CN202340439U - End effector of pecan picking robot - Google Patents
End effector of pecan picking robot Download PDFInfo
- Publication number
- CN202340439U CN202340439U CN2011204703436U CN201120470343U CN202340439U CN 202340439 U CN202340439 U CN 202340439U CN 2011204703436 U CN2011204703436 U CN 2011204703436U CN 201120470343 U CN201120470343 U CN 201120470343U CN 202340439 U CN202340439 U CN 202340439U
- Authority
- CN
- China
- Prior art keywords
- blade
- end effector
- connecting rod
- left blade
- slideway
- Prior art date
- 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.)
- Expired - Fee Related
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Abstract
Disclosed is an end effector of a pecan picking robot. The end effector comprises a rack and dentiform scissors, wherein the dentiform scissors comprise a left blade and a right blade, the left blade is fixedly installed on an axis pin, a linear guideway is installed on the rack, the left blade can be sleeved on the linear guideway in an up-down sliding mode, the right blade comprises a limiting section and a blade section, and corner connecting portions of the limiting section and the blade section can be rotatably installed on the axis pin; an end of the limiting section can be sleeved on a slideway in a sliding mode, the slideway is fixedly installed on the rack, and the slideway and the linear guideway are arranged in parallel; and the left blade is connected with a driving mechanism which is used for driving the left blade to slide up and down. The end effector of the pecan picking robot is applicable to picking pecans, high in reliability and good in operability.
Description
Technical field
The utility model relates to a kind of cathay hickory picking robot.
Background technology
Cathay hickory is distinctive famous dry fruit of China and woody oil tree species, has long, the high characteristics of output of life-span.Nut kernel percent 43%～49%, benevolence oil content 70%～74% contains protein 18%; And contain multivitamin and abundant unsaturated fatty acid, crisp, fragrant and pleasant to taste, both edibles; Also can be used as the cake raw material, also is first-class edible oil materials, has the effect of the coronary heart disease of control, moistening lung nourishing.
At present, cathay hickory mainly is grown in abominable places such as mountain area, is difficult to pluck, and mainly plucks the incident of often hurting sb.'s feelings through the method for manual work.Therefore, the productivity ratio of the harvesting of cathay hickory is low and working environment is dangerous, and a kind of novel cathay hickory picking robot of necessary development solves current cathay hickory and plucks difficult problem, replaces the human harvesting of accomplishing cathay hickory, and improves and pluck productivity ratio.
Worked out some easy picking mechanical arms at present both at home and abroad, but do not had relatedly aspect the cathay hickory harvesting, and its operability is not very high, and cost is not low yet.In order to improve working conditions, in picking efficiency, safety, mechanization rate, reduce operating cost, therefore be necessary research to the cathay hickory picking robot.
Summary of the invention
Be not suitable for plucking cathay hickory, reliability is relatively poor, operability is lower deficiency for what overcome existing picking mechanical arm, the utility model provides the end effector of a kind of suitable harvesting cathay hickory, reliability is higher, operability is good cathay hickory picking robot.
The utility model solves the technical scheme that its technical problem adopted:
A kind of end effector of cathay hickory picking robot; Said end effector comprises frame and profile of tooth clip scissors, and said profile of tooth clip scissors comprises left blade and right blade, and said left blade is fixedly mounted on the bearing pin; On the said frame line slideway is installed; Said left blade can slide up and down to be sleeved on the line slideway, and said right blade comprises spacing section and blade section, and the said spacing section corner junction with blade section is installed in rotation on the bearing pin; Said spacing section end is sleeved on the slideway slidably, and said slideway is fixedly mounted on the frame, and said slideway and said line slideway laterally arrange, said left blade be used to drive the driving mechanism that left blade slides up and down and be connected.
Further; Said driving mechanism comprises drive motors and slider-crank mechanism, and said slider-crank mechanism comprises crank, first connecting rod, second connecting rod and slide block, hinged first connecting rod on the eccentric position on the said crank; Said first connecting rod and second connecting rod are hinged; Said second connecting rod and slide block are hinged, and said slide block is fixedly connected with left blade, and the output shaft of said drive motors connects with the rotating shaft of crank.Certainly, also can adopt other reciprocators to realize the flexible work of left blade.
The below of said profile of tooth clip scissors is provided with the collection frame, and said collection frame is installed on the frame.
The beneficial effect of the utility model mainly shows: 1, be fit to pluck cathay hickory, reliability is higher, operability is good; 2, principle is simple, and is easy to use, and cost is low, and the fast efficient of picking rate is high.
Description of drawings
Fig. 1 is the structure chart of the end effector of cathay hickory picking robot.
Fig. 2 is the end view of Fig. 1.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.
See figures.1.and.2, a kind of end effector of cathay hickory picking robot, said end effector comprise frame and profile of tooth clip scissors; Said profile of tooth clip scissors comprises left blade 5 and right blade 6; Said left blade 5 is fixedly mounted on the bearing pin, and line slideway 1 is installed on the said frame, and said left blade 5 can slide up and down to be sleeved on the line slideway 1; Said right blade 6 comprises spacing section and blade section, and the said spacing section corner junction with blade section is installed in rotation on the bearing pin; Said spacing section end is sleeved on the slideway 7 slidably, and said slideway 7 is fixedly mounted on the frame, and said slideway 7 laterally arranges with said line slideway 1, said left blade 5 be used to drive the driving mechanism that left blade slides up and down and be connected.
Said driving mechanism comprises drive motors 1 and slider-crank mechanism 3; Said slider-crank mechanism comprises crank, first connecting rod, second connecting rod and slide block; Hinged first connecting rod on the eccentric position on the said crank, said first connecting rod and second connecting rod are hinged, and said second connecting rod and slide block are hinged; Said slide block is fixedly connected with left blade, and the output shaft of said drive motors connects with the rotating shaft of crank.Certainly, also can adopt other reciprocators to realize the flexible work of left blade.
The below of said profile of tooth clip scissors is provided with collects frame 8, and said collection frame 8 is installed on the frame.
The operation principle of the end effector of cathay hickory picking robot of the present invention by: realize that at mechanical arm the location is in it and is won fruit the place ahead certain distance with after interior, stop the action of mechanical arm.Start actuating motor; The driven by motor crank rotates, and through slider-crank mechanism the blade that is fixed on the line slideway slide block of scissors is pushed ahead, and the movable part of scissors is under the assurance of scissors revolute pair and slider slideway; Push ahead at a certain angle earlier; When carpopodium got into the clip scope, closed scissors was cut cathay hickory.Cathay hickory falls in the collection frame in the effect of deadweight.Thereby that accomplishes cathay hickory wins and collects action.
Claims (3)
1. the end effector of a cathay hickory picking robot; It is characterized in that: said end effector comprises frame and profile of tooth clip scissors, and said profile of tooth clip scissors comprises left blade and right blade, and said left blade is fixedly mounted on the bearing pin; On the said frame line slideway is installed; Said left blade can slide up and down to be sleeved on the line slideway, and said right blade comprises spacing section and blade section, and the said spacing section corner junction with blade section is installed in rotation on the bearing pin; Said spacing section end is sleeved on the slideway slidably, and said slideway is fixedly mounted on the frame, and said slideway and said line slideway laterally arrange, said left blade be used to drive the driving mechanism that left blade slides up and down and be connected.
2. the end effector of cathay hickory picking robot as claimed in claim 1; It is characterized in that: said driving mechanism comprises drive motors and slider-crank mechanism, and said slider-crank mechanism comprises crank, first connecting rod, second connecting rod and slide block, hinged first connecting rod on the eccentric position on the said crank; Said first connecting rod and second connecting rod are hinged; Said second connecting rod and slide block are hinged, and said slide block is fixedly connected with left blade, and the output shaft of said drive motors connects with the rotating shaft of crank.
3. according to claim 1 or claim 2 the end effector of cathay hickory picking robot, it is characterized in that: the below of said profile of tooth clip scissors is provided with the collection frame, and said collection frame is installed on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204703436U CN202340439U (en) | 2011-11-23 | 2011-11-23 | End effector of pecan picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204703436U CN202340439U (en) | 2011-11-23 | 2011-11-23 | End effector of pecan picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202340439U true CN202340439U (en) | 2012-07-25 |
Family
ID=46529444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204703436U Expired - Fee Related CN202340439U (en) | 2011-11-23 | 2011-11-23 | End effector of pecan picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202340439U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102668818A (en) * | 2012-05-22 | 2012-09-19 | 中国农业大学 | End effector of multi-melon-fruit picking robot |
| CN106797753A (en) * | 2017-02-10 | 2017-06-06 | 佛山市腾逸科技有限公司 | A kind of device for picking |
| CN107124960A (en) * | 2017-05-22 | 2017-09-05 | 佛山市腾逸科技有限公司 | A kind of betel nut device for picking |
-
2011
- 2011-11-23 CN CN2011204703436U patent/CN202340439U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102668818A (en) * | 2012-05-22 | 2012-09-19 | 中国农业大学 | End effector of multi-melon-fruit picking robot |
| CN106797753A (en) * | 2017-02-10 | 2017-06-06 | 佛山市腾逸科技有限公司 | A kind of device for picking |
| CN106797753B (en) * | 2017-02-10 | 2019-01-11 | 嘉兴钛胺新材料科技有限公司 | A kind of device for picking |
| CN107124960A (en) * | 2017-05-22 | 2017-09-05 | 佛山市腾逸科技有限公司 | A kind of betel nut device for picking |
| CN107124960B (en) * | 2017-05-22 | 2019-03-15 | 黄德懿 | A kind of betel nut device for picking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20141123 |
|
| EXPY | Termination of patent right or utility model |