CN207505456U - A kind of end effector of strawberry picking robot - Google Patents
A kind of end effector of strawberry picking robot Download PDFInfo
- Publication number
- CN207505456U CN207505456U CN201721208116.XU CN201721208116U CN207505456U CN 207505456 U CN207505456 U CN 207505456U CN 201721208116 U CN201721208116 U CN 201721208116U CN 207505456 U CN207505456 U CN 207505456U
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- hinge shaft
- clamping limb
- strawberry
- fixed seat
- armed lever
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Abstract
The utility model discloses a kind of end effector of strawberry picking robot, wherein, the end effector of the strawberry picking robot includes：Armed lever, fixed seat, the first hinge shaft, the second hinge shaft, clamping limb, telescopic rod, shear arm and blade part；The fixed seat is fixedly installed in the both sides of armed lever；One end of first hinge shaft is hinged with fixed seat, and the other end of the first hinge shaft is hinged with clamping limb；One end of second hinge shaft is articulated with the inside of fixed seat, and the other end of the second hinge shaft is hinged with clamping limb；The fixed link is fixedly installed in the front end of armed lever；One end of the telescopic rod is hinged with shear arm, and the other end of telescopic rod is arranged in the inside of armed lever.The characteristics of cauline leaf bunchy of the utility model based on strawberry is grown, using the design of double fastener gripping arm, effectively prevents the problem of end effector is easily damaged the stem of strawberry when harvesting fruit, simultaneously, it is designed using double fastener gripping arm, manipulation is relatively simple, and structure is lighter.
Description
Technical field
The utility model is related to farm machinery supporting structure technical field more particularly to a kind of ends of strawberry picking robot
Hold actuator.
Background technology
With the popularization of strawberry cultivating, domestic strawberry cultivating area rapidly increases, and manpower shortage is harvested, in order to solve grass
Manpower shortage is harvested in certain kind of berries picking process, serious the problem of restricting strawberry cultivating development, domestic and international related technical personnel's research and development
A variety of robots for strawberry picking liberate strawberry picking productivity to a certain extent.
The inventors discovered that at present, the level of intelligence of strawberry picking robot is also very limited, it is either domestic or external
Strawberry picking robot, from commercialization and practical also have a certain distance.
The end effector of existing strawberry picking robot has the following disadvantages：
1. not designing rational end effector, the pericarp of strawberry is easily damaged during crawl.
2. the structure of end effector is complex with controlling, it is extremely difficult to effectively pick range.
Then, inventor in view of this, adhere to the relevant industries for many years it is abundant design and develop and the experience of actual fabrication,
Improvement is studied for existing structure and missing, a kind of end effector of strawberry picking robot is provided, to reach
With more the purpose of more practical value.
Invention content
The purpose of this utility model is to provide a kind of end effector of strawberry picking robot, to solve above-mentioned background
The end effector structures of the existing strawberry picking robot proposed in technology with control it is complex and crawl during
Easily the problem of damage strawberry pericarp.
The purpose and effect of the end effector of the utility model strawberry picking robot, by the institute of technological means in detail below
Reach：
A kind of end effector of strawberry picking robot, wherein, the end effector of the strawberry picking robot includes
Have：
Armed lever, fixed seat, the first hinge shaft, the second hinge shaft, clamping limb, rubber pad, fixed link, telescopic rod, shear arm and knife
Blade；
The fixed seat is fixedly installed in the both sides of armed lever；One end of first hinge shaft is hinged with fixed seat, and the
The other end of one hinge shaft is hinged with clamping limb；One end of second hinge shaft is articulated with the inside of fixed seat, and the second hinge shaft
The other end be hinged with clamping limb；The fixed link is fixedly installed in the front end of armed lever；One end of the telescopic rod and scissors
Arm is hinged, and the other end of telescopic rod is arranged in the inside of armed lever；The front end of the shear arm is equipped with blade part.
Further, the clamping limb is equipped at two altogether, and clamping limb is oppositely arranged at two.
Further, the clamping limb is located at the bottom of shear arm in vertical direction.
Further, the leading inside of the clamping limb is equipped with rubber pad.
With existing structure in comparison, the utility model has the following advantages that：
1. the characteristics of cauline leaf bunchy growth of the utility model based on strawberry, using the design of double fastener gripping arm, effectively
The problem of end effector is easily damaged the stem of strawberry when harvesting fruit is avoided, meanwhile, it is set using double fastener gripping arm
Meter, manipulation is relatively simple, and structure is lighter.
2. for the utility model in picking, clamping limb will not touch strawberry fruit, and colliding with when avoiding picking can protect
Hold the good form of fruit.
3. the utility model is picked by the way of carpopodium is clamped, versatility is stronger, be also applied for other carpopodiums compared with
Long fruit picking expands the use scope of the utility model.
Description of the drawings
Fig. 1 is the utility model overlooking the structure diagram；
Fig. 2 is the utility model dimensional structure diagram；
Fig. 3 is the utility model side structure schematic view.
In figure：1st, armed lever, 2, fixed seat, the 3, first hinge shaft, the 4, second hinge shaft, 5, clamping limb, 6, rubber pad, 7, fixed
Bar, 8, telescopic rod, 9, shear arm, 10, blade part.
Specific embodiment
In the following, will be explained in the embodiment of the utility model, the example is shown in the accompanying drawings and the description below.It although will
The utility model is described with reference to exemplary embodiment, it is to be understood that the description does not really want the utility model to be limited to this to show
The embodiment of example property.On the contrary, the utility model will not only cover the exemplary embodiment, but also cover various replacements,
Change, equivalent and other embodiment, may include the spirit and model in the utility model as defined in the appended claims
In enclosing.
Referring to Fig. 1 to attached drawing 3, a kind of end effector of strawberry picking robot includes：
Armed lever 1, the first hinge shaft 3, the second hinge shaft 4, clamping limb 5, rubber pad 6, fixed link 7, telescopic rod 8, is cut at fixed seat 2
Tool arm 9 and blade part 10；
Fixed seat 2 is fixedly installed in the both sides of armed lever 1；One end of first hinge shaft 3 is hinged with fixed seat 2, and the first hinge
The other end of axis 3 is hinged with clamping limb 5；One end of second hinge shaft 4 is articulated with the inside of fixed seat 2, and the second hinge shaft 4 is another
One end is hinged with clamping limb 5；Fixed link 7 is fixedly installed in the front end of armed lever 1；One end of telescopic rod 8 is hinged with shear arm 9
It connects, and the other end of telescopic rod 8 is arranged in the inside of armed lever 1；The front end of shear arm 9 is equipped with blade part 10.
Wherein, clamping limb 5 is equipped at two altogether, and clamping limb 5 is oppositely arranged at two, and the design of double fastener gripping arm 5, structure is more
It is light, also, the problem of avoid clamping limb excessive and fragile strawberry stem.
Wherein, clamping limb 5 is located at the bottom of shear arm 9 in vertical direction, and sufficient space is reserved to shear arm 9, convenient for inciting somebody to action
Carpopodium is cut.
Wherein, the leading inside of clamping limb 5 is equipped with rubber pad 6, and the good form of carpopodium can be kept after winning, meanwhile,
Improve non-skid property during clamping.
The specifically used mode of the present embodiment：
Before picking action starts, clamping limb 5 and shear arm 9 are in opening state, and during picking, first, clamping limb 5 is driving
Under the drive of motivation structure, clamping limb 5 is pulled by the first hinge shaft 3 and the second hinge shaft 4 inwardly, make about clamping limb 5 close
And carpopodium is clamped, then, telescopic rod 8 acts, and shear arm 9 is merged, and is cut carpopodium by blade part 10, i.e.,
Complete primary picking action.
The above is only the preferred embodiment to the utility model, and not the utility model is made in any form
Limitation, it is every according to the technical essence of the utility model any simple modification made to the above embodiment, equivalent variations with
Modification, belongs in the range of technical solutions of the utility model.
Claims (4)
1. a kind of end effector of strawberry picking robot, it is characterised in that：It holds the end of the strawberry picking robot
Row device includes：
Armed lever, fixed seat, the first hinge shaft, the second hinge shaft, clamping limb, rubber pad, fixed link, telescopic rod, shear arm and blade part；
The fixed seat is fixedly installed in the both sides of armed lever；One end of first hinge shaft is hinged with fixed seat, and the first hinge
The other end of axis is hinged with clamping limb；One end of second hinge shaft is articulated with the inside of fixed seat, and the second hinge shaft is another
One end is hinged with clamping limb；The fixed link is fixedly installed in the front end of armed lever；It is cut with scissors with shear arm one end of the telescopic rod
Connection, and the other end of telescopic rod is arranged in the inside of armed lever；The front end of the shear arm is equipped with blade part.
2. the end effector of strawberry picking robot according to claim 1, it is characterised in that：The clamping limb is set altogether
Have at two, and clamping limb is oppositely arranged at two.
3. the end effector of strawberry picking robot according to claim 1 or 2, it is characterised in that：The clamping limb
It is located at the bottom of shear arm in vertical direction.
4. the end effector of strawberry picking robot according to claim 1 or 2, it is characterised in that：The clamping limb
Leading inside be equipped with rubber pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721208116.XU CN207505456U (en) | 2017-09-15 | 2017-09-15 | A kind of end effector of strawberry picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721208116.XU CN207505456U (en) | 2017-09-15 | 2017-09-15 | A kind of end effector of strawberry picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207505456U true CN207505456U (en) | 2018-06-19 |
Family
ID=62533287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721208116.XU Active CN207505456U (en) | 2017-09-15 | 2017-09-15 | A kind of end effector of strawberry picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207505456U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371618A (en) * | 2017-09-15 | 2017-11-24 | 贵州大学 | A kind of end effector of strawberry picking robot |
| CN109168601A (en) * | 2018-08-06 | 2019-01-11 | 刘巍 | A kind of strawberry picker |
| CN110352685A (en) * | 2019-08-12 | 2019-10-22 | 杨松艳 | A kind of wisdom metaplasia state agricultural greenhouse system |
| CN110393089A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | High-altitude fruit acquisition system and its operating method |
-
2017
- 2017-09-15 CN CN201721208116.XU patent/CN207505456U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107371618A (en) * | 2017-09-15 | 2017-11-24 | 贵州大学 | A kind of end effector of strawberry picking robot |
| CN109168601A (en) * | 2018-08-06 | 2019-01-11 | 刘巍 | A kind of strawberry picker |
| CN109168601B (en) * | 2018-08-06 | 2021-06-22 | 刘巍 | Strawberry picking device |
| CN110393089A (en) * | 2018-09-21 | 2019-11-01 | 湖南科技大学 | High-altitude fruit acquisition system and its operating method |
| CN110352685A (en) * | 2019-08-12 | 2019-10-22 | 杨松艳 | A kind of wisdom metaplasia state agricultural greenhouse system |
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