CN206713439U - Gripping-type picking fruit end effector and picking fruit performs device - Google Patents
Gripping-type picking fruit end effector and picking fruit performs device Download PDFInfo
- Publication number
- CN206713439U CN206713439U CN201720426078.9U CN201720426078U CN206713439U CN 206713439 U CN206713439 U CN 206713439U CN 201720426078 U CN201720426078 U CN 201720426078U CN 206713439 U CN206713439 U CN 206713439U
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- bracket
- support
- magnetic valve
- fruit
- lower jaw
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Abstract
The utility model discloses a kind of gripping-type picking fruit end effector and picking fruit performs device, including U-bracket and the straight line cylinder for being fixedly connected on U-bracket bottom, straight line cylinder has the piston rod that U-bracket and face U-bracket opening direction can be passed through to set, mounting seat is fixedly connected with the top of piston rod, the one end of mounting seat away from piston rod is fixedly connected with sucker, the bottom of sucker is provided with suction hole, air entry is provided with the top of mounting seat, mounting seat is internally provided with from air entry and extended to and suction hole opposite position and the air intake passage that is connected with suction hole, air entry is provided with and communicated with the air intake duct that can carry out air-breathing, the position that U-bracket is located at its opening is provided with the shear that can be sheared to branch.The utility model is simple in construction, easy to use, avoids fruit and rocks by shearing branch again after fruit is firmly grasped and cause collision damage, improves the harvesting quality of fruit.
Description
Technical field
It the utility model is related to one kind and pluck fruit instrument, and in particular to a kind of gripping-type picking fruit end effector and fruit
Pluck performs device.
Background technology
In recent years, as deep and market economy the development of China's rural reform of the economic structure, fruits output are big year by year
Amplitude increase, fruit industry occupy critical role in national economy.According to national statistics office data：China's fruit is total within 2014
Increase of production increases by 4.2% to 26142.24 ten thousand tons, compared with same period last year；Apple total output is 4092.32 ten thousand tons, and yield increases on year-on-year basis
Long 3.1%, account for the 15.65% of same period country's fruit total output；Citrus total output is 3492.66 ten thousand tons, and yield increases by 5.2% on a year-on-year basis,
Account for the 13.36% of same period country's fruit total output；Pears yield is 1796.44 ten thousand tons, and yield increases by 3.8% on a year-on-year basis, accounts for the same period country
The 6.87% of fruit total output.From the plantation of fruit to list marketing, wherein a ring most time-consuming, most laborious during harvesting operation
Section.All it is to grow aloft as the fruit of apple, citrus and pears etc, so as to complete to pluck by instrument.Common
Picker includes a telescopic arm that can be stretched, and the top of telescopic arm is provided with picking end effector, and picking end is held
Row device includes the clipper that can be sheared to branch, and after clipper cuts off tree shears, the fruit that fruit just falls to lower section is received
In acquisition means., may but clipper will rock in the moment of shearing branch, the active force very big to branch generation, fruit
Fruit is struck clipper either on telescopic arm, fruit is damaged, reduces the quality of fruit.
Utility model content
For above-mentioned the deficiencies in the prior art, technical problem to be solved in the utility model is：How a kind of energy is provided
Enough when picking fruit, fruit is fixed, avoids fruit collision rift from the gripping-type picking fruit end damaged occur
Actuator.
In order to solve the above-mentioned technical problem, the utility model employs following technical scheme：
A kind of gripping-type picking fruit end effector, including U-bracket and the straight line for being fixedly connected on U-bracket bottom
Cylinder, straight line cylinder is with can be set through U-bracket and face U-bracket opening direction one with Telescopic
Piston rod, mounting seat is fixedly connected with the top of piston rod, the one end of mounting seat away from piston rod is fixedly connected with opening direction
Sucker away from piston rod direction, the bottom of sucker are provided with the suction hole that can make sucker inner chamber and be connected outside sucker, installation
The top of seat is provided with air entry, and mounting seat is internally provided with from air entry and extended to and suction hole opposite position and and air-breathing
The air intake passage of hole connection, air entry are provided with and communicated with the air intake duct that can carry out air-breathing, and U-bracket is located at the position of its opening
The shear that is provided with and can be sheared to branch is put, formed with can hold between the inner side of U-bracket and shear
Receive the fruit receiving space of fruit.
In the utility model, then operation gripping-type picking fruit end effector is beaten close to the fruit for needing to pluck
Cutting apparatus is cut across, controls the piston rod of straight line cylinder to be stretched out towards fruit direction, while air intake duct starts air-breathing；Piston rod part
Sucker touch fruit surface, because, always in air-breathing, therefore sucker paster is after fruit surface, sucker and fruit in sucker inner chamber
Negative pressure will be produced between reality, and then sucker is firmly held fruit；Piston rod is bounced back afterwards, and fruit is pulled in fruit
In real receiving space, shear is sheared to branch, completes the harvesting of fruit.Shear is being sheared to branch
When, fruit is motionless in fruit receiving space, shears the active force of branch and will not cause rocking for fruit, and then makes fruit
It will not be collided in fact with U-bracket and shear, avoid fruit and damage, improve the harvesting quality of fruit,
Its is simple in construction, easy to use.
As optimization, the shear includes maxilla support and lower jaw support, and maxilla support and lower jaw support are integrally equal
U-shaped structure, the both ends of maxilla support and the both ends of lower jaw support are hingedly connected on two side arms of U-bracket, U-shaped
The drive device of maxilla support and lower jaw holder pivots can be driven respectively by being fixedly connected with support, when maxilla support and lower jaw
Support towards relative direction rotate when, can mutually suit between maxilla support and lower jaw support.Drive device first drives maxilla branch
Towards rotating in the direction away from each other, will form one between such maxilla support and lower jaw support opens for frame and lower jaw support
Mouthful, fruit can be made to be entered by this opening in fruit receiving space.Then drive device drives maxilla support with again
Jaw support is towards relative direction quick rotation, when maxilla support mutually suits with lower jaw support, it becomes possible to cut branch.
As optimization, the position that the maxilla support mutually suits with the lower jaw support has been respectively fixedly connected with blade, sword
Piece is extended along the length direction of the maxilla support and the lower jaw support respectively, and the cutting edge of two pieces of blade is oppositely arranged.
Branch is sheared by blade, preferably can be cut off branch, improves the branch of the harvesting quality, in addition fruit tree of fruit
Otch is smooth intact, reduces the injury to fruit tree.
As optimization, the drive device includes fixing company on the outside of the side arm of U-bracket both sides and with U-bracket respectively
The clamping jaw cylinder connect, two clamping jaws of clamping jaw cylinder pull bar and the maxilla support and the lower jaw by being articulated and connected respectively
Support is articulated and connected, for driving the maxilla support and the lower jaw holder pivots.Two clamping jaws of clamping jaw cylinder can be from
Mutually rotate and be separated from each other, control the rotation of maxilla support and lower jaw support respectively, the strength for making it mutually suit is bigger, can
Preferably branch is cut.
As optimization, the center line of the center line of the suction hole and the sucker is coaxially disposed, the bottom of the sucker
The connection tracheae for being coaxially disposed with the suction hole and being connected with the suction hole is also fixedly connected with, connection tracheae passes through setting
External screw thread in its outer surface is threadedly coupled to be connected with the air intake passage with the air intake passage.Process of the sucker in air-breathing
In, can suck various debris unavoidably causes air-breathing hole plug, and then sucker can not firmly catch fruit.Air admission hole is plugged
Afterwards, sucker can be disassembled and is individually changed, reduce the block clearing time, improve picking efficiency.
The invention also discloses a kind of picking fruit performs device, including source of the gas, 3 position-5 way magnetic valve I, three
Five-way electromagnetic valve II, two-bit triplet magnetic valve, vacuum generator and picker, picker are the above-mentioned gripping-type fruit
Real picking end effector, source of the gas by appendix respectively with 3 position-5 way magnetic valve I, 3 position-5 way magnetic valve II and two three
The air inlet connection of three-way electromagnetic valve, two of the straight line cylinder connect two outlets of the gas port respectively with 3 position-5 way magnetic valve I
Mouth connection, the air intake duct connect with the vacuum port of vacuum generator, air inlet and the two-bit triplet magnetic valve of vacuum generator
Gas outlet connection, two of the clamping jaw cylinder connect gas port and are connected respectively with two gas outlets of 3 position-5 way magnetic valve II.
Source of the gas output gas, and air inlet is controlled by different magnetic valves, to reach control straight line cylinder, clamping jaw cylinder and vacuum
The purpose of generator, its is simple in construction, easy to use.
As optimization, pneumatic triple piece is in series with the appendix, the appendix passes through the three of setting connected in parallel
Root airway tube respectively with the 3 position-5 way magnetic valve I, the 3 position-5 way magnetic valve II and the two-bit triplet magnetic valve
Air inlet connects, and is in series with choke valve on every airway tube, also pacifies on the airway tube connected with the two-bit triplet magnetic valve
Hold equipped with the gas communicated therewith.By the gentle appearance of pneumatic triple piece, the stabilization of source of the gas output gas and clean is controlled, and pass through
Choke valve, the displacement of distinct device is controlled, to meet equipment requirement.
In summary, the beneficial effects of the utility model are：The utility model is simple in construction, easy to use, passes through suction
Fruit steadily promptly and is pulled in fruit receiving space by disk, then branch is sheared, and is avoided fruit and is rocked and causes to touch
Wound evil, improve the harvesting quality of fruit.
Brief description of the drawings
In order that the purpose, technical scheme and advantage of utility model are clearer, it is new to this practicality below in conjunction with accompanying drawing
Type is described in further detail, wherein：
Fig. 1 is the three dimensional structure diagram of gripping-type picking fruit end effector in the utility model；
Fig. 2 is the pneumatic diagram of picking fruit performs device in the utility model.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in figure 1, the gripping-type picking fruit end effector in present embodiment, U-bracket 1 and fixed company
It is connected on the straight line cylinder 2 of the bottom of U-bracket 1, straight line cylinder 2 has and can pass through U-bracket 1 and the openings of face U-bracket 1
There is the piston rod of Telescopic to one of setting, mounting seat 3 is fixedly connected with the top of piston rod, mounting seat 3 is away from living
One end of stopper rod is fixedly connected with the sucker 4 that opening is directed away from piston rod direction, and the bottom of sucker 4, which is provided with, can make sucker
4 inner chambers are provided with air entry with the suction hole connected outside sucker 4, the top of mounting seat 3, and mounting seat 3 is internally provided with from air-breathing
Mouth extend to suction hole opposite position and the air intake passage that is connected with suction hole, air entry, which is provided with and communicated with, to be inhaled
The air intake duct 5 of gas, the position that U-bracket 1 is located at its opening are provided with the shear that can be sheared to branch, U-shaped
Formed with the fruit receiving space that can accommodate fruit between the inner side of support 1 and shear.
In present embodiment, the shear includes maxilla support 6 and lower jaw support 7, maxilla support 6 and lower jaw
The overall U-shaped structure of support 7, the both ends of maxilla support 6 and the both ends of lower jaw support 7 are hingedly connected in U-bracket 1
On two side arms, the driving dress that maxilla support 6 and lower jaw support 7 can be driven to rotate respectively is fixedly connected with U-bracket 1
Put, can be tangent between maxilla support 6 and lower jaw support 7 when maxilla support 6 rotates with lower jaw support 7 towards relative direction
Close.
In present embodiment, the position that the maxilla support 6 suits with the phase of lower jaw support 7 is respectively fixedly connected with
There is blade 8, blade 8 is extended along the length direction of the maxilla support 6 and the lower jaw support 7 respectively, two pieces of blade 8
Cutting edge is oppositely arranged.
In present embodiment, the drive device is included respectively positioned at the both sides side arm outside of U-bracket 1 and and U-shaped
The clamping jaw cylinder 9 that support 1 is fixedly connected, two clamping jaws of clamping jaw cylinder 9 respectively by the pull bar 10 that is articulated and connected with it is described on
Jaw support 6 and the lower jaw support 7 are articulated and connected, for driving the maxilla support 6 and the lower jaw support 7 to rotate.
In present embodiment, the center line of the center line of the suction hole and the sucker 4 is coaxially disposed, the suction
The bottom of disk 4 is also fixedly connected with the connection tracheae for being coaxially disposed with the suction hole and being connected with the suction hole, connects gas
Pipe is threadedly coupled to be connected with the air intake passage by being arranged on the external screw thread of its outer surface with the air intake passage.
As shown in Fig. 2 a kind of picking fruit performs device, including source of the gas 11,3 position-5 way magnetic valve I 12,3 position-5 way
Magnetic valve II 13, two-bit triplet magnetic valve 14, vacuum generator 15 and picker, picker are the above-mentioned gripping-type
Picking fruit end effector, source of the gas 11 by appendix respectively with 3 position-5 way magnetic valve I 12,3 position-5 way magnetic valve II 13
Connected with the air inlet of two-bit triplet magnetic valve 14, two of the straight line cylinder 2 connect gas port respectively with 3 position-5 way magnetic valve I
12 two gas outlets connection, the air intake duct 5 connect with the vacuum port of vacuum generator 15, the air inlet of vacuum generator 15
Connected with the gas outlet of two-bit triplet magnetic valve 14, two of the clamping jaw cylinder 9 connect gas port respectively with 3 position-5 way magnetic valve
II 13 two gas outlets connection.
In present embodiment, be in series with pneumatic triple piece 16 on the appendix, the appendix by with it simultaneously
Join set three airway tubes respectively with the 3 position-5 way magnetic valve I 12, the 3 position-5 way magnetic valve II 13 and described two
The air inlet of position-3-way solenoid valve 14 connects, and choke valve 17 is in series with every airway tube, with the two-bit triplet magnetic valve
The gas for being also equipped with communicating therewith on the airway tube of 14 connections holds 18.
During specific implementation, the position of the air entry is provided with suction joint, and suction joint is led including one
Manage, the hexagonal for being coaxial therewith setting is provided with the middle part of conduit and twists portion to facilitate operation conduit rotation, portion is twisted positioned at hexagonal
The catheter outer surface of side is provided with external screw thread and is threadedly coupled by external screw thread with air entry, and portion's opposite side is twisted positioned at hexagonal
Catheter outer surface be arranged at intervals with least two bulge loops along conduit circumferential projection, the air-breathing pipe sleeve along catheter length direction
Twisting on conduit of the portion away from air entry side and be fixedly connected on by anchor ear device on conduit, anchor ear device positioned at hexagonal
Between any two adjacent bulge loops.
Finally illustrate, above example is only unrestricted to illustrate the technical solution of the utility model, although logical
Cross and the utility model has been described with reference to preferred embodiment of the present utility model, but one of ordinary skill in the art
It should be appreciated that various changes can be made to it in the form and details, without departing from appended claims institute
The spirit and scope of the present utility model limited.
Claims (5)
- A kind of 1. gripping-type picking fruit end effector, it is characterised in that：Including U-bracket and it is fixedly connected on U-bracket The straight line cylinder of bottom, straight line cylinder with can pass through that U-bracket and face U-bracket opening direction set one with The piston rod of Telescopic, mounting seat is fixedly connected with the top of piston rod, the one end of mounting seat away from piston rod is fixedly connected There is the sucker that opening is directed away from piston rod direction, the bottom of sucker is provided with the suction that can make sucker inner chamber and be connected outside sucker Stomata, air entry is provided with the top of mounting seat, mounting seat is internally provided with from air entry and extends to position corresponding with suction hole The air intake passage put and connected with suction hole, air entry are provided with and communicated with the air intake duct that can carry out air-breathing, and U-bracket is located at it The position of opening is provided with the shear that can be sheared to branch, shape between the inner side of U-bracket and shear Into there is the fruit receiving space that can accommodate fruit；The shear includes maxilla support and lower jaw support, maxilla support and the overall U-shaped structure of lower jaw support, maxilla The both ends of support and the both ends of lower jaw support are hingedly connected on two side arms of U-bracket, are fixedly connected on U-bracket The drive device of maxilla support and lower jaw holder pivots can be driven respectively by having, when maxilla support and lower jaw support are towards contra To when rotating, can mutually suit between maxilla support and lower jaw support；The drive device includes being located at the clamping jaw cylinder being fixedly connected on the outside of the side arm of U-bracket both sides and with U-bracket respectively, Two clamping jaws of clamping jaw cylinder are articulated and connected by the pull bar and the maxilla support and the lower jaw support that are articulated and connected respectively, For driving the maxilla support and the lower jaw holder pivots.
- 2. gripping-type picking fruit end effector according to claim 1, it is characterised in that：The maxilla support and institute State the position that lower jaw support mutually suits and be respectively fixedly connected with blade, blade is respectively along the maxilla support and the lower jaw support Length direction be extended, the cutting edge of two pieces of blade is oppositely arranged.
- 3. gripping-type picking fruit end effector according to claim 1, it is characterised in that：The center of the suction hole The center line of line and the sucker is coaxially disposed, the bottom of the sucker be also fixedly connected be coaxially disposed with the suction hole and The connection tracheae connected with the suction hole, connection tracheae pass through the external screw thread for being arranged on its outer surface and the air intake passage spiral shell Line is connected to be connected with the air intake passage.
- A kind of 4. picking fruit performs device, it is characterised in that：Including source of the gas, 3 position-5 way magnetic valve I, 3 position-5 way magnetic valve IIth, two-bit triplet magnetic valve, vacuum generator and picker, picker are the institute in any one in claims 1 to 3 State gripping-type picking fruit end effector, source of the gas by appendix respectively with 3 position-5 way magnetic valve I, 3 position-5 way magnetic valve II connects with the air inlet of two-bit triplet magnetic valve, two of the straight line cylinder connect gas port respectively with 3 position-5 way magnetic valve I The connection of two gas outlets, the air intake duct connects with the vacuum port of vacuum generator, the air inlet of vacuum generator and two The gas outlet connection of three-way magnetic valve, two of the clamping jaw cylinder connect gas port and go out respectively with two of 3 position-5 way magnetic valve II Gas port connects.
- 5. picking fruit performs device according to claim 4, it is characterised in that：Pneumatic three are in series with the appendix Join part, the appendix by three airway tubes of setting connected in parallel respectively with the 3 position-5 way magnetic valve I, described three Five-way electromagnetic valve II is connected with the air inlet of the two-bit triplet magnetic valve, and choke valve is in series with every airway tube, with institute The gas for being also equipped with communicating therewith on the airway tube of two-bit triplet magnetic valve connection is stated to hold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720426078.9U CN206713439U (en) | 2017-04-21 | 2017-04-21 | Gripping-type picking fruit end effector and picking fruit performs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720426078.9U CN206713439U (en) | 2017-04-21 | 2017-04-21 | Gripping-type picking fruit end effector and picking fruit performs device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206713439U true CN206713439U (en) | 2017-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720426078.9U Expired - Fee Related CN206713439U (en) | 2017-04-21 | 2017-04-21 | Gripping-type picking fruit end effector and picking fruit performs device |
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| Country | Link |
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| CN (1) | CN206713439U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106900279A (en) * | 2017-04-21 | 2017-06-30 | 重庆理工大学 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
| CN108271532A (en) * | 2018-01-19 | 2018-07-13 | 西南大学 | A kind of multijaw Pneumatic nondestructive fruit and vegetable picking machinery hand of apery picking action |
| CN108312168A (en) * | 2018-02-27 | 2018-07-24 | 浙江水利水电学院 | Drive lacking fruits picking mechanical hand |
-
2017
- 2017-04-21 CN CN201720426078.9U patent/CN206713439U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106900279A (en) * | 2017-04-21 | 2017-06-30 | 重庆理工大学 | A kind of gripping-type picking fruit end effector and picking fruit performs device |
| CN108271532A (en) * | 2018-01-19 | 2018-07-13 | 西南大学 | A kind of multijaw Pneumatic nondestructive fruit and vegetable picking machinery hand of apery picking action |
| CN108312168A (en) * | 2018-02-27 | 2018-07-24 | 浙江水利水电学院 | Drive lacking fruits picking mechanical hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171208 Termination date: 20180421 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |