CN213662539U - End effector of orange picking robot - Google Patents

Abstract

The utility model relates to an end effector of oranges and tangerines picking robot is the instrument that is used for the picking and temporarily collect of oranges and tangerines. The technical scheme is as follows: the right end part of the mechanical arm connecting piece and the left end part of the cover plate are fixed through screws, and the right end part of the mechanical arm connecting piece and the left end part of the bottom plate are fixed through screws; the gear is connected with the crank through a bolt, the crank is connected with the connecting rod through a pin, and the connecting rod is connected with the rocker member through a pin; the rocker is connected with the bottom plate by a pin; the connecting rod connecting piece is connected with the circular bracket by using a bolt; the hemispherical rubber and the round bracket are fixed by glue. The end effector shears the citrus fruit stalks through the relative motion of the two circular supports, so that the citrus is picked; can pick the oranges and tangerines that are slightly sheltered from, fully wrap up oranges and tangerines when picking, difficult damage oranges and tangerines.

Description

End effector of orange picking robot

Technical Field

The utility model relates to an end effector of oranges and tangerines picking robot is the instrument that is used for the picking and temporarily collect of oranges and tangerines.

Background

The end effector is an executing device for the citrus picking robot to finish picking, the design of the end effector is suitable for the characteristics of citrus, and the main design aims to improve the picking success rate and reduce the damage to the citrus. The end effector is primarily divided into two parts during picking, first to harvest the citrus fruit and second to separate the citrus fruit handle from the fruit branches. At present, most of domestic end effectors are rigid structures, are poor in flexibility, are easy to damage oranges, are flexible finger structures in a very small number, but are insufficient in applicability, and when obstacles such as branches and leaves exist, the flexible fingers can bend to cause grabbing failure of the oranges, or have poor adaptability to complex environments, and due to the reasons such as shielding and blocking of the branches and leaves, size difference of fruits and fruit handles, small intervals among the fruits and the like, picking failure of the oranges is caused.

Disclosure of Invention

The utility model aims at: in order to pick the unshielded or slightly shielded oranges, realize the atraumatic picking and improve the overall picking efficiency, the end effector of the orange picking robot is provided.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the mechanical arm connecting device is composed of a mechanical arm connecting piece, a screw a, a bearing a, a cover plate, a screw b, small hemispherical rubber, a small circular support, a bottom plate, a gear, a bolt a, a crank, a connecting rod, a bolt b, a rocker, a connecting rod connecting piece, a large circular support, large hemispherical rubber, a driven shaft, a bearing b and a driving shaft. The structure is characterized in that: the left end of the mechanical arm connecting piece is connected with a mechanical arm of the picking machine, four corners of the right end of the mechanical arm connecting piece are provided with the same threaded holes, the upper half part of the right end of the mechanical arm connecting piece is fixed with the left end of the cover plate through a screw a, and the lower half part of the right end of the mechanical arm connecting piece is fixed with the left end of the bottom plate through a screw a; the upper end of the driving shaft is connected with the cover plate through a bearing a, the middle of the driving shaft is connected with the gear through a flat key, and the lower end of the driving shaft is connected with the bottom plate through a bearing b; the upper end of the driven shaft is connected with the cover plate through a bearing a, the middle of the driven shaft is connected with the gear through a flat key, and the lower end of the driven shaft is connected with the bottom plate through a bearing b; the gear is connected with the crank through a bolt a; the crank is connected with the connecting rod by a pin; the connecting rod is connected with the rocker through a pin; the rocker is connected with the bottom plate by a pin; the left end of the connecting rod connecting piece is connected with the connecting rod through a bolt b; the right end of the connecting rod connecting piece is connected with the left end of the small circular bracket through a screw; the small circular bracket and the small semi-spherical rubber are fixed by glue; the right end of the connecting rod connecting piece is connected with the left end of the large circular bracket through a screw; the large round support and the large semi-spherical rubber are fixed by glue.

The utility model has the advantages that: (1) the utility model can pick the slightly sheltered oranges; (2) the utility model fully wraps the oranges during picking, and the oranges are not easy to be damaged; (3) the utility model discloses a relative motion of circular frame cuts the oranges and tangerines stalk, realizes the harvesting of oranges and tangerines.

Drawings

Fig. 1 is the utility model discloses an end effector's of oranges and tangerines picking robot structural sketch map.

Fig. 2 is a right side view of fig. 1.

Fig. 3 is a top view of fig. 1.

In the figure: 1-mechanical arm connecting piece, 2-screw a, 3-bearing a, 4-cover plate, 5-screw b, 6-small semi-spherical rubber, 7-small circular bracket, 8-bottom plate, 9-gear, 10-bolt a, 11-crank, 12-connecting rod, 13-bolt b, 14-rocker, 15-connecting rod connecting piece, 16-large circular bracket, 17-large semi-spherical rubber, 18-driven shaft, 19-bearing b, 20-driving shaft.

Detailed Description

As shown in fig. 1, 2 and 3, the end effector of the citrus picking robot of the present invention comprises a mechanical arm connector, a screw a, a bearing a, a cover plate, a screw b, a small hemispherical rubber, a small circular bracket, a bottom plate, a gear, a bolt a, a crank, a connecting rod, a bolt b, a rocker, a connecting rod connector, a large circular bracket, a large hemispherical rubber, a driven shaft, a bearing b and a driving shaft; the structure is characterized in that: the left end of the mechanical arm connecting piece 1 is connected with a mechanical arm of the picking robot, four corners of the right end of the mechanical arm connecting piece 1 are provided with the same threaded holes, the upper half part of the right end of the mechanical arm connecting piece 1 is fixed with the left end of the cover plate 4 through a screw a2, and the lower half part of the right end of the mechanical arm connecting piece 1 and the left end of the bottom plate 8 are fixed through a screw a 2; the upper end of the driving shaft 20 is connected with the cover plate 4 through a bearing a3, the middle of the driving shaft 20 is connected with the gear 9 through a flat key, and the lower end of the driving shaft 20 is connected with the bottom plate 8 through a bearing b 19; the upper end of the driven shaft 18 is connected with the cover plate 4 through a bearing a3, the middle of the driven shaft 18 is connected with the gear 9 through a flat key, and the lower end of the driven shaft 18 is connected with the bottom plate 8 through a bearing b 19; the gear 9 is connected with the crank 11 by a bolt a 10; the crank 11 is connected with the connecting rod 12 by a pin; the connecting rod 12 is connected with the rocker 14 by a pin; the rocker 14 is connected with the bottom plate 8 by a pin; the left end of the connecting rod connecting piece 15 is connected with the connecting rod 12 by a bolt b 13; the right end of the connecting rod connecting piece 15 is connected with the left end of the small circular bracket 7 by a screw b 5; the small round bracket 7 and the small semi-spherical rubber 6 are fixed by glue; the right end of the connecting rod connecting piece 15 is connected with the left end of the large circular bracket 16 by a screw b 5; the large round bracket 16 and the large semi-spherical rubber 17 are fixed by glue.

When the utility model works, the stepping motor is started to control the driving shaft 20 to rotate, and the rotation of the driving shaft 20 drives the gear 9 to rotate; the gear 9 drives the crank 11 to rotate; the crank 11 drives the connecting rod 12 to rotate; the connecting rod 12 drives the rocker 14 to rotate; because the two gears 9 have the same modulus and the same tooth number, the two cranks 11 have the same angular speed, the two connecting rods 12 have the same linear speed, and the small circular support 7 and the large circular support 16 have the same linear speed; when the two circular supports move forwards, the small hemispherical rubber 6 and the large hemispherical rubber 17 can push away the blocked branches and leaves or oranges, and then the small hemispherical rubber 6 and the large hemispherical rubber 17 slowly and completely wrap the oranges, the small circular support 7 and the large circular support 17 cut off the fruit stalks due to relative movement, so that the purpose of picking the oranges is achieved.

The utility model relates to an end effector of oranges and tangerines picking robot not only is limited to being used for the harvesting to oranges and tangerines, and all can use with oranges and tangerines belong to the fruit harvesting of same kind.

Claims (1)

1. An end effector of an orange picking robot comprises a mechanical arm connecting piece, a screw a, a bearing a, a cover plate, a screw b, small semi-spherical rubber, a small circular support, a bottom plate, a gear, a bolt a, a crank, a connecting rod, a bolt b, a rocker, a connecting rod connecting piece, a large circular support, large semi-spherical rubber, a driven shaft, a bearing b and a driving shaft; the structure is characterized in that: the left end of the mechanical arm connecting piece (1) is connected with a mechanical arm of the picking robot, four corners of the right end of the mechanical arm connecting piece (1) are provided with the same threaded holes, the upper half part of the right end of the mechanical arm connecting piece (1) is fixed with the left end of the cover plate (4) through a screw a (2), and the lower half part of the right end of the mechanical arm connecting piece (1) is fixed with the left end of the bottom plate (8) through the screw a (2); the upper end of the driving shaft (20) is connected with the cover plate (4) through a bearing a (3), the middle of the driving shaft (20) is connected with the gear (9) through a flat key, and the lower end of the driving shaft (20) is connected with the bottom plate (8) through a bearing b (19); the upper end of a driven shaft (18) is connected with a cover plate (4) through a bearing a (3), the middle of the driven shaft (18) is connected with a gear (9) through a flat key, and the lower end of the driven shaft (18) is connected with a bottom plate (8) through a bearing b (19); the gear (9) is connected with a crank (11) by a bolt a (10); the crank (11) is connected with the connecting rod (12) by a pin; the connecting rod (12) is connected with the rocker (14) by a pin; the rocker (14) is connected with the bottom plate (8) by a pin; the left end of the connecting rod connecting piece (15) is connected with the connecting rod (12) by a bolt b (13); the right end of the connecting rod connecting piece (15) is connected with the left end of the small circular bracket (7) by a screw b (5); the small circular bracket (7) and the small semi-spherical rubber (6) are fixed by glue; the right end of the connecting rod connecting piece (15) is connected with the left end of the large circular bracket (16) by a screw b (5); the large round bracket (16) and the large semi-spherical rubber (17) are fixed by glue.

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