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

A technology of a mechanical arm and an executing device is applied in the field of picking executing devices, and can solve the problems of the long distance between the fruit clamping center and the arm fixing plate, the large size of the gripper structure, the poor dynamic performance, etc., so as to reduce the power consumption of picking and have a simple structure. Compact, dynamic performance

Active Publication Date: 2015-01-14
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] Such as Figure 1~4 As shown, a picking executive device for the end of the pineapple picking mechanical arm, including a clamping mechanism for clamping pineapple, a twisting separation mechanism for twisting and separating the pineapple, and a fixing mechanism for clamping and twisting separation mechanism Connected flange components.

[0032] The clamping mechanism in this embodiment includes a frame connecting plate 1, a clamping motor 2, a wire reel 3, a steel wire rope 4, a pull rod 5, a spring 6, a claw support plate 7, two cross bars 8 and two claws 9; wherein, the frame connecting plate 1 is fixedly connected to the frame of the picking robot, 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, and the protruding end of the steel wire rope 4 is fixedly connected with one end of the pull rod 5. The oth...

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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 mechanical technology, in particular to a picking executive device used at the end of a pineapple picking mechanical arm. Background technique [0002] At present, domestic and foreign pineapple harvesting operations are mainly manual, and only transportation machinery is used to assist in transportation and transportation. Pineapple picking is very seasonal, and the peak harvest period for each fruit is usually only about half a month. Manual picking requires a lot of manpower in a short period of time. When harvesting, the fruit grower wears gloves, selects the fruit according to the size and color of the fruit, cuts it with a fruit knife, or holds the middle of the fruit tightly with his hand, and twists back and forth to break the fruit stem. The weight of pineapples is generally 1-3Kg, and the larger ones can reach 4-5Kg. Fruit farmers need to harvest them in batches according to their maturity. Manual harve...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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