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Picking actuating mechanism used at tail end of pineapple picking mechanical arm

A technology of robotic arms and actuators, applied in the field of harvesting actuators, which can solve problems such as the long distance between the fruit clamping center and the arm fixing plate, the large structural size of the gripper, and the large overall quality, so as to reduce the power consumption of picking and have a simple structure Compactness, the effect of improving dynamic performance

Active Publication Date: 2013-02-06
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The mechanical gripper is driven by a screw motor to hold the gripper. The distance between the fruit gripping center and the arm fixing plate is far away. The size of the gripper structure is large, and the bending moment and power consumption are large during the postharvest transportation of pineapples; two drive motors and mechanical structure Part of it is installed on the end effector, the overall mass is large, and the dynamic performance is poor

Method used

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  • Picking actuating mechanism used at tail end of pineapple picking mechanical arm
  • Picking actuating mechanism used at tail end of pineapple picking mechanical arm
  • Picking actuating mechanism used at tail end of pineapple picking mechanical arm

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Embodiment

[0031] like Figures 1~4 As shown, a picking execution device for the end of a pineapple picking robotic arm includes a clamping mechanism for clamping the pineapple, a torsional separation mechanism for twisting and separating the pineapple, and a clamping mechanism and a twisting separation mechanism for fixing the clamping mechanism and the torsion separation mechanism. Connected flange assembly.

[0032] The clamping mechanism in this embodiment includes a frame connecting plate 1, a clamping motor 2, a reel 3, a wire rope 4, a pull rod 5, a spring 6, a gripper support plate 7, two cross bars 8 and two grippers 9; wherein, the frame connecting plate 1 is fixedly connected to the picking robot frame, the clamping motor 2 is fixedly installed on the frame connecting plate 1, the wire reel 3 is fixedly installed on the output shaft of the clamping motor 2, and the wire reel 3 A steel wire rope 4 is wound on it, the extension end of the wire rope 4 is fixedly connected with o...

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Abstract

The invention discloses a picking actuating mechanism used at the tail end of a pineapple picking mechanical arm, which includes a clamping mechanism for clamping a pineapple, a twisting and separating mechanism used for twisting and separating the pineapple, and a flange assemble used for fixedly connecting the clamping mechanism with the twisting and separating mechanism. The picking actuating mechanism overcomes the problems that in the prior art, the picking efficiency is low, the labor intensity is high, the pineapple picking and transporting loss is high, the integral weight is big and the consumption is high, and has the characteristics of simple and compact structure, capabilities of clamping and twisting and separating the pineapple, high picking efficiency, economy and durability.

Description

technical field [0001] The invention relates to fruit picking machinery technology, in particular to a picking execution device used for the end of a pineapple picking mechanical arm. Background technique [0002] At present, pineapple harvesting operations at home and abroad are mainly manual, and only conveying machinery is used to achieve auxiliary transportation and transportation. Pineapple picking is very seasonal. The peak period of each fruit harvest is usually only about half a month. Manual picking requires a lot of manpower in a short period of time. When harvesting, the farmer wears gloves, selects the fruit according to the size and color of the fruit, and cuts it with a fruit knife, or holds the middle of the fruit with his hand, twisting back and forth to break the fruit stem. The weight of pineapple fruit is generally 1-3Kg, and the larger one can reach 4-5Kg. Fruit farmers need to harvest them in batches according to their maturity. Manual harvesting is lab...

Claims

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Application Information

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IPC IPC(8): A01D45/00
Inventor 夏红梅甄文斌邹湘军关天俊莫应强黄健威
Owner SOUTH CHINA AGRI UNIV
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