CN210694984U - A press from both sides and cut mechanism for fruit vegetables picking robot - Google Patents
A press from both sides and cut mechanism for fruit vegetables picking robot Download PDFInfo
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- CN210694984U CN210694984U CN201921377486.5U CN201921377486U CN210694984U CN 210694984 U CN210694984 U CN 210694984U CN 201921377486 U CN201921377486 U CN 201921377486U CN 210694984 U CN210694984 U CN 210694984U
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Abstract
The utility model provides a press from both sides and cut mechanism for fruit vegetables picking robot, its characterized in that: the device comprises an installation bottom plate, a driving device arranged on the installation bottom plate, a guide rail installation part, a guide rail arranged on the guide rail installation part, two sliding blocks arranged on the guide rail in a sliding manner, a first shear blade, a second shear blade and a clamping structure; the first shear blade is hinged with the second shear blade, and the first shear blade and the second shear blade are respectively hinged with the two sliding blocks, so that the first shear blade, the second shear blade, the guide rail and the two sliding blocks form a variable geometric shape together; the hinge joint of the first shear blade and the second shear blade is hinged with the mounting bottom plate; the guide rail mounting part is connected with the driving device. The fruit stalk clamping and shearing mechanism realizes fruit stalk shearing, can improve the working efficiency and reduce the labor cost, has simple and light structure, can reduce the precision of positioning and shearing the fruit stalks, and accelerates the fruit and vegetable picking efficiency.
Description
Technical Field
The utility model relates to a fruit vegetables picking robot technical field, more specifically say, relate to a press from both sides and cut mechanism for fruit vegetables picking robot.
Background
At present, most of vegetables and fruits in China need to be picked manually, and the labor intensity and labor cost are high. Under the high-speed development of the current intelligent industry and the deepening of agricultural supporting policies of governments in China, the manufacturing industry is revolutionarily changed, simple manual labor operation is gradually replaced by a robot, a mechanical arm is applied to picking of vegetables and fruits, the labor intensity and the cost can be reduced to a great extent, mechanical automation and intelligent picking of the vegetables and fruits are realized, mechanical intelligence in the whole vegetable and fruit picking process is realized, but most of the mechanical arm is only suitable for picking of one or a few vegetables and fruits in the existing robot picking mechanism and cannot be widely applied to different vegetables and fruits.
The invention patent of China (publication number: CN 106508282A) discloses a clamp-shear type mechanical arm end effector, which mainly comprises a clamp-shear mechanism, a frame and a driving assembly, wherein the assembly is driven by a power source to enable the clamp-shear mechanism to act. However, the end effector of the pinch-shear type mechanical arm has the following disadvantages:
the end effector selects a steering engine as a power source, if the scissors are driven to cut harder fruit stalks, the steering engine is required to provide larger torque, and the cost and the weight of the steering engine are generally in direct proportion to the output power; therefore, if enough driving force needs to be provided, the corresponding steering engine has higher cost; the overall mass is heavy;
secondly, the initial opening angle of the end effector is small, so that fruit stalks are accurately positioned and cut, namely the fault-tolerant rate is low;
and thirdly, the end effector has more and complicated parts, contains more non-standard design parts and is expensive in manufacturing cost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the shortcoming and not enough among the prior art, provide a press from both sides and cut the mechanism that is used for fruit vegetables picking robot, realizes that the fruit stalk is cuted, can improve work efficiency and reduce labour cost, simple structure is light, can reduce the accuracy of cutting, accelerate fruit vegetables picking efficiency to the fruit stalk location.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a press from both sides and cut mechanism for fruit vegetables picking robot which characterized in that: the device comprises an installation bottom plate, a driving device arranged on the installation bottom plate, a guide rail installation part, a guide rail arranged on the guide rail installation part, two sliding blocks arranged on the guide rail in a sliding manner, a first shear blade, a second shear blade and a clamping structure;
the first shear blade is hinged with the second shear blade, and the first shear blade and the second shear blade are respectively hinged with the two sliding blocks, so that the first shear blade, the second shear blade, the guide rail and the two sliding blocks form a variable geometric shape together; the hinge joint of the first shear blade and the second shear blade is hinged with the mounting bottom plate; the guide rail mounting part is connected with the driving device so as to realize that the driving device drives the guide rail mounting part to reciprocate to change the distance between the hinge joint of the first shear blade and the second shear blade and the guide rail mounting part, thereby changing the variable geometric shape and realizing the opening or the shearing of the first shear blade and the second shear blade; the clamping structure is arranged on the first shearing edge and the second shearing edge to clamp the fruit stalks.
The utility model discloses the theory of operation of mechanism is cut in clamp: the driving device drives the guide rail mounting part to move, so that the distance between the hinge joint of the first shear blade and the second shear blade and the guide rail mounting part is changed; therefore, the variable geometric shape formed by the first shear blade, the second shear blade, the guide rail and the two sliding blocks needs to be changed, and the variable geometric shape is realized by the sliding of the two sliding blocks on the guide rail, the rotation between the first shear blade and the sliding blocks, the rotation between the second shear blade and the sliding blocks and the rotation between the first shear blade and the second shear blade; along with the change of the variable geometric shape, the first cutting edge and the second cutting edge rotate back to realize opening or rotate oppositely to realize shearing, thereby realizing the shearing of the fruit stalks. The utility model discloses press from both sides and cut mechanism simple, light, great angle can be opened to the originated opening angle between cutting edge one and the cutting edge two, and the fault-tolerant rate of counterpointing the fruit stalk before cuting is higher, can reduce the accuracy of cuting the fruit stalk location for fruit vegetables are picked efficiency.
In the process of back rotation of the first shear blade and the second shear blade, the clamping structure also rotates back to realize opening, and in the process of opposite rotation of the first shear blade and the second shear blade, the clamping structure also rotates oppositely to gradually draw close to clamp fruit stalks; therefore, the fruit stalks can be sheared under the clamping condition, and the vibration impact on the fruits and vegetables at the shearing moment is relieved.
Preferably, the clamping structure comprises a clamping fixed end arranged on the first cutting edge and a clamping movable end arranged on the second cutting edge.
Preferably, the clamping fixed end is a clamping fixed block arranged on the first shear blade; the clamping movable end comprises a clamping movable end fixing seat and a clamping movable block which are arranged on the second shear blade; the clamping movable block is arranged on one side, close to the clamping fixed block, of the clamping movable end fixing seat through an elastic element.
The clamping fixed end and the clamping movable end can rotate along with the rotation of the first shear blade and the second shear blade; in the shearing process, along with the opposite rotation of the first shearing edge and the second shearing edge, the clamping movable block is gradually close to the clamping fixed block, and the clamping fixed block and the clamping movable block are firstly contacted with fruit stalks to realize primary positioning; then, along with the opposite rotation of the first shearing edge and the second shearing edge, the clamping movable block continues to approach the clamping fixed block, and the clamping movable block and the clamping fixed block clamp fruit stalks together under the elastic deformation of the elastic element. The clamping structure of the design is simple, the fruit stalks can be effectively clamped and positioned, and the fruit stalks can be prevented from being damaged by clamping.
Preferably, the driving device is a cylinder; the output of cylinder is connected with the guide rail installed part.
Preferably, a sensor for detecting the stroke of the cylinder is arranged on the cylinder; the sensor is in signal connection with the cylinder. Judging whether the first shearing edge and the second shearing edge are sheared in place or not by detecting the stroke of the air cylinder, thereby acquiring information about whether shearing is successful or not; if the signal of successful shearing is not obtained after the shearing lasts for a certain time, the cylinder increases the driving force, so that the first shearing edge and the second shearing edge obtain larger shearing force to shear harder fruit stalks. Therefore, the utility model discloses contained angle mechanism can adjust the fruit stalk that the size of cuting required power in real time adapts to the hardness difference, can realize "a tractor serves several purposes" to the picking of different fruits and vegetables.
Preferably, the cylinder is a double-shaft cylinder; the sensor is a cylinder magnetic control proximity sensor which is fixed at the tail end and the start end of the push stroke of the inner piston of the double-shaft cylinder through a chute on the double-shaft cylinder.
Preferably, the first cutting edge and the second cutting edge are both provided with bends; the hinged parts of the first shear blade and the second shear blade and the mounting bottom plate are both positioned on the bending positions.
Preferably, the two sliding blocks are respectively connected with an L-shaped piece; the first shear blade and the second shear blade are hinged with the L-shaped piece respectively.
Preferably, the first cutting edge and the L-shaped piece, and the second cutting edge and the L-shaped piece are hinged through a first bolt, and a first bearing is arranged at the hinged position.
Preferably, the first shear blade and the second shear blade are hinged with the mounting base plate through a second bolt, and a second bearing is arranged at the hinged position.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:
1. the clamping and shearing mechanism of the utility model can realize the shearing of the fruit stalks, can improve the working efficiency and reduce the labor cost; the fruit stem positioning and shearing device is simple and portable in structure, the initial opening angle between the first shearing edge and the second shearing edge can be opened to a larger angle, the fault tolerance rate of aligning fruit stems before shearing is higher, the accuracy of positioning and shearing the fruit stems can be reduced, and the fruit and vegetable picking efficiency is accelerated;
2. the fruit stalks can be sheared under the clamping condition, so that the vibration impact on the fruits and vegetables at the shearing moment is relieved;
3. the utility model discloses contained angle mechanism can adjust the fruit stalk that the required power of shearing size adapts to the hardness difference in real time, can realize "a tractor serves several purposes" to the picking of different fruits and vegetables.
Drawings
FIG. 1 is a schematic structural view of the open state of the clipping mechanism of the present invention;
FIG. 2 is a schematic structural view of the clipping mechanism of the present invention in a clipping state;
FIG. 3 is a schematic structural view of the clipping mechanism of the present invention from a top view;
FIG. 4 is a schematic structural view of the clipping mechanism at a bottom view angle;
FIG. 5 is an exploded view of the clipping mechanism of the present invention;
wherein, 1 is a driving device, 2 is a guide rail mounting piece, 3 is an L-shaped piece, 4a is a shear blade I, 4b is a shear blade II, 5 is a shaft shoulder bolt, 6 is a clamping movable end fixing seat, 7 is an elastic element, 8 is a clamping movable block, 9 is a guide rail, 10 is a sliding block, 11 is a bolt II, 12 is a clamping fixed block, 13a is a bearing I, 13b is a bearing II, 14 is an installation bottom plate, 15 is a sensor, and 16 is a bolt I.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
The clamping and shearing mechanism for the fruit and vegetable picking robot in the embodiment has a structure as shown in fig. 1 to 5, and comprises a mounting base plate 14, a driving device 1 arranged on the mounting base plate 14, a guide rail mounting part 2, a guide rail 9 arranged on the guide rail mounting part 2, two sliders 10 slidably arranged on the guide rail 9, a first cutting edge 4a, a second cutting edge 4b and a clamping structure.
The first shear blade 4a is hinged with the second shear blade 4b, and the two sliders 10 are respectively connected with the L-shaped piece 3; the first cutting edge 4a and the second cutting edge 4b are respectively hinged with the L-shaped piece 3. The first cutting edge 4a, the second cutting edge 4b, the guide rail 9, the two L-profiles 3 and the two sliders 10 together form a variable geometry. The hinged part of the first cutting edge 4a and the second cutting edge 4b is hinged with the mounting bottom plate 14. The guide rail mounting piece 2 is connected with the driving device 1, and the driving device 1 drives the guide rail mounting piece 2 to move back and forth to change the distance between the hinged position of the first shear blade 4a and the second shear blade 4b and the guide rail mounting piece 2, so that the variable geometric shape is changed, and the opening or the shearing of the first shear blade 4a and the second shear blade 4b is realized.
The working principle of the clamping and shearing mechanism of the embodiment is as follows: the driving device 1 drives the guide rail mounting piece 2 to move, so that the distance between the hinged part of the first shear blade 4a and the second shear blade 4b and the guide rail mounting piece 2 is changed; therefore, the variable geometry formed by the first cutting edge 4a, the second cutting edge 4b, the guide rail 9, the two L-shaped members 3 and the two sliders 10 needs to be changed, and the variable geometry is realized by the two sliders 10 sliding on the guide rail 9, the first cutting edge 4a, the second cutting edge 4b and the sliders 10 rotating, and the first cutting edge 4a and the second cutting edge 4b rotating; along with the change of the variable geometric shape, the first cutting edge 4a and the second cutting edge 4b rotate back to realize opening or rotate oppositely to realize shearing, thereby realizing the shearing of the fruit stalks. The utility model discloses press from both sides and cut mechanism simple, light, great angle can be opened to the originated opening angle between cutting edge 4a and the two 4b of cutting edge, and the fault-tolerant rate of counterpointing the fruit stalk before cuting is higher, can reduce the accuracy of cuting fruit stalk location for fruit vegetables are picked efficiency.
The first cutting edge 4a and the second cutting edge 4b are provided with bending positions; the hinged parts of the first cutting edge 4a and the second cutting edge 4b and the mounting bottom plate 14 are positioned at the bending positions.
For smoother rotation, the first cutting edge 4a and the L-shaped member 3, and the second cutting edge 4b and the L-shaped member 3 are hinged through a first bolt 16, and the hinged part is preferably provided with a first bearing 13 a. The first cutting edge 4a and the second cutting edge 4b are hinged with the mounting bottom plate 14 through a second bolt 11, and a second bearing 13b is preferably arranged at the hinged position.
The driving device 1 is a cylinder; the output of the cylinder is connected to the guide mounting 2. The cylinder is preferably provided with a sensor 15 for detecting the cylinder stroke; the sensor 15 is in signal connection with the cylinder. The cylinder preferably adopts a double-shaft cylinder; the sensor 15 preferably adopts a cylinder magnetic control proximity sensor 15, and the cylinder magnetic control proximity sensor 15 is fixed at the tail end and the start end of the push stroke of the inner piston of the double-shaft cylinder through a chute on the double-shaft cylinder.
When the inner piston of the double-shaft cylinder reaches the tail end of the pushing stroke, the first shearing edge and the second shearing edge are just closed and overlapped, and the shearing is in place, so that effective shearing is realized. If the individual fruit stalks of the vegetables and the fruits are hard, the preset working air pressure value is set so that the thrust provided by the double-shaft air cylinder is not enough to cut off the fruit stalks, the scissors are not in place, namely the inner piston does not reach the tail end of the pushing stroke, and the first shearing edge and the second shearing edge cannot realize the shearing operation; if the cylinder magnetic control proximity sensor cannot detect a shearing in-place signal for a certain time, the corresponding electric proportional valve can increase the input working air pressure of the double-shaft cylinder, so that the double-shaft cylinder obtains larger driving force, and the first cutting edge and the second cutting edge are driven to shear the harder fruit stalks.
Therefore, the utility model discloses contained angle mechanism can adjust the fruit stalk that the size of cuting required power in real time adapts to the hardness difference, can realize "a tractor serves several purposes" to the picking of different fruits and vegetables.
The clamping structure is arranged on the first shearing edge 4a and the second shearing edge 4b to realize fruit stem clamping. The clamping structure comprises a clamping fixed end and a clamping movable end. The clamping fixed end is a clamping fixed block 12 arranged on the first shear blade 4 a; the clamping movable end comprises a clamping movable end fixing seat 6 and a clamping movable block 8 which are arranged on the second shear blade 4 b; the clamping movable block 8 is arranged on one side of the clamping movable end fixing seat 6 close to the clamping fixed block 12 through an elastic element 7.
In the process that the first shear blade 4a and the second shear blade 4b rotate back to back, the clamping fixed end and the clamping movable end also rotate back to realize opening. In the shearing process that the first shearing edge 4a and the second shearing edge 4b rotate oppositely, the clamping fixed end and the clamping movable end also rotate oppositely to gradually draw close the clamping fruit stalks. Therefore, the fruit stalks can be sheared under the clamping condition, and the vibration impact on the fruits and vegetables at the shearing moment is relieved.
Along with the opposite rotation of the first cutting edge 4a and the second cutting edge 4b, the clamping movable block 8 gradually approaches the clamping fixed block 12, and the clamping fixed block 12 and the clamping movable block 8 firstly contact fruit stalks to realize primary positioning; then, along with the opposite rotation of the first cutting edge 4a and the second cutting edge 4b, the clamping movable block 8 continues to approach the clamping fixed block 12, and the clamping movable block 8 and the clamping fixed block 12 clamp fruit stalks together under the elastic deformation of the elastic element 7. The clamping structure of the design is simple, the fruit stalks can be effectively clamped and positioned, and the fruit stalks can be prevented from being damaged by clamping.
Example two
The clamping and shearing mechanism for the fruit and vegetable picking robot in the embodiment is different from the first embodiment in that: in this embodiment, the driving device is other existing driving devices, such as an electric sliding table.
The rest of the structure of the present embodiment is the same as that of the first embodiment.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. The utility model provides a press from both sides and cut mechanism for fruit vegetables picking robot which characterized in that: the device comprises an installation bottom plate, a driving device arranged on the installation bottom plate, a guide rail installation part, a guide rail arranged on the guide rail installation part, two sliding blocks arranged on the guide rail in a sliding manner, a first shear blade, a second shear blade and a clamping structure;
the first shear blade is hinged with the second shear blade, and the first shear blade and the second shear blade are respectively hinged with the two sliding blocks, so that the first shear blade, the second shear blade, the guide rail and the two sliding blocks form a variable geometric shape together; the hinge joint of the first shear blade and the second shear blade is hinged with the mounting bottom plate; the guide rail mounting part is connected with the driving device so as to realize that the driving device drives the guide rail mounting part to reciprocate to change the distance between the hinge joint of the first shear blade and the second shear blade and the guide rail mounting part, thereby changing the variable geometric shape and realizing the opening or the shearing of the first shear blade and the second shear blade; the clamping structure is arranged on the first shearing edge and the second shearing edge to clamp the fruit stalks.
2. The clipping mechanism for fruit and vegetable picking robot as claimed in claim 1, characterized in that: the clamping structure comprises a clamping fixed end arranged on the first shear blade and a clamping movable end arranged on the second shear blade.
3. The clipping mechanism for fruit and vegetable picking robot as claimed in claim 2, characterized in that: the clamping fixed end is a clamping fixed block arranged on the first shear blade; the clamping movable end comprises a clamping movable end fixing seat and a clamping movable block which are arranged on the second shear blade; the clamping movable block is arranged on one side, close to the clamping fixed block, of the clamping movable end fixing seat through an elastic element.
4. The clipping mechanism for fruit and vegetable picking robot as claimed in claim 1, characterized in that: the driving device is an air cylinder; the output of cylinder is connected with the guide rail installed part.
5. The clamping and shearing mechanism for the fruit and vegetable picking robot as claimed in claim 4, wherein: a sensor for detecting the stroke of the cylinder is arranged on the cylinder; the sensor is in signal connection with the cylinder.
6. A clamping and shearing mechanism for a fruit and vegetable picking robot as claimed in claim 5, wherein: the cylinder is a double-shaft cylinder; the sensor is a cylinder magnetic control proximity sensor which is fixed at the tail end and the start end of the push stroke of the inner piston of the double-shaft cylinder through a chute on the double-shaft cylinder.
7. The clipping mechanism for fruit and vegetable picking robot as claimed in claim 1, characterized in that: the first shearing edge and the second shearing edge are both provided with bending positions; the hinged parts of the first shear blade and the second shear blade and the mounting bottom plate are both positioned on the bending positions.
8. The clipping mechanism for fruit and vegetable picking robot according to any one of claims 1 to 7, wherein: the two sliding blocks are respectively connected with an L-shaped piece; the first shear blade and the second shear blade are hinged with the L-shaped piece respectively.
9. A clamp shear mechanism for a fruit and vegetable picking robot as claimed in claim 8, wherein: the first shear blade is hinged with the L-shaped piece and the second shear blade is hinged with the L-shaped piece through a first bolt, and a first bearing is arranged at the hinged position.
10. The clipping mechanism for fruit and vegetable picking robot according to any one of claims 1 to 7, wherein: the first shear blade and the second shear blade are hinged with the mounting base plate through a second bolt, and a second bearing is arranged at the hinged position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921377486.5U CN210694984U (en) | 2019-08-23 | 2019-08-23 | A press from both sides and cut mechanism for fruit vegetables picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921377486.5U CN210694984U (en) | 2019-08-23 | 2019-08-23 | A press from both sides and cut mechanism for fruit vegetables picking robot |
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| CN210694984U true CN210694984U (en) | 2020-06-09 |
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| CN201921377486.5U Active CN210694984U (en) | 2019-08-23 | 2019-08-23 | A press from both sides and cut mechanism for fruit vegetables picking robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112715163A (en) * | 2021-02-02 | 2021-04-30 | 广州大学 | Fruit picking robot |
| CN113016356A (en) * | 2021-03-04 | 2021-06-25 | 佛山科学技术学院 | Hybrid actuator of fruit stringing and picking robot and control method |
| CN113043366A (en) * | 2021-03-07 | 2021-06-29 | 魏燕华 | High-performance environment-friendly mask and preparation method thereof |
-
2019
- 2019-08-23 CN CN201921377486.5U patent/CN210694984U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112715163A (en) * | 2021-02-02 | 2021-04-30 | 广州大学 | Fruit picking robot |
| CN113016356A (en) * | 2021-03-04 | 2021-06-25 | 佛山科学技术学院 | Hybrid actuator of fruit stringing and picking robot and control method |
| CN113043366A (en) * | 2021-03-07 | 2021-06-29 | 魏燕华 | High-performance environment-friendly mask and preparation method thereof |
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