CN206354010U - A kind of end effector of fruit and vegetable picking robot - Google Patents
A kind of end effector of fruit and vegetable picking robot Download PDFInfo
- Publication number
- CN206354010U CN206354010U CN201621328507.0U CN201621328507U CN206354010U CN 206354010 U CN206354010 U CN 206354010U CN 201621328507 U CN201621328507 U CN 201621328507U CN 206354010 U CN206354010 U CN 206354010U
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- axle
- fruit
- bevel gear
- doffer
- spur
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- Harvesting Machines For Specific Crops (AREA)
Abstract
A kind of end effector of fruit and vegetable picking robot includes grasping system, diced system, sensor-based system, shell etc., grasping system is to carry huge frictional force in high speed rotation using five rubber cylinders rotated at a high speed and fruit is pulled into actuator inner chamber, realizes the action for capturing fruit；Diced system is the screw mandrel driving elastic movement of rhombus framework, promotes electromagnetic mechanism and the elastic movement of saw blade, and using electromagnetic mechanism, driving sawtooth blade is cut to branch repeatedly at a high speed；Sensor-based system is made up of pressure sensor, miniature vision sensor etc., and connecting moves and control process are played a part of during crawl fruit, cutting carpopodium.The novel crawl of the utility model, transmission, cutting mode, it is simple and reliable, the picking rate of intelligent picking robot is greatly improved, control difficulty and cost are low.The need for spherical picking robot can be met, to improving fruit picking robot picking rate and of great advantage to the practical and commercialization of such humanoid robot.
Description
Technical field
The utility model is related to a kind of end effector of fruit and vegetable picking robot, belongs to field of mechanical technique.
Background technology
The larger harvesting of this kind of fruit per mu yield quantity of Citrus is not assorted in the world at present with greater need for huge manpower is expended
Method or agricultural machinery can effectively solve this problem.Existing two kinds of end effectors, one kind is using carpal
Rotate to simulate after the action that people breaks stubborn carpopodium, another gripping fruit for two hemispheres clevis lid in two vertical direction, profit
Cut with rotating blade.Two kinds of actuators have respectively continuously to be plucked, destructible fruit surface is unfavorable for storing and capture standard
The true low shortcoming of rate, and two methods can not be all realized to the continuous harvesting operation of fruit, it is impossible to deal with the high mandarin orange of stand density
Tangerine belongs to the harvesting of this kind of fruit.
The content of the invention
The purpose of this utility model is to provide a kind of end effector of fruit and vegetable picking robot.
The end effector of the utility model fruit and vegetable picking robot is main by grasping system, diced system, sensing control
System, the part of shell four composition.
The grasping system includes grasping system motor, straight spur gear, rubber cylinder A, spur bevel gear axle
A, spur bevel gear axle B, rubber cylinder B, rubber cylinder C, rubber cylinder 4D, turbine, turbine wheel shaft, silent chain, worm screw, small rolling
Cylinder axle A, rubber cylinder E, roller adapter sleeve, doffer axle 2B compositions；It is installed on the straight tooth column on grasping system motor reel
Gear is engaged with spur bevel gear axle A, and spur bevel gear axle A is engaged with spur bevel gear axle B, while straight bevel tooth
Wheel is engaged with the spur bevel gear of worm screw rear end, and worm screw engages with turbine on turbine wheel shaft, and turbine wheel shaft can drive small through silent chain
Drum shaft A and doffer axle B, 5 roller adapter sleeves are respectively arranged in spur bevel gear axle A, spur bevel gear axle B, snail
On bar, doffer axle A and doffer axle B, 5 rubber cylinders are connected with its roller adapter sleeve respectively；Grasping system motor is passed through
Straight spur gear engagement driving spur bevel gear axle A rotations, spur bevel gear axle A drives straight-tooth through gear drive respectively
Bevel pinion shaft B is rotated with worm screw, and worm engaging turbine wheel shaft drives silent chain to drive doffer axle A and doffer axle B
Rotation, in this way, five rubber cylinders of driving are to central rotation, 5 rubber cylinders rub using rotation and its to the height of fruits and vegetables epidermis
Power is wiped to capture fruit to end effector.
The diced system include diced system motor, leading screw and nut mechanism, fixed support, rhombus-mechanism, cutter,
Saw blade, electromagnetic mechanism；Screw mandrel is housed, screw mandrel constitutes leading screw and nut mechanism, rhombus machine with nut on diced system motor rotary shaft
Structure one end is connected to fixed support by rotational pin respectively and on nut, the rhombus-mechanism other end is connected by rotational pin and sliding groove respectively
Be connected on cutter, cutter equipped with electromagnetic mechanism with being capable of reciprocating saw blade by a small margin；Diced system motor drives
Screw mandrel so that nut is moved forward, stretches rhombus-mechanism so that cutter is pushed ahead, the electromagnetic mechanism driving on cutter
Saw blade carries out quick reciprocating file and moved, so that the branch play for the fruit that grasping system is captured is disconnected.
Sensing and controlling system is mainly made up of pressure sensor, miniature vision sensor；Pressure sensor is respectively loaded on big
Between rubber cylinder and its roller adapter sleeve, miniature vision sensor is loaded on above cutter；Pressure sensor is used to detect rubber
Whether the pressure of glue cylinder, miniature vision sensor is used to detect gripping portion with the presence of fruit, and sensing and controlling system is used to assist
Adjust the work of grasping system and diced system.
Effect of the present utility model is：Can not continuously be plucked which solves former generation fruit and vegetable picking end effector, nothing
Method realize it is continuous to fruit harvesting operation, be unable to cope with the high fruit of stand density, destructible fruit surface be unfavorable for storage
With crawl accuracy rate it is low the problem of.This new mechanical arm can carry out crawl and harvesting to fruit from all angles, and under
Side can be directly connected to collection device, pluck while collect, increase substantially picking rate.The device practicality is high, just
In production and processing, cost is low, and with huge innovative significance, picking mechanical arm different from the past.This end effector,
Suitable for the harvesting of most of difference Precooling, with very big adaptability and wide application prospect, while also having good
Promotional value, has huge meaning to the development of following novel agricultural.
Brief description of the drawings
Fig. 1 is normal axomometric drawing of the present utility model, 1- shells, 2- grasping systems, 3- diced systems；
Fig. 2 (a) is the top view of grasping system of the present utility model and diced system, and Fig. 2 (b) is the transmission of grasping system
Partial axonometric drawing, 4- grasping system motor, 5- straight spur gears, 6- spur bevel gear axle A, 7- rubber cylinders A, 8-
Pressure sensor, 9- spur bevel gear axle B, 10- rubber cylinder B, 11- rubber cylinder C, 12- rubber cylinder D, 13- tooth forms
Chain, 14- worm screws, 15- turbines, 16- turbine wheel shafts, 17- doffer axle A, 18- rubber cylinder E, 19- roller adapter sleeves, the small rollings of 20-
The cylinder miniature vision sensor of axle B, 21-；
Fig. 3 (a) is the top view that diced system of the present utility model stretches, and Fig. 3 (b) is diced system of the present utility model
The top view of compression, 22- diced system motor, 23- leading screw and nut mechanisms, 24- fixed supports, 25- rhombus-mechanisms, 26- turns
Dynamic pin, 27- cutters, 28- saw blades, 29- electromagnetic mechanisms；
Fig. 4 is harvesting work sectional view of the present utility model, G- fruits.
Embodiment
With reference to the accompanying drawings, specific implementation of the present utility model is described in further detail.
As shown in Figure 1, Figure 2 shown in (a), end effector is by grasping system, diced system, sensing and controlling system, four, shell
It is grouped into.
Grasping system (2) is main by grasping system motor (4), straight spur gear (5), spur bevel gear axle A
(6), rubber cylinder A (7), spur bevel gear axle B (9), rubber cylinder B (10), rubber cylinder C (11), rubber cylinder D
(12), silent chain (13), worm screw (14), turbine (15), turbine wheel shaft (16), doffer axle A (17), rubber cylinder E (18), roller
Adapter sleeve (19), doffer axle B (20) compositions；Be installed on straight spur gear (5) on grasping system motor (4) axle with it is straight
Tooth bevel pinion shaft A (6) is engaged, and spur bevel gear axle A (6) is engaged with spur bevel gear axle B (9), while straight bevel
Gear is engaged with the spur bevel gear of worm screw (14) rear end, and worm screw (14) engages with turbine (15) on turbine wheel shaft (16), turbine
Axle can drive doffer axle A (17) and doffer axle B (20) through silent chain, and 5 roller adapter sleeves (19) are respectively arranged in straight-tooth
On bevel pinion shaft A (6), spur bevel gear axle B (9), worm screw (14), doffer axle A (17) and doffer axle B (20), 5
Rubber cylinder (7) (10) (11) (12) (18) is connected with its roller adapter sleeve (19) respectively；Grasping system motor (4) is through straight-tooth
Roller gear (5) engagement driving spur bevel gear axle A (6) rotations, spur bevel gear axle A (6) drives through gear drive respectively
Dynamic spur bevel gear axle B (9) is rotated with worm screw (14), and worm engaging turbine wheel shaft (16) drives silent chain (13) to drive
Doffer axle A (17) and doffer axle B (20) rotations, such as Fig. 4 drives five rubber cylinders to central rotation, 5 rubber cylinders
Using rotation and its high frictional force of fruits and vegetables epidermis is captured fruit to end effector.
Diced system (3) is main by diced system motor (22), leading screw and nut mechanism (23), fixed support (24), water chestnut
Shape mechanism (25), rotational pin (26), cutter (27), saw blade (28), electromagnetic mechanism (29) composition；Diced system motor (22)
Screw mandrel, screw mandrel and nut composition leading screw and nut mechanism (23) are housed, rhombus-mechanism (25) one end is connected by rotational pin respectively in rotating shaft
It is connected to fixed support (24) and on nut, the rhombus-mechanism other end is connected to cutter by rotational pin (26) and sliding groove respectively
(27), equipped with electromagnetic mechanism (29) and the saw blade (28) that can back and forth drive by a small margin on cutter (27)；Diced system is electronic
Machine (22) drives screw mandrel so that nut is moved forward, and stretches rhombus-mechanism (25) so that cutter (27) is pushed ahead, cutting
Electromagnetic mechanism (29) driving saw blade (28) on device (27) carries out quick reciprocating file and moved, so that the fruit that grasping system is captured
Branch play it is disconnected.
Sensing and controlling system is mainly made up of pressure sensor (8), miniature vision sensor (21)；Pressure sensor (8)
It is loaded on respectively between rubber cylinder (7) (10) (18) and its roller adapter sleeve (19), miniature vision sensor (21) is loaded on cutting
Above device (27)；Pressure sensor (8) is used for the pressure for detecting rubber cylinder, and miniature vision sensor (21), which is used to detect, to be captured
Whether part has fruit to be present in cut coverage, is cut if starting diced system without if, grasping system is controlled if having
Motor high torque is captured, and sensing and controlling system is used for the work for coordinating grasping system (2) and diced system (3).
The upper embodiment only expresses one embodiment of the present invention, and describes more specific and detailed, but not
Therefore the limitation to the utility model the scope of the claims can be interpreted as.It should be pointed out that for the ordinary skill people of this area
For member, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this reality
With new protection domain.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (1)
1. a kind of end effector of fruit and vegetable picking robot, it is characterised in that：The end effector includes grasping system, cut
Cut system, sensing and controlling system, shell；
The grasping system includes motor, straight spur gear, rubber cylinder A, spur bevel gear axle A, straight bevel tooth
Wheel shaft B, rubber cylinder B, rubber cylinder C, rubber cylinder D, turbine, turbine wheel shaft, silent chain, worm screw, doffer axle A, rubber rolling
Cylinder E, roller adapter sleeve, doffer axle B；It is installed on straight spur gear and spur bevel gear on grasping system motor reel
Axle A is engaged, and spur bevel gear axle A is engaged with spur bevel gear axle B, while spur bevel gear and the straight-tooth of worm screw rear end
Conical gear is engaged, and worm screw engages with turbine on turbine wheel shaft, and turbine wheel shaft can drive doffer axle A and doffer axle B through silent chain,
5 roller adapter sleeves are respectively arranged in spur bevel gear axle A, spur bevel gear axle B, worm screw, doffer axle A and doffer
On axle B, 5 rubber cylinders are connected with its roller adapter sleeve respectively；Grasping system motor is engaged through straight spur gear and driven
Spur bevel gear axle A rotates, and spur bevel gear axle A enters through gear drive driving spur bevel gear axle B with worm screw respectively
Row rotation, worm engaging turbine wheel shaft drives silent chain to drive doffer axle A and doffer axle B to rotate, in this way, five rubbers of driving
Glue cylinder captures fruit to end using rotation and its to the high frictional force of fruits and vegetables epidermis to central rotation, 5 rubber cylinders
Inside actuator；
The diced system includes diced system motor, leading screw and nut mechanism, fixed support, rhombus-mechanism, cutter, saw
Piece, electromagnetic mechanism；Screw mandrel is housed, screw mandrel constitutes leading screw and nut mechanism, rhombus-mechanism with nut on diced system motor rotary shaft
One end is connected to fixed support by rotational pin respectively and on nut, the rhombus-mechanism other end is connected by rotational pin with sliding groove respectively
In on cutter, cutter equipped with electromagnetic mechanism with being capable of reciprocating saw blade by a small margin；Diced system motor drives silk
Bar so that nut is moved forward, stretches rhombus-mechanism so that cutter is pushed ahead, the electromagnetic mechanism driving saw on cutter
Piece carries out quick reciprocating file and moved, so that the branch play for the fruit that grasping system is captured is disconnected；
The sensing and controlling system includes pressure sensor, miniature vision sensor；Pressure sensor is loaded on rubber cylinder respectively
Between its roller adapter sleeve, miniature vision sensor is loaded on above cutter；Pressure sensor is used to detect rubber cylinder
Whether pressure, miniature vision sensor is used to detect gripping portion with the presence of fruit, and sensing and controlling system is used to coordinate crawl system
The work of system and diced system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621328507.0U CN206354010U (en) | 2016-12-06 | 2016-12-06 | A kind of end effector of fruit and vegetable picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621328507.0U CN206354010U (en) | 2016-12-06 | 2016-12-06 | A kind of end effector of fruit and vegetable picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206354010U true CN206354010U (en) | 2017-07-28 |
Family
ID=59372904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621328507.0U Expired - Fee Related CN206354010U (en) | 2016-12-06 | 2016-12-06 | A kind of end effector of fruit and vegetable picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206354010U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108185219A (en) * | 2017-12-22 | 2018-06-22 | 湛江市渔好生物科技有限公司 | A kind of Aquatic Feed Processing device |
| CN113508686A (en) * | 2021-05-27 | 2021-10-19 | 中国农业大学 | String tomato picking end effector, robot and picking method thereof |
-
2016
- 2016-12-06 CN CN201621328507.0U patent/CN206354010U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108185219A (en) * | 2017-12-22 | 2018-06-22 | 湛江市渔好生物科技有限公司 | A kind of Aquatic Feed Processing device |
| CN113508686A (en) * | 2021-05-27 | 2021-10-19 | 中国农业大学 | String tomato picking end effector, robot and picking method thereof |
| CN113508686B (en) * | 2021-05-27 | 2022-04-12 | 中国农业大学 | String tomato picking end effector, robot and picking method thereof |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170728 Termination date: 20181206 |