CN204350661U - A kind of end effector of famous green tea picking robot - Google Patents
A kind of end effector of famous green tea picking robot Download PDFInfo
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- CN204350661U CN204350661U CN201420805268.8U CN201420805268U CN204350661U CN 204350661 U CN204350661 U CN 204350661U CN 201420805268 U CN201420805268 U CN 201420805268U CN 204350661 U CN204350661 U CN 204350661U
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- gear shaft
- screw
- finger
- link
- type groove
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Abstract
The utility model discloses a kind of end effector of famous green tea picking robot, comprise the vertical screw slider arranged, in screw slider, slide block is connected with link, link top is provided with and rotates wrist motor, rotation wrist motor output shaft is provided with three and grabs terminal pad, three grab bottom terminal pad and are connected with brace table, brace table bottom welding has a pair engaging lug, the gear shaft of level is rotatablely equipped with between two engaging lugs, gear shaft is fixed with gear, rotary direct current electric motor output shaft is connected with gear shaft one end, U-shaped upper finger two U-shaped arm arm end is connected with gear shaft two ends respectively, the U-shaped crossbeam of U-shaped upper finger is connected with the lower finger extended straight down for a pair, and refer to for twice be provided with V-type groove finger tip between bottom, V-type groove finger tip both sides are connected to screw rod, two screw rods is through lower finger, two screw rods rod end is screwed with locking nut, pressure sensor is respectively arranged with between referring under each locking nut and respective side, on each screw rod, cover has spring respectively.
Description
Technical field
The utility model relates to the robot field that picks tea-leaves, and is specially a kind of end effector of famous green tea picking robot.
Background technology
Famous High-quality Tea is produced and be in very important status in China's Tea Industry, not only has influence on the development of tea grower's income and tea economy, and is related to the ups and downs of whole Tea Industry.Famous High-quality Tea " it is difficult to pluck " problem is outstanding day by day in recent years, and is on the rise, and the Mechaniaed harvest of Famous High-quality Tea is reality need is also inexorable trend.China quality of famous tea is excellent, different style, for famous green tea, again to adopt basic demand that bud is object for plucking delicacy, bud-leaf uniformity.Leaf quality affects greatly Famous High-quality Tea product quality and business efficiency, therefore all adopts picked by hand all the time.Suitable picked by hand, can ensure leaf quality, can realize again adopting the object of supporting and taking into account, but it is large to there is labour intensity, plucks the problems such as work efficiency is low.And due to the seasonality of tea picking very strong, the harvesting activity duration is short, thus cause tea district and generally to occur picking tea-leaves the in short supply and unwarrantable situation of tea picking quality of labour, this not only have impact on the production of Famous High-quality Tea but also wastes valuable Famous High-quality Tea resource, makes the economic benefit of enterprise receive very large impact.
utility model contentthe purpose of this utility model is to provide a kind of end effector of famous green tea picking robot, to solve prior art Problems existing.
In order to achieve the above object, the technical scheme that the utility model adopts is:
A kind of end effector of famous green tea picking robot, it is characterized in that: comprise the vertical screw slider arranged, screw slider top is provided with motor vertical, described motor vertical is connected with lead screw transmission in screw slider, screw slider sidepiece is also vertically provided with multiple Hall element, in screw slider, slide block is connected with link, link top is provided with and rotates wrist motor, rotate wrist motor output shaft straight down through link, and rotate wrist motor output shaft and bottom link, be provided with three grab terminal pad, described three grab bottom terminal pad and are connected with brace table, brace table bottom welding has a pair engaging lug vertically arranged, between two engaging lugs, rotation-symmetric is provided with the gear shaft of two levels, two rooted tooth wheel shafts between engaging lug are fixed with pair of engaged gears, gear shaft two ends pass from both sides engaging lug respectively, and gear shaft two ends are separately installed with snap ring, be positioned at one of them engaging lug arranged outside and have rotary direct current electric motor, described rotary direct current electric motor output shaft is connected with gear shaft one end horizontally through bearing, also comprise U-shaped upper finger, U-shaped upper finger two U-shaped arm arm end connects one to one with gear shaft two ends snap ring respectively, snap ring and gear shaft are welded and fixed, the U-shaped crossbeam of U-shaped upper finger is fixedly connected with the lower finger extended straight down for a pair by nut, and refer to for twice be provided with V-type groove finger tip between bottom, V-type groove finger tip both sides are connected to screw rod, two screw rods is on same level straight line, two screw rods one_to_one corresponding refers to through twice, and two screw rods pass lower finger rod end on be screwed with locking nut respectively, pressure sensor is respectively arranged with between referring under each locking nut and respective side, on each screw rod, cover has spring respectively, spring one end is separately fixed on V-type groove finger tip respective side cell wall, the spring other end is separately fixed on respective side pressure sensor.
The end effector of described a kind of famous green tea picking robot, is characterized in that: described screw slider top is provided with framework flange, and motor vertical is arranged in framework flange.
The utility model principle is: power passes to a rooted tooth wheel shaft by rotary direct current electric motor, a pair gears meshing be fixed on gear shaft makes two rooted tooth wheel shafts be rotated simultaneously, be fixed on the two clampings referring to its convert rotational motion to become left and right finger on gear shaft by snap ring, thus realize the clamping to tealeaves.The startup of wrist electric rotating machine and motor vertical, makes to be rotated by the tea stalks place clamped with moving upward, tender shoots to be separated with tea tree simultaneously simultaneously.What the finger tip of two finger adopted is flexible adjustable design, can be changed the pretension elastic force of spring by adjusting nut, protection tender shoots.
The utility model has the advantages that:
The utility model reasonable in design, by the combination of motor and gear and motor and leading screw, realizes mechanical analogue artificial hand formulation to the harvesting of famous green tea, can ensure that tea quality alleviates the labour that picks tea-leaves present situation in short supply simultaneously.
Accompanying drawing explanation
Fig. 1 is the utility model overall structure schematic diagram.
Fig. 2 is that the utility model rotates wrist motor section separation structure schematic diagram.
Fig. 3 is the structural representation that the utility model gear and lower finger are divided
Fig. 4 is the utility model screw slider part-structure schematic diagram.
Fig. 5 refers to finger ends separation structure schematic diagram under the utility model.
Embodiment
Shown in Fig. 1-Fig. 5, a kind of end effector of famous green tea picking robot, comprise the vertical screw slider arranged, screw slider top is provided with motor vertical 17, motor vertical 17 is in transmission connection with leading screw 20 in screw slider, screw slider sidepiece is also vertically provided with multiple Hall element 19, in screw slider, slide block 21 is connected with link 2, link 2 top is provided with and rotates wrist motor 1, rotate wrist motor 1 output shaft straight down through link 2, and rotate wrist motor 1 output shaft and bottom link 2, be provided with three grab terminal pad 3, three grab bottom terminal pad 3 and are connected with brace table 4, brace table 4 bottom welding has a pair engaging lug 5 vertically arranged, the gear shaft 10 of level is rotatablely equipped with between two engaging lugs 5, gear shaft 10 between engaging lug 5 is fixed with gear 8, gear shaft 10 two ends pass from both sides engaging lug 5 respectively, and gear shaft 10 two ends are separately installed with snap ring 9, be positioned at one of them engaging lug arranged outside and have rotary direct current electric motor 6, rotary direct current electric motor 6 output shaft is connected with gear shaft 10 one end horizontally through bearing 7, also comprise U-shaped upper finger 11, the U-shaped arm arm end of 11 liang, U-shaped upper finger connects one to one with gear shaft 10 two ends snap ring 9 respectively, the U-shaped crossbeam of U-shaped upper finger 11 is connected with the lower finger 12 extended straight down for a pair, and refer to for twice be provided with V-type groove finger tip 15 between 12 bottoms, V-type groove finger tip 15 both sides are connected to screw rod, two screw rods is on same level straight line, two screw rods one_to_one corresponding refers to 12 through twice, and two screw rods pass lower finger 12 rod end on be screwed with locking nut 13 respectively, pressure sensor 14 is respectively arranged with between referring under each locking nut 13 and respective side, on each screw rod, cover has spring 16 respectively, spring 16 one end is separately fixed on V-type groove finger tip 15 respective side cell wall, spring 16 other end is separately fixed on respective side pressure sensor 14.Screw slider top is provided with framework flange 18, and motor vertical 18 is arranged in framework flange 17.
We grab terminal pad 3 by rotation wrist motor 1, link 2, three, brace table 4, engaging lug 5, rotary direct current electric motor 6, bearing 7, gear 8, snap ring 9, gear shaft 10, U-shaped upper finger 11, lower finger 12, adjusting nut 13, spring, pressure sensor 14, V-type groove finger tip 15, spring 16, motor vertical 17, framework flange 18, sensor fixation plate 19, leading screw 20, moving slider 21 form.
Rotary direct current electric motor 6 is connected with gear shaft 10 by bearing 7, and driven gear axle 10 rotates and makes the engagement of gear 8, and U-shaped upper finger 11 is connected with snap ring 9 by nut, and snap ring 9 is fixed with gear shaft 10, and U-shaped upper finger 11 is fixedly connected with by nut with lower finger 12.The rotation wrist motor 1 being fixed on link 2 is grabbed terminal pad 3 by three and is connected with brace table 4, and brace table 4 is fixedly connected by welding ear 5.The motor vertical 17 being fixed on framework flange 18 is connected with leading screw 20, and drive leading screw 20 to rotate, the moving slider 21 on leading screw is connected with link 2.
Cover has screw rod one end of spring 16 and V-type groove finger tip 15 to weld together, and the other end is connected with lower finger 12 by adjusting nut 13, can be changed the pretightning force of spring in advance by adjusting nut.
The whole picking process of end effector can regard three movement decomposition that artificial hand formulation plucks tealeaves as, and first two finger pinches the bud-leaf needing to pluck, and then rotates bud-leaf stalk place and moves upward tender shoots is separated with tea tree.
The rotary motion of motor is converted to the two open and close movement referred to by the engagement of a pair gear, cover has screw rod one end of spring 16 and V-type groove finger tip 15 to weld together, the other end is connected with lower finger 12 by adjusting nut 13, when tealeaves is from touching finger tip to the process stopping clamping, spring is in compressive state always, when reaching to pressure the sensor threshold values that the tealeaves that sets in advance can pluck, signal is passed to rotary direct current electric motor 6 by the pressure sensor 14 be arranged on spring, makes motor stalls avoid bud-leaf impaired because of extruding.
After tealeaves is clamped, signal is passed on the one hand rotary direct current electric motor 6 and is quit work also to be passed to by signal simultaneously and rotate wrist motor 1 and motor vertical 17 starts to start by sensor.The rotary direct current electric motor 6 being fixed on link 2 drives hand to rotate; The DC servo motor 17 being meanwhile fixed on framework flange 18 drives leading screw 20 to rotate, slide block 21 on leading screw is connected with link 2, drive hand upward vertical movement, Hall element on sensor fixation plate 19 at hand through out-of-date, signal is sent to and rotates wrist motor 1 and motor vertical 17, motor is quit work, and tealeaves and tea tree realize being separated.
In sum, the utility model adopts manual imitation lifting manipulation to pick tea-leaves to famous green tea, can realize plucking the specific aim of tealeaves, can be reduced the breakage of bud-leaf by the flexible design of finger tip.
Claims (2)
1. the end effector of a famous green tea picking robot, it is characterized in that: comprise the vertical screw slider arranged, screw slider top is provided with motor vertical, described motor vertical is connected with lead screw transmission in screw slider, screw slider sidepiece is also vertically provided with multiple Hall element, in screw slider, slide block is connected with link, link top is provided with and rotates wrist motor, rotate wrist motor output shaft straight down through link, and rotate wrist motor output shaft and bottom link, be provided with three grab terminal pad, described three grab bottom terminal pad and are connected with brace table, brace table bottom welding has a pair engaging lug vertically arranged, between two engaging lugs, rotation-symmetric is provided with the gear shaft of two levels, two rooted tooth wheel shafts between engaging lug are fixed with pair of engaged gears, gear shaft two ends pass from both sides engaging lug respectively, and gear shaft two ends are separately installed with snap ring, be positioned at one of them engaging lug arranged outside and have rotary direct current electric motor, described rotary direct current electric motor output shaft is connected with gear shaft one end horizontally through bearing, also comprise U-shaped upper finger, U-shaped upper finger two U-shaped arm arm end connects one to one with gear shaft two ends snap ring respectively, snap ring and gear shaft are welded and fixed, the U-shaped crossbeam of U-shaped upper finger is fixedly connected with the lower finger extended straight down for a pair by nut, and refer to for twice be provided with V-type groove finger tip between bottom, V-type groove finger tip both sides are connected to screw rod, two screw rods is on same level straight line, two screw rods one_to_one corresponding refers to through twice, and two screw rods pass lower finger rod end on be screwed with locking nut respectively, pressure sensor is respectively arranged with between referring under each locking nut and respective side, on each screw rod, cover has spring respectively, spring one end is separately fixed on V-type groove finger tip respective side cell wall, the spring other end is separately fixed on respective side pressure sensor.
2. the end effector of a kind of famous green tea picking robot according to claim 1, is characterized in that: described screw slider top is provided with framework flange, and motor vertical is arranged in framework flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420805268.8U CN204350661U (en) | 2014-12-17 | 2014-12-17 | A kind of end effector of famous green tea picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420805268.8U CN204350661U (en) | 2014-12-17 | 2014-12-17 | A kind of end effector of famous green tea picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204350661U true CN204350661U (en) | 2015-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420805268.8U Expired - Fee Related CN204350661U (en) | 2014-12-17 | 2014-12-17 | A kind of end effector of famous green tea picking robot |
Country Status (1)
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| CN (1) | CN204350661U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329821A (en) * | 2015-11-30 | 2016-02-17 | 青岛农业大学 | Sliding table lifting system used for Chinese wolfberry picking mechanism |
| CN106416615A (en) * | 2016-11-28 | 2017-02-22 | 桐梓县清馨茶果业有限公司 | Tea harvesting device |
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN108555921A (en) * | 2018-03-30 | 2018-09-21 | 华南农业大学 | A kind of Hills rail mounted tea picking machinery people |
| CN108834578A (en) * | 2018-08-01 | 2018-11-20 | 中国农业大学 | A kind of pimento picking robot |
| CN115176596A (en) * | 2022-08-05 | 2022-10-14 | 安徽农业大学 | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea |
-
2014
- 2014-12-17 CN CN201420805268.8U patent/CN204350661U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329821A (en) * | 2015-11-30 | 2016-02-17 | 青岛农业大学 | Sliding table lifting system used for Chinese wolfberry picking mechanism |
| CN105329821B (en) * | 2015-11-30 | 2017-12-29 | 青岛农业大学 | Slide unit jacking system for medlar-picking machine structure |
| CN106416615A (en) * | 2016-11-28 | 2017-02-22 | 桐梓县清馨茶果业有限公司 | Tea harvesting device |
| CN106576593A (en) * | 2017-02-24 | 2017-04-26 | 四川农业大学 | Efficient tea-leaf picker clamping end transmission device |
| CN106576593B (en) * | 2017-02-24 | 2023-07-14 | 四川农业大学 | Clamping end transmission device of efficient tea picking machine |
| CN108555921A (en) * | 2018-03-30 | 2018-09-21 | 华南农业大学 | A kind of Hills rail mounted tea picking machinery people |
| CN108834578A (en) * | 2018-08-01 | 2018-11-20 | 中国农业大学 | A kind of pimento picking robot |
| CN115176596A (en) * | 2022-08-05 | 2022-10-14 | 安徽农业大学 | Self-propelled picking robot with low damage to tender tips of famous and high-quality tea |
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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: 20150527 Termination date: 20151217 |
|
| EXPY | Termination of patent right or utility model |