CN108718708A - A kind of end effector and its working method - Google Patents
A kind of end effector and its working method Download PDFInfo
- Publication number
- CN108718708A CN108718708A CN201810551201.9A CN201810551201A CN108718708A CN 108718708 A CN108718708 A CN 108718708A CN 201810551201 A CN201810551201 A CN 201810551201A CN 108718708 A CN108718708 A CN 108718708A
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- CN
- China
- Prior art keywords
- silica gel
- end effector
- connector
- pawl
- refers
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Abstract
The present invention relates to a kind of end effector and its working methods, end effector includes that multiple silica gel pawls refer to, silica gel pawl refers to upper setting cutting blade, the cut direction of cutting blade is the sense of rotation of end effector, silica gel pawl refers to connects mobile push-plate by short connector, the movement of mobile push-plate drives short connector that silica gel pawl is driven to refer to opening or grab conjunction, and silica gel pawl refers to is connected and fixed chassis by long connector.The present invention in silica gel pawl by referring to upper setting cutting blade, and the rotary freedom that the i.e. manipulator of rotation of end effector is dexterously utilized is realized by the separation of picking object and attachment, and the design belongs to non-clamping class, can effectively prevent the damage of fruit.
Description
Technical field
The present invention relates to a kind of end effector and its working methods.
Background technology
As the executive device of picking robot, end effector is mounted on the end of manipulator, is functionally similar to people
Hand is the component directly contacted with target object.And terminal executor of picking robot will achieve the purpose that pick fruit, it is necessary to
Realize two big key operations:Fruit and fruit is obtained to detach with plant, i.e., first by crawl, sucking, hook take etc. it is certain just
Formula obtains fruit, then is detached fruit with carpopodium by the distinct methods such as twisting off, shearing.According to the mode for obtaining fruit, can divide
For non-clamping class and clamping Lei Liang major sects.
Some picking end effectors are directly so strong that win fruit, although crawl reliably be easy to cause vegetation in this way
Damage and fruit it is impaired.Carpopodium is clamped in some end effectors, fruit can be prevented impaired but as the fruits such as tomato and stalk
Between the weaker fruits and vegetables of attachment force be but not suitable for, crawl is unreliable.Existing end effector majority uses and twists off, fractures, breaking
Carpopodium separate mode, inefficiency and requires the robustness of carpopodium, and needs to clamp fruit, be easy to cause fruit damage
Wound.
The characteristics of design of end effector should be according to different fruits and vegetables fruits, to improve the success rate of picking and reduce to fruit
Real damage is main target, and operating principle form is different.For safety and efficiently completion picking action, end effector
It is also possible to be added the additional mechanism providing additional operations such as sucker, push rod and various kinds of sensors to complete accurately to pick and reduce damage, due to difference
The shape of fruit, characteristic are different, and the design of existing end effector is to be designed for a certain specific fruit, and fruit and vegetable picking
Seasonal strong, this has resulted in the poor universality of equipment, and agriculture production cost is excessive.
Invention content
The present invention has made improvements in view of the above-mentioned problems of the prior art, i.e., the technical problem to be solved by the present invention is to
End effector and its working method are provided, by referring to upper setting cutting blade in silica gel pawl, end execution is dexterously utilized
The rotary freedom of rotation, that is, manipulator of device is realized by the separation of picking object and attachment, and the design belongs to non-clamping
Class can effectively prevent the damage of fruit.
In order to solve the above-mentioned technical problem, the technical scheme is that：End effector includes that multiple silica gel pawls refer to, silicon
Glue pawl refers to upper setting cutting blade, and the cut direction of cutting blade is the sense of rotation of end effector, and silica gel pawl refers to by short
The movement of the mobile push-plate of connector connection, mobile push-plate drives short connector that silica gel pawl is driven to refer to opening or grab conjunction, and silica gel pawl refers to
It is connected and fixed chassis by long connector.
Further, multiple pushing hands are set on mobile push-plate, pushing hands is connect across fixed underpan with short connector.
Further, short connector and mobile push-plate are hinged, and short connector refers to hinged with silica gel pawl；Long connector and fixation
Chassis is hinged, and long connector refers to hinged with silica gel pawl.
Further, short connector than long connector close to the axis of fixed underpan.
Further, it is by the accommodation space of picking object that silica gel pawl, which refers to the space between fixed underpan,.
Further, silica gel is arranged in the edge of accommodation space.
Further, pressure switch is set on fixed underpan.
Further, mobile push-plate is driven by the push rod of electric cylinder.
The working method of end effector is as follows, and it is by the receiving of picking object that silica gel pawl, which refers to the space between fixed underpan,
Space enters accommodation space by picking object, and fixed underpan is pressurized, and mobile push-plate movement drives short connector that silica gel pawl is driven to refer to
Conjunction is grabbed, the manipulator equipped with the end effector rotates, and cuts, is taken by picking object using cutting blade.
Further, mobile push-plate reverse movement, short connector is driven to drive silica gel pawl to refer to opening, take out or pour out receiving
Space by picking object.
Compared with prior art, the invention has the advantages that：By referring to upper setting cutting blade in silica gel pawl, ingeniously
The rotary freedom that the i.e. manipulator of rotation of end effector is utilized wonderfully is realized by the separation of picking object and attachment, rationally
The rotary freedom that manipulator is utilized, keep mechanism, economy highly practical；It is won with storage type, and interior
Buffered silica gel is set, makes to reach minimum to the damage of fruit；Introduce electric cylinder simplify more reasonable structure and；Mechanism structure
Simply, the end effector of different model is customized according to fruit size, and the nothing such as electric cylinder needs to change, it is highly practical；The design
Belong to non-clamping class, can effectively prevent the damage of fruit, and remains reliable and stable, the design structure safety of clamping class
Height, mechanism it is simple so that convenient for disassembly and assembly, and keep its economical highly practical, cost without dismounting electric cylinder is needed to change when dismounting
It is low to be convenient for batch production, there are good market prospects.
Description of the drawings
Fig. 1 is the overall structure diagram of the end effector of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the fixed underpan of the embodiment of the present invention, figure（a）For vertical view, figure（b）For sectional view；
Fig. 3 is that the end effector of the embodiment of the present invention is attached to the schematic diagram of manipulator.
In figure：1- cutting blades, 2- silica gel pawls refer to, the short connectors of 3-, 4- long connectors, 5- fixed underpans, and 6- movements push away
Disk, 7- electric cylinders.
Specific implementation mode
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
End effector includes that multiple silica gel pawls refer to, and silica gel pawl refers to upper setting cutting blade, the cut direction of cutting blade
For the sense of rotation of end effector, silica gel pawl refers to connects mobile push-plate by short connector, and the movement of mobile push-plate drives short
Connector drives silica gel pawl to refer to opening or grab conjunction, and silica gel pawl refers to is connected and fixed chassis by long connector.
Further, multiple pushing hands are set on mobile push-plate, pushing hands is connect across fixed underpan with short connector.
Further, short connector and mobile push-plate are hinged, and short connector refers to hinged with silica gel pawl；Long connector and fixation
Chassis is hinged, and long connector refers to hinged with silica gel pawl.
Further, short connector than long connector close to the axis of fixed underpan.
Further, it is by the accommodation space of picking object that silica gel pawl, which refers to the space between fixed underpan,.
Further, silica gel is arranged in the edge of accommodation space.
Further, pressure switch is set on fixed underpan.
Further, mobile push-plate is driven by the push rod of electric cylinder.
The working method of end effector is as follows, and it is by the receiving of picking object that silica gel pawl, which refers to the space between fixed underpan,
Space enters accommodation space by picking object, and fixed underpan is pressurized, and mobile push-plate movement drives short connector that silica gel pawl is driven to refer to
Conjunction is grabbed, the manipulator equipped with the end effector rotates, and cuts, is taken by picking object using cutting blade.
Further, mobile push-plate reverse movement, short connector is driven to drive silica gel pawl to refer to opening, take out or pour out receiving
Space by picking object.
As shown in Fig. 2, intermediate accommodation space is the maximum gauge of particular fruit, for surrounding all by silica gel protected, fruit is obstructed
Clamping is crossed to capture, but can by falope ring around space in do shaking by a small margin.Grip wound that all can be more or less
Evil fruit, and space-closed is designed along with internal damping, it can complete and effective realization crawl.
General end effector is driven by motor or steering engine, and motor and steering engine can only in the case of mechanism simplicity
It realizes the clamping of two opposite directions and does not accomplish comprehensive clamping.Even if realize also will by complicated machine driving, China and
It is unreal.
The carpopodium separation of general end effector needs other device to carry out, and manipulator is reasonably utilized in mechanism
Rotary freedom come realize cutting so that mechanism is simpler.Fruit accommodation space size also need to only be made for different fruit
Difference, utilization rate is high, is dismounted easily, and low cost.
Silica gel protected to can be replaced other soft padded coamings, it is five that silica gel pawl, which refers to, and five claw can increase according to demand
Subtract.
In this mechanism silica gel pawl refer to 2 be connected with removable push-plate 6 by short connector 3 and long connector 4 with it is solid
Determine chassis 5 to be connected.Push rod on electric cylinder 7 is fixed on removable push-plate 6, removable to be driven by electric cylinder 7
The movement of the movement of push-plate 6, removable push-plate 6 makes silica gel pawl refer to 2 realizations and grab conjunction by short connector 3.
Five pushing hands moved as seen from the figure on push-plate 6 pass through stretching by being uniformly distributed hole on fixed underpan 5.Middle part
Space is the accommodation space of fruit, and edge is made of silica gel can achieve the effect that protect fruit.And bottom be equipped with pressure after
Electric appliance, when bottom is pressurized and fruit comes into accommodation space, and silica gel is grabbed finger 2 and merged at this time, manipulator as shown in Figure 3
Rotary freedom drives end effector rotation, to effectively blade be utilized to cut carpopodium so that fruit is successfully taken.
The rotary freedom of manipulator drives end effector rotation, to effectively blade be utilized to cut carpopodium so that
Fruit is successfully taken.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification should all belong to the covering scope of the present invention.
Claims (10)
1. a kind of end effector, it is characterised in that：Refer to including multiple silica gel pawls, silica gel pawl refers to upper setting cutting blade, cutting
The cut direction of blade is the sense of rotation of end effector, and silica gel pawl refers to connects mobile push-plate by short connector, and movement pushes away
The movement of disk drives short connector that silica gel pawl is driven to refer to opening or grab conjunction, and silica gel pawl refers to is connected and fixed chassis by long connector.
2. end effector according to claim 1, it is characterised in that：Multiple pushing hands are set on mobile push-plate, pushing hands is worn
Fixed underpan is crossed to connect with short connector.
3. end effector according to claim 1 or 2, it is characterised in that：Short connector and mobile push-plate are hinged, short company
Fitting refers to hinged with silica gel pawl；Long connector is hinged with fixed underpan, and long connector refers to hinged with silica gel pawl.
4. end effector according to claim 3, it is characterised in that：Short connector is than long connector close to fixed underpan
Axis.
5. end effector according to claim 1 or 2 or 4, it is characterised in that：Silica gel pawl refers between fixed underpan
Space is by the accommodation space of picking object.
6. end effector according to claim 5, it is characterised in that：Silica gel is arranged in the edge of accommodation space.
7. according to the end effector described in claims 1 or 2 or 4 or 6, it is characterised in that：On fixed underpan be arranged pressure after
Electric appliance.
8. according to the end effector described in claims 1 or 2 or 4 or 6, it is characterised in that：Mobile push-plate pushing away by electric cylinder
Bar drives.
9. the working method of end effector as described in one of claim 1-8, it is characterised in that：Silica gel pawl refers to and fixed bottom
Space between disk is to enter accommodation space by picking object by the accommodation space of picking object, and fixed underpan is pressurized, and mobile push-plate moves
It is dynamic, it drives short connector that silica gel pawl is driven to refer to and grabs conjunction, the manipulator equipped with the end effector rotates, and is cut using cutting blade
It cuts, takes by picking object.
10. the working method of end effector according to claim 9, it is characterised in that：The mobile push-plate of driving reversely moves
Dynamic, short connector drives silica gel pawl to refer to opening, take out or pour out accommodation space by picking object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810551201.9A CN108718708A (en) | 2018-05-31 | 2018-05-31 | A kind of end effector and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810551201.9A CN108718708A (en) | 2018-05-31 | 2018-05-31 | A kind of end effector and its working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108718708A true CN108718708A (en) | 2018-11-02 |
Family
ID=63931281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810551201.9A Pending CN108718708A (en) | 2018-05-31 | 2018-05-31 | A kind of end effector and its working method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108718708A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| CN113692853A (en) * | 2021-09-08 | 2021-11-26 | 盐城工业职业技术学院 | Fruit and vegetable picking manipulator device |
| CN114290398A (en) * | 2020-10-07 | 2022-04-08 | 通伊欧轮胎株式会社 | Rubber pack holding device and rubber pack cutting method |
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| JP2010207118A (en) * | 2009-03-09 | 2010-09-24 | Osaka Prefecture Univ | End effector for harvesting fruit |
| CN102227973A (en) * | 2011-04-27 | 2011-11-02 | 南京工程学院 | End effector of ball-like fruit picking robot |
| RU2012126234A (en) * | 2012-06-25 | 2013-12-27 | Государственное научное учреждение Всероссийский научно-исследовательский институт механизации сельского хозяйства Российской сельскохозяйственной академии (ГНУ ВИМ Россельхозакадемии) | METHOD FOR TRANSPORT SERVICE OF GRAIN AND FORAGE HARVESTERS AND DEVICE FOR ITS IMPLEMENTATION (OPTIONS) |
| CN107041210A (en) * | 2017-02-24 | 2017-08-15 | 东北农业大学 | It is a kind of to grab the spheral fruit terminal executor of picking robot for cutting integral type |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
| CN108064557A (en) * | 2017-12-15 | 2018-05-25 | 中南林业科技大学 | Fruit picking apparatus |
| CN108076820A (en) * | 2016-11-22 | 2018-05-29 | 牛金生 | One kind is based on monolithic processor controlled automatic apple picking machine |
| CN208402529U (en) * | 2018-05-31 | 2019-01-22 | 福建工程学院 | A kind of end effector |
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2018
- 2018-05-31 CN CN201810551201.9A patent/CN108718708A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010207118A (en) * | 2009-03-09 | 2010-09-24 | Osaka Prefecture Univ | End effector for harvesting fruit |
| CN102227973A (en) * | 2011-04-27 | 2011-11-02 | 南京工程学院 | End effector of ball-like fruit picking robot |
| RU2012126234A (en) * | 2012-06-25 | 2013-12-27 | Государственное научное учреждение Всероссийский научно-исследовательский институт механизации сельского хозяйства Российской сельскохозяйственной академии (ГНУ ВИМ Россельхозакадемии) | METHOD FOR TRANSPORT SERVICE OF GRAIN AND FORAGE HARVESTERS AND DEVICE FOR ITS IMPLEMENTATION (OPTIONS) |
| CN108076820A (en) * | 2016-11-22 | 2018-05-29 | 牛金生 | One kind is based on monolithic processor controlled automatic apple picking machine |
| CN107041210A (en) * | 2017-02-24 | 2017-08-15 | 东北农业大学 | It is a kind of to grab the spheral fruit terminal executor of picking robot for cutting integral type |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
| CN108064557A (en) * | 2017-12-15 | 2018-05-25 | 中南林业科技大学 | Fruit picking apparatus |
| CN208402529U (en) * | 2018-05-31 | 2019-01-22 | 福建工程学院 | A kind of end effector |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| CN114290398A (en) * | 2020-10-07 | 2022-04-08 | 通伊欧轮胎株式会社 | Rubber pack holding device and rubber pack cutting method |
| CN113692853A (en) * | 2021-09-08 | 2021-11-26 | 盐城工业职业技术学院 | Fruit and vegetable picking manipulator device |
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