CN206674545U - A kind of end effector mechanism of seed ball picking robot - Google Patents
A kind of end effector mechanism of seed ball picking robot Download PDFInfo
- Publication number
- CN206674545U CN206674545U CN201720442395.XU CN201720442395U CN206674545U CN 206674545 U CN206674545 U CN 206674545U CN 201720442395 U CN201720442395 U CN 201720442395U CN 206674545 U CN206674545 U CN 206674545U
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- CN
- China
- Prior art keywords
- shell
- knife rest
- end effector
- seed ball
- picking robot
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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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Abstract
The utility model provides a kind of end effector mechanism of seed ball picking robot, including：The shell of inside tool hollow cavity, collects shell, drive mechanism, driving wheel, driven pulley, is symmetricly set in and collects left knife rest and right knife rest, driving member of the columella to both ends, at least one blade being crossed between left knife rest and right knife rest；Right knife rest is arranged on the inner side of shell by reinforcing plate, and houses the convex extension part for collecting shell, collects hull shape into an oral area, oral area is configured in the axially inner side of the blade；Power is transferred to driven pulley by driving wheel by driving member, and clutch shaft bearing is configured between left knife rest and shell, and convex extension part is configured with second bearing with right tool holder support.The end effector mechanism of seed ball picking robot shown by the utility model has the advantages that simple in construction and reliable, and improves the picking efficiency to seed ball.
Description
Technical field
Technical field of automation equipment is the utility model is related to, is more particularly to a kind of end of seed ball picking robot
Hold executing agency.
Background technology
Modern agriculture proposes the technical requirements more wanted to automation equipment.If the fruit on branch is by manually plucking
If, then it can cause efficiency degradation.Therefore, occur being used for the wu-zhi-shan pig for plucking seed ball in the prior art.
The end of wu-zhi-shan pig is usually provided with end effector mechanism, to perform harvesting behaviour to fruit by the end effector mechanism
Make.It is provided with to have in wu-zhi-shan pig and can carries out five axles rich dynamic servo control mechanism and mechanical arm, and in automatic control system (example
Such as PLC or single-chip microcomputer) control under, drive each mechanical arm to carry out the motion of optional position, to adapt to what is be made up of branch
Complicated Spatial Structure.
The mode of traditional end effector mechanism generally use pneumatic-finger clamping seed ball carries out picking operations, related
Document joins the Chinese invention patent of Application No. 200810156422.2 and 201410159419.1.Above-mentioned end of the prior art
End executing agency firstly there are the defects of complicated.Meanwhile end effector mechanism of the prior art can not be completed continuously to adopt
The operation plucked., it is necessary to drive robot to complete seed ball after picking operations to a seed ball, such as apple, are completed
Transfer operation, apple is placed in the matching used container of seed ball picking robot, and reciprocal behaviour successively
Make.Therefore, there is also to seed ball for the end effector mechanism for the robot plucked in the prior art for performing seed ball
The relatively low technological deficiency of picking efficiency.
In view of this, it is necessary to which the end effector mechanism of seed ball picking robot of the prior art is changed
Enter, to solve the above problems.
Utility model content
The purpose of this utility model is to disclose a kind of end effector mechanism of seed ball picking robot, to realize
Simplify end effector mechanism structure, and improve the picking efficiency to seed ball.
To achieve the above object, the utility model provides a kind of end effector mechanism of seed ball picking robot,
Including：
The shell of inside tool hollow cavity, it is placed in the collection shell of the tool cavity of enclosure, drive mechanism, with driving machine
The driving wheel of structure arranged coaxial, driven pulley, it is symmetricly set in and collects left knife rest and right knife rest of the columella to both ends, driving member, with
And it is crossed at least one blade between left knife rest and right knife rest；
The right knife rest is arranged on the inner side of shell by reinforcing plate, and houses the convex extension part for collecting shell, the collection shell
An oral area is formed, the oral area is configured in the axially inner side of the blade；
Power is transferred to driven pulley by the driving wheel by driving member, and driven pulley coaxially assembles with left knife rest, the left side
Clutch shaft bearing is configured between knife rest and shell, the convex extension part is configured with second bearing with right tool holder support.
As further improvement of the utility model, in addition at least partly wrap up the protective cover of shell.
As further improvement of the utility model, the driving wheel and driven pulley are belt wheel or sprocket wheel.
As further improvement of the utility model, drive mechanism is servomotor or stepper motor.
As further improvement of the utility model, the axial end portion of the shell forms connecting seat in the form of annular discs, institute
State connecting seat and offer some mounting holes.
As further improvement of the utility model, the clutch shaft bearing and second bearing are ball bearing or needle roller axle
Hold.
As further improvement of the utility model, the protective cover at least partly parcel shell, and integrally parcel driving
Mechanism.
As further improvement of the utility model, the driving member includes belt or chain.
As further improvement of the utility model, being circular layout between the left knife rest and right knife rest, there have to be at least two flat
The blade of row arrangement.
Compared with prior art, the beneficial effects of the utility model are：Seed ball harvesting shown by the utility model
The end effector mechanism of robot have the advantages that it is simple in construction and reliable, by blade cut off seed ball can be collected
Shell is housed, and after the seed ball rotating disk in shell is collected, disposably can be unloaded multiple seed balls, so as to improve
To the picking efficiency of seed ball.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the end effector mechanism of seed ball picking robot of the utility model；
Fig. 2 is the sectional view of the line A-A along Fig. 1；
Fig. 3 is the sectional view of the line B-B along Fig. 1.
Embodiment
The utility model is described in detail shown each embodiment below in conjunction with the accompanying drawings, but it should explanation,
These embodiments are not limitation of the utility model, and those of ordinary skill in the art are according to these embodiment institute works
Energy, method or equivalent transformation or replacement in structure, are belonged within the scope of protection of the utility model.
Embodiment one：
It please join Fig. 1 to a kind of end effector mechanism of seed ball picking robot of the utility model illustrated in fig. 3
A kind of embodiment.
A kind of end effector mechanism of seed ball picking robot shown by the present embodiment is installed on seed ball and adopted
Pluck the end of robot.The fruit picking robot includes but is not limited to wu-zhi-shan pig or six-joint robot, and can be used for
Plucking apple, pear, peach etc. has the automation picking operations of spherical or profile fruit substantially spherical in shape.
Specifically, the end effector mechanism (hereinafter referred to as " end effector mechanism ") of the seed ball picking robot, bag
Include：The shell 14 of inside tool hollow cavity, the collection shell 21 for the tool cavity 211 being placed in inside shell 14, drive mechanism 31, with
The driving wheel 3 of the arranged coaxial of drive mechanism 31, driven pulley 16, it is symmetricly set in the left knife rest 20 for collecting 21 axial both ends of shell and the right side
Knife rest 23, driving member, and, at least one blade 15 being crossed between left knife rest 20 and right knife rest 23.The drive mechanism 31
For servomotor or stepper motor, and more preferably servomotor.Drive mechanism 31 is controlled by fruit picking robot
In PLC, to perform the motion of various postures and control.
Right knife rest 23 is arranged on the inner side of shell 14 by reinforcing plate 28, and houses the convex extension part 212 for collecting shell 21, described
Collect shell 21 and form an oral area 213, the oral area 213 is configured in the axially inner side of the blade 15.Driving wheel 3 passes through transmission
Power is transferred to driven pulley 16 by part, and driven pulley 16 coaxially assembles with left knife rest 20, is matched somebody with somebody between the left knife rest 20 and shell 14
Clutch shaft bearing 19 is equipped with, there is second bearing 32 convex extension part 212 with the right support configuration of knife rest 23.Meanwhile in addition at least portion
The protective cover 11 of shell 14 is wrapped up in subpackage.
Preferably, the protective cover 11 at least partly wraps up shell 14, and integrally wraps up drive mechanism 31.Protective cover 11 can be prevented
Only branch transmission part is wound, to improve reliability of the whole end effector mechanism in seed ball picking process.Ginseng
Shown in Fig. 1, the protective cover 11 realizes the fixation that is spirally connected by bolt 12 and shell 14.Specifically, described first in the present embodiment
Bearing 19 and second bearing 32 are ball bearing or needle bearing, and most preferably needle bearing.
Join shown in Fig. 1, the bottom of shell 14 connects first fixed mount 2 by bolt 1, bolt 10 and one second solid
Determine frame 9.First fixture 2 is embedded with drive mechanism 31.The power transmission shaft 4 of drive mechanism 31 runs through the bending of the second fixed mount 9
Portion, 3rd bearing 5, glass holder 6 and closure 8 are set between the fixed mount 9 of power transmission shaft 4 and second.Power transmission shaft 4 passes through key 35 and active
The assembling of wheel 16.Closure 8 is fixedly connected by bolt 7 with the bending part of the second fixed mount 9, so as to be driven by drive mechanism 31
Power transmission shaft 4, which is realized, to move pivotally, to drive driving wheel 3 to rotate.
In the present embodiment, the driving wheel 3 and driven pulley 16 are belt wheel or sprocket wheel, and most preferably belt wheel.The biography
Moving part includes belt or chain, and more preferably belt.Driving wheel 3 is exported drive mechanism 31 by driving member
Power be transferred to driven pulley 16.
Join shown in Fig. 2, shell 14 is internally formed a columned cavity, and shell 21 is collected to house.Left knife rest 20 is formed
Convex extension part 201 and axle portion 202.Axle portion 202 is connected by key 29 with driven pulley 16.Meanwhile it is additionally provided with end inside the protective cover 11
Lid 18.Four through holes are offered on end cap 18, and this four through holes were extended by bolt 17, and enter luggage with shell 14
Match somebody with somebody.Therefore, left knife rest 20 can realize axial rotation under the driving of drive mechanism 31.Meanwhile blade 15 drives right knife rest 23 real
Existing axial rotation.It is cylindrical to collect the cavity 211 that the inside of shell 21 is formed.The convex extension part 212 for collecting shell 21 is internally formed axle
To the stepped hole 214 and stepped hole 216 of insertion.Stepped hole 216 is circular layout in the outside of stepped hole 214.Stepped hole 214 and platform
The inside in rank hole 216 is respectively formed internal thread.
Collect in shell 21 and include a bolt fixed plate 26.Bolt 22 extended bolt fixed plate 26 and extended into stepped hole
In 216.Bolt 27 is extended into stepped hole 214, and realizes assembling with the through hole 251 of the circle centre position of reinforcing plate 28 tool internal thread.Add
Form some through holes being circular layout in strong version 28, and by bolt 25 extend into above-mentioned through hole and with formed in shell 14
The blind hole of tool internal thread is spirally connected fixation.Sleeve 24 and second bearing 32 are set between right knife rest 23 and convex extension part 212.
Therefore, it is arranged on when blade 15 is bridged by bolt 13 between left knife rest 20 and right knife rest 23, to realize left knife rest
20 and the synchronous axial rotation of right knife rest 23, and the stem of seed ball is cut off by blade 15, the ball after being cut off
Shape fruit is fallen into from oral area 213 in the cavity 211 for collecting shell 21.
When the end effector mechanism is continuously plucked to seed ball, collect shell 21 and do not perform axial rotation, left knife
Frame 20 clamps blade 15 with right knife rest 23 and makees axial rotation relative to shell 21 is collected jointly, to complete rupturing operation.Meanwhile shell
14 axial end portion forms connecting seat 30 in the form of annular discs, and the connecting seat 30 offers some mounting holes 301.So as to pass through this
End effector mechanism and seed ball picking robot are attached by connecting seat 30.
Embodiment two：
The present embodiment and the main distinction of embodiment one are that a kind of seed ball shown by the present embodiment plucks machine
In the end effector mechanism of people, being circular layout between left knife rest 20 and right knife rest 23 has the blade 15 of two parallel arrangements.Certainly,
Three blades be arrangeding in parallel 15 are may also set up, and holding shaft is symmetrical arranged each other.It is identical with embodiment one kind in the present embodiment
Technical scheme please join described in embodiment one, will not be repeated here.
The a series of tool described in detail only for feasibility embodiment of the present utility model of those listed above
Body illustrates that they are simultaneously not used to limit the scope of protection of the utility model, all to be made without departing from the utility model skill spirit
Equivalent implementations or change should be included within the scope of protection of the utility model.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (9)
- A kind of 1. end effector mechanism of seed ball picking robot, it is characterised in that including：The shell (14) of inside tool hollow cavity, it is placed in the collection shell (21) of the internal tool cavity (211) of shell (14), driving Mechanism (31), the driving wheel (3) with drive mechanism (31) arranged coaxial, driven pulley (16), it is symmetricly set in and collects shell (21) axle To the left knife rest (20) and right knife rest (23) at both ends, driving member, and, it is crossed between left knife rest (20) and right knife rest (23) At least one blade (15)；The right knife rest (23) is arranged on the inner side of shell (14) by reinforcing plate (28), and houses the convex extension part for collecting shell (21) (212), the collection shell (21) forms an oral area (213), and the axle that the oral area (213) is configured in the blade (15) is inside Side；Power is transferred to driven pulley (16) by the driving wheel (3) by driving member, and driven pulley (16) and left knife rest (20) are coaxial Assembling, clutch shaft bearing (19), the convex extension part (212) and right knife rest are configured between the left knife rest (20) and shell (14) (23) support configuration has second bearing (32).
- 2. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that also include extremely The protective cover (11) of small part parcel shell (14).
- 3. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that the active It is belt wheel or sprocket wheel that (3), which are taken turns, with driven pulley (16).
- 4. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that drive mechanism (31) it is servomotor or stepper motor.
- 5. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that the shell (14) axial end portion forms connecting seat in the form of annular discs (30), and the connecting seat (30) offers some mounting holes (301).
- 6. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that described first Bearing (19) and second bearing (32) are ball bearing or needle bearing.
- 7. the end effector mechanism of seed ball picking robot according to claim 2, it is characterised in that the protection (11) at least partly parcel shell (14) is covered, and integrally wraps up drive mechanism (31).
- 8. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that the transmission Part includes belt or chain.
- 9. the end effector mechanism of seed ball picking robot according to claim 1, it is characterised in that the left knife Being circular layout between frame (20) and right knife rest (23) has the blade of at least two parallel arrangements (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720442395.XU CN206674545U (en) | 2017-04-25 | 2017-04-25 | A kind of end effector mechanism of seed ball picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720442395.XU CN206674545U (en) | 2017-04-25 | 2017-04-25 | A kind of end effector mechanism of seed ball picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206674545U true CN206674545U (en) | 2017-11-28 |
Family
ID=60403247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720442395.XU Expired - Fee Related CN206674545U (en) | 2017-04-25 | 2017-04-25 | A kind of end effector mechanism of seed ball picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206674545U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN114175924A (en) * | 2021-12-03 | 2022-03-15 | 无锡太湖学院 | Red date is picked and is collected miscellaneous letter sorting system that goes |
-
2017
- 2017-04-25 CN CN201720442395.XU patent/CN206674545U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109105001A (en) * | 2018-10-18 | 2019-01-01 | 石河子大学 | A kind of bergamot pear terminal executor of picking robot and picking method |
| CN109105001B (en) * | 2018-10-18 | 2024-01-30 | 石河子大学 | End effector of bergamot pear picking robot and picking method |
| CN114175924A (en) * | 2021-12-03 | 2022-03-15 | 无锡太湖学院 | Red date is picked and is collected miscellaneous letter sorting system that goes |
| CN114175924B (en) * | 2021-12-03 | 2022-09-23 | 无锡太湖学院 | Red date is picked and is collected miscellaneous letter sorting system that goes |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20190425 |