CN203233703U - End effector of robot for picking citruses - Google Patents
End effector of robot for picking citruses Download PDFInfo
- Publication number
- CN203233703U CN203233703U CN 201320247166 CN201320247166U CN203233703U CN 203233703 U CN203233703 U CN 203233703U CN 201320247166 CN201320247166 CN 201320247166 CN 201320247166 U CN201320247166 U CN 201320247166U CN 203233703 U CN203233703 U CN 203233703U
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- China
- Prior art keywords
- end effector
- curved plates
- steel plate
- bent steel
- angle
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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.)
- Expired - Fee Related
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Abstract
The utility model provides an end effector of a robot for picking citruses. The end effector is aimed for overcoming the defects that citrus picking efficiency is low in a traditional manual method and an end effector of a novel picking robot is high in cost, and is simple and good in effect. The end effector comprises a first bent steel plate (1), a second bent steel plate (2), bolts (3), rivets (4), a steel ring (5) and an elastic steel wire net (6). The end effector is characterized in that the first bent steel plate (1) is connected with the second bent steel plate (2) through the bolts (3), the elastic steel wire net (6) is fixed to the steel ring (5) to form a clamping unit of the effector, the steel ring (5) is fixed to the second bent steel plate (2) through the rivets (4), the first bent steel plate (1) is installed on a mechanical arm or a corresponding drive device through fixing screws, and the second bent steel plate (2) can regulate the angle between the second bent steel plate (2) and the first bent steel plate (1) through the bolts (3) so that the angle of the clamping unit is regulated.
Description
Technical field
The utility model relates to the end effector of Agriculture pick robot, is specifically related to a kind of end effector of oranges and tangerines picking robot.
Background technology
Traditional oranges and tangerines are plucked to be needed by manually finishing, and waste time and energy, and along with the increase of cost of labor, the harvesting cost of oranges and tangerines is also in rising.Along with the development of Agriculture pick robot, the oranges and tangerines picking robot has also been obtained faster development in recent years, and end effector also has multiple, but its distinct issues have: cost is expensive, versatility is poor, the adjustment and installation process is complicated.If the special higher end effector of integrated level breaks down, its maintenance cost is also higher.
Summary of the invention
The purpose of this utility model is low for Traditional Man harvesting oranges and tangerines efficient, the shortcoming of the end effector high cost of novel picking robot, the preferably end effector of oranges and tangerines picking robot of a kind of simple still effect is provided, namely adopt fixedly Elastic Steel silk screen formation grip unit of steel ring, again grip unit is fixed on the curved plates, can also regulate the angle of grip unit by bolt, have advantages of high efficiency and simple.
The technical solution of the utility model is:
A kind of end effector of oranges and tangerines picking robot, comprise curved plates one (1), curved plates two (2), bolt (3), rivet (4), steel ring (5), Elastic Steel silk screen (6), it is characterized in that curved plates one (1) are connected with curved plates (2) connect by bolt (3); Elastic Steel silk screen (6) is fixed on steel ring (5) thereby the upper grip unit that consists of actuator; Steel ring (5) is fixed on the curved plates two (2) by rivet (4); Curved plates one (1) is installed on mechanical arm or the corresponding drive unit by hold-down screw; Curved plates two (2) can be regulated angle between itself and the curved plates one (1) by bolt (3), thereby regulates the angle of grip unit.
The utlity model has following advantage:
1) the utility model realizes that simply required composition member all can simply obtain, and cost is lower.
2) installation and debugging efficient is high.Because simple in structure, its installation and debugging efficient at the scene of plucking is higher.
3) not fragile fruit.Owing to having adopted the Elastic Steel silk screen in the grip unit, its in clamping process, the fruit of survivable harvesting.
Description of drawings
Fig. 1 is the structural representation of the end effector of oranges and tangerines picking robot
Among the figure, 1. curved plates one, and 2. curved plates two, 3. bolt, 4. rivet, 5. steel ring, 6. Elastic Steel silk screen.
Embodiment
Below in conjunction with drawings and Examples the utility model is further specified.
As shown in Figure 1.
A kind of end effector of oranges and tangerines picking robot, comprise curved plates one (1), curved plates two (2), bolt (3), rivet (4), steel ring (5), Elastic Steel silk screen (6), it is characterized in that curved plates one (1) are connected with curved plates (2) connect by bolt (3); Elastic Steel silk screen (6) is fixed on steel ring (5) thereby the upper grip unit that consists of actuator; Steel ring (5) is fixed on the curved plates two (2) by rivet (4); Curved plates one (1) is installed on mechanical arm or the corresponding drive unit by hold-down screw; Curved plates two (2) can be regulated angle between itself and the curved plates one (1) by bolt (3), thereby regulates the angle of grip unit.
The course of work
At first Elastic Steel silk screen 6 is fixed on the steel ring 5, thus the grip unit of composition oranges and tangerines; Then by rivet 4 grip unit is fixed on the curved plates 22; By bolt 3 curved plates 22 is fixed on the curved plates 1 subsequently.During work, can this end effector be installed on mechanical arm or the corresponding drive unit by hold-down screw, when needs are regulated the angle of grip unit, the angle of can first adjusting bolt 3 adjusting curved plates 22, thus so that the angle of grip unit is adjusted to suitable angle.
Claims (1)
1. the end effector of an oranges and tangerines picking robot, comprise curved plates one (1), curved plates two (2), bolt (3), rivet (4), steel ring (5), Elastic Steel silk screen (6), it is characterized in that curved plates one (1) are connected with curved plates (2) connect by bolt (3); Elastic Steel silk screen (6) is fixed on steel ring (5) thereby the upper grip unit that consists of actuator; Steel ring (5) is fixed on the curved plates two (2) by rivet (4); Curved plates one (1) is installed on mechanical arm or the corresponding drive unit by hold-down screw; Curved plates two (2) can by bolt (3) regulate its with curved plates one (1) between angle, thereby the angle of adjusting grip unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320247166 CN203233703U (en) | 2013-05-09 | 2013-05-09 | End effector of robot for picking citruses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320247166 CN203233703U (en) | 2013-05-09 | 2013-05-09 | End effector of robot for picking citruses |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203233703U true CN203233703U (en) | 2013-10-16 |
Family
ID=49311054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320247166 Expired - Fee Related CN203233703U (en) | 2013-05-09 | 2013-05-09 | End effector of robot for picking citruses |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203233703U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016123656A1 (en) * | 2015-02-05 | 2016-08-11 | The University Of Sydney | Horticultural harvesting system and apparatus using revolving shells |
| CN108377749A (en) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | A kind of end effector of citrus picking robot |
-
2013
- 2013-05-09 CN CN 201320247166 patent/CN203233703U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016123656A1 (en) * | 2015-02-05 | 2016-08-11 | The University Of Sydney | Horticultural harvesting system and apparatus using revolving shells |
| CN108377749A (en) * | 2017-12-30 | 2018-08-10 | 浙江工贸职业技术学院 | A kind of end effector of citrus picking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131016 Termination date: 20140509 |