阅读说明：本技术 一种莲蓬夹持剪切装置 (Lotus seedpod clamping and shearing device ) 是由 黎静 何梁 黄博翰 黄活龙 孙正 刘木华 薛龙 张一帆 许天皓 曾剑辉 吴书佳 于 2020-05-26 设计创作，主要内容包括：本发明涉及一种莲蓬夹持剪切装置,包括拨指装置、电动执行器、夹持装置和剪切装置。拨指装置由直流减速电机带动仿生拨指转动,外壳上固定有导向保护罩、防水限位开关和叶片保护罩,其中叶片保护罩上有仿形果托。电动执行器连接并控制夹持装置和剪切装置的闭合,夹持装置采用半牙螺栓连接防滑仿形橡胶、弹性元件、固定前板、刀架、橡胶圈和固定后板,仿生刀片分别通过顶丝固定在左右刀架上构成剪切装置。本发明能在机械臂对成熟目标定位后配合机械臂准确夹持莲蓬茎秆,在完成茎秆剪切后继续保持夹持状态,等待下一步移送,提高了采摘的准确率和移送作业的效率。(The invention relates to a lotus seedpod clamping and shearing device which comprises a finger-moving device, an electric actuator, a clamping device and a shearing device. The finger-poking device is driven by a direct-current gear motor to rotate a bionic finger-poking device, a guide protective cover, a waterproof limit switch and a blade protective cover are fixed on the shell, and a profiling fruit support is arranged on the blade protective cover. The electric actuator is connected with and controls the closing of the clamping device and the shearing device, the clamping device adopts a half-tooth bolt to connect the anti-skid copying rubber, the elastic element, the fixed front plate, the cutter frame, the rubber ring and the fixed rear plate, and the bionic blades are respectively fixed on the left cutter frame and the right cutter frame through jackscrews to form the shearing device. The invention can accurately clamp lotus seedpod stalks by matching with the mechanical arm after the mechanical arm positions mature targets, continuously maintain the clamping state after the stalks are sheared, wait for next transfer and improve the picking accuracy and the transfer operation efficiency.)

1. The utility model provides a seedpod of lotus clamping device and shearing mechanism which characterized in that: the device comprises an electric actuator (1), a shell (17), a finger-poking device (19), a clamping device and a shearing device (18), wherein the electric actuator (1) controls the clamping device and the shearing device (18) to clamp and shear the lotus seedpod stalks, and the finger-poking device (19) is fixed on the shell (17).

2. The lotus seedpod clamping device and shearing device as claimed in claim 1, wherein the finger-moving assembly comprises a single-layer bionic blade finger-moving (12) and a double-layer bionic blade finger-moving (15) fixed on two DC speed-reducing motors (14), the front ends of the DC speed-reducing motors (14) are respectively fixed with a guiding protective cover (13), and the blade protective covers (16) are provided with a profiling fruit support for supporting the lotus seedpod and matching with a camera to perform image acquisition on the front side of the lotus seedpod to judge the maturity condition.

3. The shower rose clamping and shearing device as defined in claim 1, wherein: clamping device and shearing mechanism are including fixed front bezel (4), fixed front bezel (4) are connected to the screw hole of fixed back plate (2) through half tooth bolt (6) on, fixed front bezel (4) with elastic element (5) are equipped with between half tooth bolt (6), knife rest (3) are equipped with between fixed front bezel (4) and fixed back plate (2), knife rest (3) with rubber packing ring (11) are equipped with between the fixed back plate, control and be equipped with on knife rest (3) bionical blade (7, 9) respectively.

4. The shower rose clamping and shearing device as defined in claim 1, wherein: and the bottom of the shell (17) is provided with a limit switch (8) which is used for judging that the stalks are pushed to a shearing position by the dialing fingers (12) and (15) and then stop to wait for the next step of instruction.

5. The shower rose clamping and shearing device as defined in claim 1, wherein: bionic blade (7, 9) shape design into the bionical form of arc, slides the shearing to the seedpod of the lotus stem stalk during shearing, and the blade is bionical many tooth structure, and its surface has the indent circular arc, and the round hole that forms when controlling two anti-skidding profile rubber (10) counterpoint and step up slightly is less than the stem stalk diameter, realizes centre gripping fixed function, the shearing of sliding of the bionic blade of being convenient for (7) (9).

6. The shower rose clamping and shearing device as defined in claim 1, wherein: the surface of the fixed front plate (4) is adhered with anti-skid profiling rubber (10) to support the lotus seedpod stalks to keep a stable vertical state.

7. The shower rose clamping and shearing device as defined in claim 1, wherein: the electric actuator (1) can control the opening and closing of the clamping device and the shearing device (18), so that the clamping device is closed before the shearing device, and the stalks are fixed during shearing.

8. The shower rose clamping and shearing device as defined in claim 1, wherein: the single-layer bionic blade shifting finger (12) and the double-layer bionic blade shifting finger (15) are staggered in a crossed mode when rotating, and are respectively fixed on the two direct-current speed reducing motors (14), the stem is assisted to move towards a shearing range, and the direct-current speed reducing motors (14) rotate reversely to push out the stems after the shearing action is completed, so that blockage is prevented.

9. The single-layer bionic blade shifting finger (12) and the double-layer bionic blade shifting finger (15) as claimed in claim 1 have bidirectional bionic design and certain toughness, and can provide certain binding force to the stem when contacting with lotus seedpod stem and can also ensure that the stem is not damaged.

Technical Field

The invention relates to the technical field of lotus seedpod production, in particular to a device for automatically picking and transferring lotus seedpods.

Background

As a big agricultural country in China, the planting area of lotus seedpods is large, the nutritional value of lotus seeds is high, the demand of people is gradually increased, but because the automatic lotus seedpods picking machine in China is relatively backward in development and the main picking mode is manual picking, and because lotus ponds are different in depth, the lotus seedpods are not uniformly distributed, the maturing time is not uniform, the area is large and the like, the large-area lotus seedpods are not beneficial to one-time large-area harvesting, so that the manual harvesting is needed for multiple times, the picking work is time-consuming and labor-consuming, and the labor cost is huge. There is therefore a pressing need for an automated apparatus that can automatically identify the picking of ripe rosettes and ensure that flowers are not damaged.

Disclosure of Invention

The invention aims to solve the technical problem of realizing the automatic operation of a lotus seedpod picking machine and provides a clamping and shearing device to solve the problems in the background.

The technical problem solved by the invention is realized by adopting the following technical scheme: a lotus seedpod clamping device and a shearing device comprise an electric actuator, a finger-dialing device, a clamping device, a shearing device and a limit switch.

Preferably, the finger-dialing device drives the single-layer bionic blade finger-dialing and the double-layer bionic blade finger-dialing to rotate through two direct-current speed reduction motors respectively, and the blade protective cover is installed at the bottom of the blade finger-dialing. After the lotus seedpod stems are restrained by the finger-pushing device, the manipulator vertically moves upwards, the copying fruit support positioned above the blade protection cover supports the lotus seedpod to enable the surface of the lotus seedpod to face upwards, and a camera can conveniently acquire images of the front side of the lotus seedpod to judge the maturity condition.

Preferably, limit switch transversely installs below the right side knife rest, is wrapped up by the shell, and when it was triggered, can guarantee that lotus seedpod stalk is in centre gripping, shearing within range.

Preferably, electric actuator can be closed reciprocating motion, and at closed in-process, for guaranteeing to be certain and not by the conquassation to the clamping-force of lotus seedpod stem stalk, elastic element can be compressed, and simultaneously at the elastic rubber component of the left and right sides, at surface machining into semicircle, be a little less than the round hole of lotus seedpod stalk diameter after closed, guarantee that lotus seedpod stalk can be fixed by effectual centre gripping, the bionical blade begins to cut lotus seedpod stalk simultaneously.

After the cutting device cuts off lotus seedpod stems, the clamping device still keeps clamping the lotus seedpod, meanwhile, the lotus seedpod is transferred to a designated area through the mechanical arm, after the lotus seedpod reaches the designated transportation area, the electric actuator controls the clamping and cutting mechanism to open, and meanwhile, the finger shifting mechanism rotates outwards to pull out the lotus seedpod.

The invention has the beneficial effects that: when the device works in cooperation with the mechanical arm, the stem is conveyed to the trigger limit switch by the finger-poking device, the lotus seedpod stems are clamped and sheared by the electric actuator and then conveyed to the collecting area by the mechanical arm connected with the electric actuator, and the fingers rotate outwards to actively push the lotus seedpod to move outwards and fall into the conveying device of the collecting area after separating from the clamping and shearing mechanism. The action connection is tight in the whole process, the picking and conveying operation can be automatically completed, and the picking efficiency is greatly improved.

Drawings

FIG. 1 is a three-dimensional schematic diagram of a preferred embodiment of the present invention.

FIG. 2 is a schematic view of the structure of the clamping device and the shearing device in the preferred embodiment of the invention.

Fig. 3 is a schematic structural diagram of a finger-dialing device according to a preferred embodiment of the invention.

FIG. 4 is a schematic diagram of the operation of the preferred embodiment of the present invention.

In the figure: 1. the electric actuator comprises an electric actuator, 2 parts of a fixed rear plate, 3 parts of a tool rest, 4 parts of a fixed front plate, 5 parts of an elastic element, 6 parts of a half-tooth bolt, 7 parts of a concave arc blade, 8 parts of a limit switch, 9 parts of a convex arc blade, 10 parts of anti-skidding profiling rubber, 11 parts of a rubber gasket, 12 parts of a single-layer bionic blade shifting finger, 13 parts of a guiding protective cover, 14 parts of a direct-current speed reducing motor, 15 parts of a double-layer bionic blade shifting finger, 16 parts of a blade protective cover, 17 parts of a shell, 18 parts of a clamping device and a shearing device, and 19 parts of a shifting finger.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views, and merely illustrate the basic structure of the present invention in a schematic manner, and therefore, only show the components related to the present invention.

The invention aims to provide a device which has high automation degree and can clamp, cut and convey a shower head. As shown in fig. 1, the present embodiment includes an electric actuator (1), a housing (17), a finger-moving device (19), a gripping device, and a shearing device (18).

When the lotus seedpod clamping device and the shearing device are used, the lotus seedpods picked are taken as an example: the finger-poking device (19) drives the single-layer bionic blade and double-layer bionic blade poking fingers (12 and 15) to rotate inwards through the two direct-current speed-reducing motors (14) respectively to poke the lotus stem in the contact range of the blade protective cover (16) until the limit switch (8) is triggered. Limit switch (8) transversely set up in right side knife rest (3) below, are wrapped up by shell (17), trigger it when the stem stalk moves in opposite directions, can guarantee this moment that seedpod of lotus stem stalk is in the centre gripping and the within range of cuting.

The limit switch (8) sends out the signal of telecommunication after being triggered, and manipulator rebound makes the profile modeling fruit on the blade safety cover hold in the palm (16) and hold up the seedpod of lotus, treats that the camera judges that it is ripe fruit after, and the controller control clamping device and shearing mechanism (18) begin to operate: clamping device and the parallel closure of shearing mechanism of electric actuator (1) control left and right sides, in closed process, when touching the seedpod of lotus stem stalk earlier in antiskid profile modeling rubber (10), elastic element (5) begin to compress, exert earlier to the seedpod of lotus stem stalk and add the holding power and keep the seedpod of lotus stem stalk vertical, electric actuator (1) continues the motion in opposite directions, bionic blade (7) this moment, 9) begin to cut the seedpod of lotus stem stalk after the centre gripping, blade (7, 9) design into bionically can carry out certain constraint effect to the seedpod of lotus stem stalk, control blade (7), 9) certain clearance staggers from top to bottom when closed, can cut off the seedpod of lotus stem stalk when avoiding wearing and tearing.

After the cutting is finished, the clamping part continues to keep the clamping state, so that the cut lotus seedpod is clamped and then is transferred, when the lotus seedpod reaches a designated transportation area, the electric actuator (1) controls the clamping and shearing mechanism to open, and meanwhile, the finger shifting mechanism (19) rotates outwards to pull out the lotus seedpod, and the whole set of action is finished.

The principle and the implementation of the present invention are explained in the present specification by using specific examples, and the above description of the embodiments is only used to help understanding the present invention and the core idea thereof. Meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.