mechanical clamping jaw and method for picking grapes Download PDFInfo
- Publication number
- CN114800585A CN114800585A CN202210500916.8A CN202210500916A CN114800585A CN 114800585 A CN114800585 A CN 114800585A CN 202210500916 A CN202210500916 A CN 202210500916A CN 114800585 A CN114800585 A CN 114800585A
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- Prior art keywords
- connecting plate
- clamping
- picking
- grapes
- assembly
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- 241000219094 Vitaceae Species 0.000 title claims abstract description 38
- 235000021021 grapes Nutrition 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 13
- 241000219095 Vitis Species 0.000 claims abstract description 38
- 235000009754 Vitis X bourquina Nutrition 0.000 claims abstract description 38
- 235000012333 Vitis X labruscana Nutrition 0.000 claims abstract description 38
- 235000014787 Vitis vinifera Nutrition 0.000 claims abstract description 38
- 238000010008 shearing Methods 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 238000011179 visual inspection Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 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 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000050 nutritive effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- 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
- A01D46/28—Vintaging machines, i.e. grape harvesting machines
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a high-precision tail end mechanical clamping jaw for picking grapes and a method, wherein the high-precision tail end mechanical clamping jaw comprises a first connecting plate, a supporting plate, a second connecting plate, a visual detection assembly, a shearing assembly, a blade, a guide groove, a fixing block, a connecting block, a clamping assembly, a second mounting seat, a second power machine, a wedge block, a sliding block, a clamping plate and a rubber pad; the using method comprises the steps of firstly, assembling the device; step two, installing a device; step three, debugging the device; picking grapes; compared with the existing grape picking device, the grape picking device integrates vision, shearing and clamping, has a compact structure and powerful functions, the visual detection assembly can accurately position the grape stalks, damage to grapes is avoided, the shearing assembly and the clamping assembly adopt a shearing and clamping mode which is more stable due to mechanical structure conversion, and compared with the existing pneumatic shearing, the grape picking device is more stable, the grape picking accuracy and stability are ensured, and the grape picking efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of grape picking, in particular to a high-precision tail end mechanical clamping jaw for grape picking and a method.
Background
Grapes are fruits with high nutritive value, but the mechanical degree of the current grape picking work is low, manual picking is mostly adopted, the manual picking wastes time and labor, the efficiency is low, and the grapes are easily damaged; the picking efficiency can be effectively improved by using the machine for picking, but the picking clamping jaw of the existing grape picking machine has the following defects: when the grapes are picked, the grapes can be damaged due to the precision problem, and the shearing failure can be caused by the influence of the environment in the shearing process; picking clamping jaws are mostly pneumatic, so that shearing impact is large, clamping is unstable, and the grape picking requirements cannot be met.
Disclosure of Invention
The invention aims to provide a high-precision tail end mechanical clamping jaw for picking grapes and a method, and aims to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a grape is picked and is used terminal mechanical clamping jaw of high accuracy, includes first connecting plate, the last surface mounting of first connecting plate has the visual detection subassembly, and the lower fixed surface of first connecting plate is connected with the backup pad, and the bottom of first connecting plate is provided with the second connecting plate, and second connecting plate fixed connection is on one side outer wall of backup pad, and the last surface mounting of second connecting plate has the shearing subassembly, and the lower surface mounting of second connecting plate gets the subassembly.
Preferably, the visual inspection assembly comprises a camera mounting base, the upper surface of the first connecting plate is fixedly connected with the camera mounting base, and the camera mounting base is fixedly connected with a binocular camera.
Preferably, the shearing assembly comprises a first mounting seat, a first mounting seat is arranged on the upper surface of the second connecting plate, the first mounting seat is fixed on the lower surface of the first connecting plate through bolts, a first power machine is fixedly connected to the outer wall of one side of the first mounting seat, a sliding seat is in threaded connection with the output end of the first power machine, blades are hinged to the sliding seat, the number of the blades is two, a second pin is installed at the joint of the two blades, fixing blocks are arranged on the two sides of the sliding seat and fixedly connected to the outer wall of one side of the first mounting seat, connecting blocks are fixed on the fixing blocks through bolts, extension plates are fixed on the connecting blocks through bolts, and the second pins are installed on the extension plates.
Preferably, the guide way has been seted up to the one end of blade, the first pin of fixedly connected with on the pedestal of sliding tray, and first pin cup joints in the inside of guide way.
Preferably, the clamping assembly comprises a second mounting seat, a second mounting seat is fixed on the lower surface of the second connecting plate through bolts, a second power machine is fixedly connected to the outer wall of one side of the second mounting seat, a mounting hole is formed in the position, corresponding to the output end of the second power machine, of the outer wall of one side of the second mounting seat, a wedge is connected to the output end of the second power machine through threads, sliding blocks are connected to the outer walls of the two sides of the wedge in a sliding mode, a first sliding groove is formed in the inner portion of the second mounting seat, the sliding blocks are connected to the inner wall of the first sliding groove in a sliding mode, a clamping plate is fixed to the outer wall of one side of each sliding block through bolts, and a rubber pad is fixedly connected to the outer wall of one side of the clamping plate.
Preferably, a second sliding groove is formed in the outer wall of one side of the sliding block, and the wedge-shaped block is connected to the inner wall of the second sliding groove in a sliding mode.
A using method of a high-precision tail end mechanical clamping jaw for picking grapes comprises the steps of firstly, assembling a device; step two, installing a device; step three, debugging the device; picking grapes;
in the first step, the visual detection assembly and the shearing assembly are installed on the first connecting plate, the clamping assembly is installed on the second connecting plate, and then the second connecting plate is installed on the first connecting plate through the supporting plate to complete the assembly of the device;
in the second step, the device assembled in the first step is arranged on the mechanical arm and is connected with a control circuit;
in the third step, the device is electrified, and the rotating speeds and the limit strokes of the first power machine and the second power machine are set so as to control the clamping speed and the limit opening angle of the blade and the clamping plate;
in the fourth step, firstly, the equipment is started, the mechanical arm control device moves, the maturity of grapes is detected through the binocular camera, grape stalks of the ripe grapes are positioned, then the second power machine is started, the clamping plate clamps the grape stalks tightly, the first power machine is started immediately, the grape stalks are cut off by the blades, and then the picked grapes are placed into the collecting basket through the mechanical arm, so that one-time grape picking work is completed.
Preferably, in the fourth step, the initial state of the clamping plate and the blade is the opening state.
Compared with the prior art, the invention has the beneficial effects that: compared with the existing grape picking device, the grape picking device integrates vision, shearing and clamping, has a compact structure and powerful functions, the visual detection assembly can accurately position the grape stalks, damage to grapes is avoided, the shearing assembly and the clamping assembly adopt a shearing and clamping mode which is more stable due to mechanical structure conversion, and compared with the existing pneumatic shearing, the grape picking device is more stable, the grape picking accuracy and stability are ensured, and the grape picking efficiency is greatly improved.
Drawings
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is an enlarged view of the structure of the area A in FIG. 1;
FIG. 3 is a schematic overall front view of the present invention;
FIG. 4 is a perspective view of a second mounting base according to the present invention;
FIG. 5 is a sectional top view of the second mounting base of the present invention;
FIG. 6 is a flow chart of a method of the present invention;
in the figure: 1. a first connecting plate; 10. a support plate; 11. a second connecting plate; 2. a visual inspection assembly; 20. a camera mounting base; 21. a binocular camera; 3. a shear assembly; 30. a first mounting seat; 31. a first power machine; 32. a slide pedestal; 33. a first pin; 34. a blade; 35. a guide groove; 36. a fixed block; 37. connecting blocks; 38. an extension plate; 39. a second pin; 4. a gripping assembly; 40. a second mounting seat; 41. a second power machine; 42. mounting holes; 43. a first chute; 44. a wedge block; 45. a slider; 46. a second chute; 47. clamping the plate; 48. and (7) a rubber pad.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, an embodiment of the present invention is shown: a high-precision tail end mechanical clamping jaw for picking grapes comprises a first connecting plate 1, a visual detection assembly 2 is mounted on the upper surface of the first connecting plate 1, a supporting plate 10 is fixedly connected to the lower surface of the first connecting plate 1, a second connecting plate 11 is arranged at the bottom end of the first connecting plate 1, the second connecting plate 11 is fixedly connected to the outer wall of one side of the supporting plate 10, a shearing assembly 3 is mounted on the upper surface of the second connecting plate 11, and a clamping assembly 4 is mounted on the lower surface of the second connecting plate 11; the visual inspection assembly 2 comprises a camera mounting base 20, the upper surface of the first connecting plate 1 is fixedly connected with the camera mounting base 20, and a binocular camera 21 is fixedly connected to the camera mounting base 20; the shearing assembly 3 comprises a first mounting seat 30, a first mounting seat 30 is arranged on the upper surface of the second connecting plate 11, the first mounting seat 30 is fixed on the lower surface of the first connecting plate 1 through bolts, a first power machine 31 is fixedly connected to the outer wall of one side of the first mounting seat 30, the output end of the first power machine 31 is in threaded connection with a sliding seat 32, two blades 34 are hinged to the sliding seat 32, a second pin 39 is arranged at the joint of the two blades 34, fixing blocks 36 are arranged on two sides of the sliding seat 32, the fixing blocks 36 are fixedly connected to the outer wall of one side of the first mounting seat 30, connecting blocks 37 are fixed on the fixing blocks 36 through bolts, extension plates 38 are fixed on the connecting blocks 37 through bolts, and the second pin 39 is mounted on the extension plates 38; a guide groove 35 is formed at one end of the blade 34, a first pin 33 is fixedly connected to the slide pedestal 32, and the first pin 33 is sleeved in the guide groove 35; the clamping assembly 4 comprises a second mounting seat 40, a second mounting seat 40 is fixed on the lower surface of the second connecting plate 11 through bolts, a second power machine 41 is fixedly connected to the outer wall of one side of the second mounting seat 40, a mounting hole 42 is formed in the outer wall of one side of the second mounting seat 40, which corresponds to the position of the output end of the second power machine 41, the output end of the second power machine 41 is in threaded connection with a wedge block 44, sliding blocks 45 are connected to the outer walls of the two sides of the wedge block 44 in a sliding manner, a first sliding groove 43 is formed in the second mounting seat 40, the sliding blocks 45 are connected to the inner wall of the first sliding groove 43 in a sliding manner, a clamping plate 47 is fixed on the outer wall of one side of each sliding block 45 through bolts, and a rubber pad 48 is fixedly connected to the outer wall of one side of the clamping plate 47; a second sliding groove 46 is formed in the outer wall of one side of the sliding block 45, and the wedge block 44 is connected to the inner wall of the second sliding groove 46 in a sliding manner.
Referring to fig. 6, an embodiment of the present invention: a using method of a high-precision tail end mechanical clamping jaw for picking grapes comprises the steps of firstly, assembling a device; step two, installing a device; step three, debugging the device; picking grapes;
in the first step, firstly, the visual detection assembly 2 and the shearing assembly 3 are installed on the first connecting plate 1, the clamping assembly 4 is installed on the second connecting plate 11, and then the second connecting plate 11 is installed on the first connecting plate 1 through the supporting plate 10, so that the assembly of the device is completed;
in the second step, the device assembled in the first step is arranged on the mechanical arm and is connected with a control circuit;
in the third step, the device is powered on, and the rotating speeds and the limit strokes of the first power machine 31 and the second power machine 41 are set, so as to control the clamping speed and the limit opening angle of the blade 34 and the clamping plate 47;
in the fourth step, firstly, the equipment is started, the mechanical arm control device moves, the maturity of grapes is detected through the binocular camera 21, grape stalks of the ripe grapes are positioned, then the second power machine 41 is started, the grape stalks are clamped by the clamping plate 47, the first power machine 31 is started immediately, the grape stalks are cut off by the blade 34, and then the picked grapes are placed into the collecting basket through the mechanical arm to finish one grape picking work; the initial state of the gripping plate 47 and the blade 34 is the open state.
Based on the above, the grape picking machine has the advantages that when the grape picking machine is used for picking grapes, the maturity of the grapes is detected through the binocular camera 21 in the visual detection assembly 2, the grape stalks of the ripe grapes are positioned, then the clamping assembly 4 is used for clamping the grapes, and the shearing assembly 3 is used for shearing the grape stalks, so that the grapes are picked; the specific operation is as follows: starting a second power machine 41 on a second mounting seat 40, enabling a wedge-shaped block 44 to move inwards through screw transmission, driving the sliding blocks 45 through a second sliding groove 46, enabling the two sliding blocks 45 to move oppositely along a first sliding groove 43, driving a clamping plate 47 on the sliding blocks, clamping grape stalks through a rubber pad 48, and finishing clamping; then, according to the grape stalk shearing position positioned by the binocular camera 21, the first power machine 31 on the first mounting seat 30 is started, the slide seat 32 moves inwards through screw transmission, and the blade 34 is driven to rotate around the second pin 39 through the first pin 33 in the guide groove 35, so that the blade 34 is clamped, and the grape stalks are sheared; the first connecting plate 1, the supporting plate 10 and the second connecting plate 11 form a support part of the device, the camera mounting base 20 is used for mounting the binocular camera 21, the extension plate 38 is used for mounting the first pin 33, the mounting hole 42 is used for accommodating an output shaft of the second power machine 41, threaded rods are mounted at the output ends of the first power machine 31 and the second power machine 41, and threaded holes are formed in the sliding seat 32 and the wedge block 44 and used for being matched with the threaded rods to achieve spiral transmission.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides a grape is picked with terminal mechanical clamping jaw of high accuracy, includes first connecting plate (1), its characterized in that: the utility model discloses a clamping device for the automobile, including first connecting plate (1), second connecting plate (11), support plate (10), first connecting plate (1), visual inspection subassembly (2), the lower fixed surface of first connecting plate (1) is connected with backup pad (10), the bottom of first connecting plate (1) is provided with second connecting plate (11), and second connecting plate (11) fixed connection is on one side outer wall of backup pad (10), the last surface mounting of second connecting plate (11) has shearing assembly (3), the lower surface mounting of second connecting plate (11) is got subassembly (4).
2. The high-precision mechanical tail end clamping jaw for picking grapes according to claim 1, characterized in that: the visual inspection assembly (2) comprises a camera mounting base (20), the upper surface of the first connecting plate (1) is fixedly connected with the camera mounting base (20), and the camera mounting base (20) is fixedly connected with a binocular camera (21).
3. The high-precision mechanical tail end clamping jaw for picking grapes according to claim 1, characterized in that: the shearing assembly (3) comprises a first mounting seat (30), a first mounting seat (30) is arranged on the upper surface of the second connecting plate (11), the first mounting seat (30) is fixed on the lower surface of the first connecting plate (1) through bolts, a first power machine (31) is fixedly connected onto the outer wall of one side of the first mounting seat (30), the output end of the first power machine (31) is connected with a sliding seat (32) through threads, blades (34) are hinged onto the sliding seat (32), the number of the blades (34) is two, a second pin (39) is installed at the joint of the two blades (34), fixing blocks (36) are arranged on two sides of the sliding seat (32), the fixing blocks (36) are fixedly connected onto the outer wall of one side of the first mounting seat (30), connecting blocks (37) are fixed on the fixing blocks (36) through bolts, and extension plates (38) are fixed on the connecting blocks (37) through bolts, and the second pin (39) is mounted on the extension plate (38).
4. The high-precision mechanical tail end clamping jaw for picking grapes according to claim 3, characterized in that: guide way (35) have been seted up to the one end of blade (34), first pin (33) of fixedly connected with on slide bracket seat (32), and first pin (33) cup joint in the inside of guide way (35).
5. The high-precision mechanical tail end clamping jaw for picking grapes according to claim 1, characterized in that: the clamping assembly (4) comprises a second mounting seat (40), a second mounting seat (40) is fixed on the lower surface of the second connecting plate (11) through bolts, a second power machine (41) is fixedly connected to the outer wall of one side of the second mounting seat (40), a mounting hole (42) is formed in the outer wall of one side of the second mounting seat (40) and corresponds to the position of the output end of the second power machine (41), a wedge block (44) is connected to the output end of the second power machine (41) through threads, a sliding block (45) is connected to the outer walls of the two sides of the wedge block (44) in a sliding mode, a first sliding groove (43) is formed in the second mounting seat (40), the sliding block (45) is connected to the inner wall of the first sliding groove (43) in a sliding mode, a clamping plate (47) is fixed to the outer wall of one side of the sliding block (45) through bolts, and a rubber pad (48) is fixedly connected to the outer wall of one side of the clamping plate (47).
6. The high-precision mechanical tail end clamping jaw for picking grapes according to claim 5, characterized in that: a second sliding groove (46) is formed in the outer wall of one side of the sliding block (45), and the wedge-shaped block (44) is connected to the inner wall of the second sliding groove (46) in a sliding mode.
7. A using method of a high-precision tail end mechanical clamping jaw for picking grapes comprises the steps of firstly, assembling a device; step two, installing a device; step three, debugging the device; picking grapes; the method is characterized in that:
in the first step, firstly, the visual detection assembly (2) and the shearing assembly (3) are installed on the first connecting plate (1), the clamping assembly (4) is installed on the second connecting plate (11), and then the second connecting plate (11) is installed on the first connecting plate (1) through the supporting plate (10), so that the assembly of the device is completed;
in the second step, the device assembled in the first step is arranged on the mechanical arm and is connected with a control circuit;
in the third step, the device is powered on, and the rotating speeds and the limit strokes of the first power machine (31) and the second power machine (41) are set so as to control the clamping speed and the limit opening angle of the blade (34) and the clamping plate (47);
in the fourth step, firstly, the equipment is started, the mechanical arm control device moves, the maturity of grapes is detected through the binocular camera (21), grape stalks of the ripe grapes are positioned, then the second power machine (41) is started, the grape stalks are clamped by the clamping plate (47), the first power machine (31) is started immediately, the grape stalks are cut off by the blade (34), and then the picked grapes are placed into the collecting basket through the mechanical arm, so that one-time grape picking work is completed.
8. The use method of the high-precision mechanical tail end clamping jaw for picking grapes according to claim 7, characterized by comprising the following steps: in the fourth step, the initial state of the clamping plate (47) and the blade (34) is the opening state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210500916.8A CN114800585A (en) | 2022-05-09 | 2022-05-09 | High-precision tail end mechanical clamping jaw and method for picking grapes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210500916.8A CN114800585A (en) | 2022-05-09 | 2022-05-09 | High-precision tail end mechanical clamping jaw and method for picking grapes |
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| Publication Number | Publication Date |
|---|---|
| CN114800585A true CN114800585A (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210500916.8A Pending CN114800585A (en) | 2022-05-09 | 2022-05-09 | High-precision tail end mechanical clamping jaw and method for picking grapes |
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|---|---|
| CN (1) | CN114800585A (en) |
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Application publication date: 20220729 |