CN207927251U - A kind of fruit string picking mechanical arm end effector - Google Patents
A kind of fruit string picking mechanical arm end effector Download PDFInfo
- Publication number
- CN207927251U CN207927251U CN201820251347.7U CN201820251347U CN207927251U CN 207927251 U CN207927251 U CN 207927251U CN 201820251347 U CN201820251347 U CN 201820251347U CN 207927251 U CN207927251 U CN 207927251U
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- carpopodium
- gripping finger
- fruit
- clamping limb
- circular saw
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 62
- 239000012636 effector Substances 0.000 title claims abstract description 30
- 238000005520 cutting process Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 239000000758 substrate Substances 0.000 claims description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000012528 membrane Substances 0.000 claims description 2
- 230000001771 impaired effect Effects 0.000 abstract 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 16
- 240000003768 Solanum lycopersicum Species 0.000 description 16
- 238000003306 harvesting Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 244000061458 Solanum melongena Species 0.000 description 1
- 235000002597 Solanum melongena Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004345 fruit ripening Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000013340 harvest operation Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Abstract
The utility model discloses a kind of fruit string picking mechanical arm end effectors, the device includes carpopodium clamping device, carpopodium cutting mechanism and control assembly, controller controls carpopodium clamping device cylinder operation by three two-way electromagnetic valves, clamping link mechanism is driven to realize the folding of left and right gripping finger, the chucking power size measured according to piezoelectricity diaphragm type sensing element, realize the clamping of fruit string carpopodium, controller control relay makes the dc motor of carpopodium cutting mechanism work, drive rotating soft axle, to drive circular saw high speed rotation, simultaneously, lead screw rotation is driven by stepping motor, circular saw is driven to be moved to close to carpopodium direction, realize the cutting of fruit string carpopodium, it is low to overcome single picking fruit efficiency, fruit is easy impaired, it is artificial to pick the shortcomings of labor intensity is big.The device picks reliability height, and fruit is not damaged, easy to operate, and versatility is high, is suitable for the picking work of the single fruit of different type and fruit string.
Description
Technical field
The utility model belongs to agricultural mechanical field, is related to a kind of end effector of fruit string harvester tool hand,
More particularly to a kind of it can capture, be clamped, cutting off the picking mechanical arm end effector that main carpopodium makes fruit string be detached with carpopodium.
Background technology
In the entire agricultural production of tomato, fruit harvest operation is the important link of agricultural production, but China kind at present
The picking of eggplant, which relies primarily on, to be had been manually done, and labor intensity is big, and working efficiency is low, and production process human cost accounts for larger specific gravity, about
Account for the 50%~70% of cost；And the fruit maturation time more concentrates, and is manually not easy the maturity of accurate judgement fruit, fruit
Commodity rate is low, and yield is severely impacted with quality.
The research of fruit harvest machine people and application ensure that fruit is adopted in due course to raising labour productivity and product quality
It receives, has grow a lot potentiality and application prospect.End effector is one of core technology of picking robot, structural shape
The characteristic of picking object is depended on working method, while can influence picking fruit success rate and commodity value.It is most of at present
Tomato harvesting robot is the harvesting for single fruit, and this picking method can ensure that picking is relatively good to ripe quality
Fruit, but a string of tomatoes need to carry out multiple picking action, and efficiency is very low, and harvesting promptness and product quality cannot change
Kind, this, which is also tomato harvesting robot, does not have the main reason for Commercialization application.Usual tamato fruit bunchiness growth, often going here and there has 4-
6 fruits, if it is possible to realize that bunchiness picking can then greatly improve production efficiency, fruit storage time also can be longer, therefore,
It will be as the main harvesting approach of extensive tomato planting towards the harvesting of tamato fruit string.End effector is used as and is in direct contact fruit
The critical component of reality or plant, flexibility directly affect picking success rate and working efficiency.End effector structures are not at present
Enough compact, flexibility is poor, and picking success rate is not high, and required certain postures are difficult to realize in picking process, cannot be completed
The task of fruit string picking to random growth is deep into inside plant.Therefore, because the particularity of agriculture production environment, needs
A kind of good reliability for the picking of fruit string, compact-sized, flexible and convenient, controllability is higher, and with a small range
Versatility end effector provides condition to improve the pose flexibility of harvesting robot and picking the performances such as success rate.
Invention content
The purpose of this utility model is to overcome above-mentioned picking fruit disadvantages, adapt to the harvesting of tamato fruit bunchiness, improve
Agricultural robot working efficiency and the requirement for ensureing picking fruit quality, the utility model provide a kind of fruit string picking mechanical arm
Carpopodium clamping device and carpopodium cutting mechanism are designed at one by end effector, by being pneumatically combined drive with link mechanism
Dynamic carpopodium gripper mechanism grips carpopodium while the circular saw of cutting mechanism rotates, is driven by lead screw and is moved forward, cuts off tomato
Main carpopodium realizes the picking of fruit string, and clamping is synchronous with cutting, and picking reliability is high, and fruit is injury-free, easy to operate, general
Property it is high, the picking for the single fruit of different type and fruit string provides ideal picker.
The technical solution adopted by the utility model to solve its technical problems is that：Fruit string picking mechanical arm end executes
Device comprising carpopodium clamping device, carpopodium cutting mechanism and control assembly, carpopodium cutting mechanism are installed on carpopodium clamping device
Upper surface,
Fruit string picking mechanical arm end effector, including carpopodium clamping device, carpopodium cutting mechanism, carpopodium cutting mechanism
It is installed on the upper surface of carpopodium clamping device；
Carpopodium clamping device includes cylinder, T shapes frame, lower substrate, right gripping finger, left gripping finger, push rod, right clamping limb, left clamping
Arm, the cylinder body front end of cylinder are fixed on the rear side of T shape framves, and cylinder piston rod passes through vertical in the middle part of push rod fixed in the middle part of T shapes frame
Connection；One end hinge connection with two connecting rods respectively of push rod both ends, the other ends of two connecting rods respectively with right clamping limb, Zuo Jia
Gripping arm hinge connection；Lower substrate rear portion is fixed on downside before T shape framves, right clamping limb, left clamping limb middle part respectively with lower substrate
Front is connected by pin hinge, and right gripping finger, left gripping finger are separately fixed at the front end of right clamping limb, left clamping limb, right gripping finger, the right side
Clamping limb is arranged symmetrically with left gripping finger, left clamping limb along lower substrate longitudinal centre line, and right clamping limb and left clamping limb is symmetrical
The centerline parallel of center line and cylinder piston rod and in same vertical plane；
Carpopodium cutting mechanism includes the first support plate, dc motor, the second support plate, stepping motor, shaft coupling, pedestal cunning
Set, upper substrate, circular saw, third support plate, flexible axle, guide rod, lead screw, upper substrate rear portion are fixed on T shape frame front upper sides, direct current drive
Machine, stepping motor are fixed on the upper surface of cylinder by the first support plate, the second support plate respectively, and pedestal sliding sleeve is fixed on upper substrate
Upper surface, guide rod pass through pedestal sliding sleeve and constitute axial movement pair with pedestal sliding sleeve；Be helical structure inside guide rod, guide rod it is interior
Spiral constitutes worm drive with lead screw external spiral；Lead screw outer end is coaxially connected with stepping motor by shaft coupling, third support plate
It is fixed on guide rod front end, circular saw is mounted on by bearing below third support plate；One end of flexible axle and direct current drive mechanomotive force are defeated
Go out axis connection, the other end of flexible axle and the power input shaft of circular saw connect.
Each mechanical structure in above-mentioned end actuator can be controlled manually, can also be real by carrying self-con-tained unit
Existing automation mechanized operation.Preferably, being additionally provided with the control for controlling carpopodium clamping device, carpopodium cutting mechanism in end effector
Assembly processed.
Further, the control assembly includes piezoelectricity diaphragm type sensing element, controller, three two-way electromagnetic valves, driving
Circuit, relay, two piezoelectricity diaphragm type sensing elements are separately fixed at the inside of right gripping finger, left gripping finger, cylinder, dc motor,
Stepping motor is separately connected three two-way electromagnetic valves, relay, driving circuits；Three two-way electromagnetic valves, relay, driving electricity
Road and two piezoelectricity diaphragm type sensing elements are connected with controller.
Preferably, right gripping finger, left gripping finger upper surface are in same plane, circular saw lower surface is flat with right gripping finger upper surface
Row, and there are gaps with right gripping finger upper surface for circular saw lower surface.
Preferably, the chinky altitude between circular saw lower surface and right gripping finger upper surface is 0.5-5mm.
The gain effect that the utility model is brought is, by controlling three two-way electromagnetic valve states, to drive carpopodium clamping machine
Structure cylinder operation, to drive clamping link mechanism to realize the folding of left and right gripping finger, the folder measured by piezoelectricity diaphragm type sensing element
Holding force size, realize carpopodium quickly, the clamping stablized, overcome that end effector fruit is easily damaged, efficiency is low, poor accuracy etc.
Disadvantage；Controlling relay by controller makes the dc motor of carpopodium cutting mechanism work, and rotating soft axle is driven, to drive
Circular saw high speed rotation drives lead screw rotation by stepping motor, drives circular saw to be moved to close to carpopodium direction, ensure fruit
The reliability of real string carpopodium cutting, improves picking efficiency.The device picks reliability height, and fruit is not damaged, easy to operate, leads to
With property height, it is suitable for the picking work of the single fruit of different type and fruit string.
Description of the drawings
Fig. 1 is the axonometric drawing of fruit string picking mechanical arm end effector；
Fig. 2 is the axonometric drawing of the carpopodium clamping device of fruit string picking mechanical arm end effector；
Fig. 3 is the control assembly electric diagram of fruit string picking mechanical arm end effector；
In figure：Cylinder 1, the first support plate 2, dc motor 3, the second support plate 4, stepping motor 5, T shapes frame 6, shaft coupling
7, pedestal sliding sleeve 8, upper substrate 9, lower substrate 10, circular saw 11, right gripping finger 12, left gripping finger 13, piezoelectricity diaphragm type sensing element 14, third
Support plate 15, flexible axle 16, guide rod 17, lead screw 18, push rod 19, connecting rod 20, right clamping limb 21, left clamping limb 22
Specific implementation mode
The concrete structure and embodiment of the utility model are further illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 shows, fruit string picking mechanical arm end effector includes carpopodium clamping device, carpopodium
Cutting mechanism is installed on the upper surface of carpopodium clamping device with control assembly, carpopodium cutting mechanism.
Carpopodium clamping device includes cylinder 1, T shapes frame 6, lower substrate 10, right gripping finger 12, left gripping finger 13, push rod 19, right clamping
Arm 21, left clamping limb 22, the cylinder body front end of cylinder 1 are fixed on the rear side of T shapes frame 6,1 piston rod of cylinder pass through 6 middle part of T shapes frame with
19 middle part of push rod is vertically fixedly connected；One end hinge connection with two connecting rods 20 respectively of 19 both ends of push rod, two connecting rods 20
The other end respectively with right clamping limb 21,22 hinge connection of left clamping limb；10 rear portion of lower substrate is fixed on downside before T shapes frame 6, right folder
Gripping arm 21, left clamping limb 22 middle part connect respectively by pin hinge with 10 front of lower substrate, right gripping finger 12, left gripping finger 13 are divided
It is not fixed on the front end of right clamping limb 21, left clamping limb 22, right gripping finger 12, right clamping limb 21 and left gripping finger 13, left clamping limb 22
It is arranged symmetrically along 10 longitudinal centre line of lower substrate, and the symmetrical center line and 1 piston of cylinder of right clamping limb 21 and left clamping limb 22
The centerline parallel of bar and in same vertical plane；
Carpopodium cutting mechanism include the first support plate 2, dc motor 3, the second support plate 4, stepping motor 5, shaft coupling 7,
Pedestal sliding sleeve 8, upper substrate 9, circular saw 11, third support plate 15, flexible axle 16, guide rod 17, lead screw 18,9 rear portion of upper substrate are fixed on T
6 front upper side of shape frame, dc motor 3, stepping motor 5 are fixed on the upper of cylinder 1 by the first support plate 2, the second support plate 4 respectively
Surface, pedestal sliding sleeve 8 are fixed on 9 upper surface of upper substrate, and guide rod 17 passes through pedestal sliding sleeve 8 and constitutes axial shifting with pedestal sliding sleeve 8
Dynamic pair；17 inside of guide rod is helical structure, and inside spin and 18 external spiral of lead screw of guide rod 17 constitute worm drive；18 outer end of lead screw
Coaxially connected by shaft coupling 7 and stepping motor 5, third support plate 15 is fixed on 17 front end of guide rod, and circular saw 11 passes through bearing
Below third support plate 15；One end of flexible axle 16 and 3 power output axis connection of dc motor, the other end of flexible axle 16 with
The power input shaft of circular saw 11 connects；
Control assembly includes piezoelectricity diaphragm type sensing element 14, controller, three two-way electromagnetic valves, driving circuit, relays, and two
Piezoelectricity diaphragm type sensing element 14 is separately fixed at the inside of right gripping finger 12, left gripping finger 13, cylinder 1, dc motor 3, stepping electricity
Motivation 5 is separately connected three two-way electromagnetic valves, relay, driving circuits；Three two-way electromagnetic valves, relay, driving circuit with
And two piezoelectricity diaphragm type sensing elements (14) be connected with controller realize feedback control.Cylinder 1, dc motor 3, stepping are electronic
The work of machine 5 is controlled by three two-way electromagnetic valves, relay, driving circuit respectively by controller.
Fruit string picking mechanical arm end effector, it is characterised in that right gripping finger 12,13 upper surface of left gripping finger are same flat
Face, 11 lower surface of circular saw is parallel with 12 upper surface of right gripping finger, and there is 0.5- in 11 lower surface of circular saw with 12 upper surface of right gripping finger
The space length of 5mm.
A kind of picking method based on above-mentioned fruit string picking mechanical arm end effector is：
The first step：System reset, controller, which controls three two-way electromagnetic valves, makes the piston rod of cylinder 1 be in contraction state,
To make right gripping finger 12, left gripping finger 13 be in separated position；Controller control driving circuit makes circular saw 11 be located on upper substrate 9
Side；
Second step：End effector is moved at the main carpopodium of tomato by fruit string picking mechanical arm, and end is held
Right gripping finger 12, the left gripping finger 13 of row device are located at the main carpopodium both sides of tomato；
Third walks：Controller controls three two-way electromagnetic valve forward directions and connects, and the piston rod of cylinder 1 stretches out, while driving and pushing away
Bar 19 moves forward, and push rod 19 drives two rotations of connecting rod 20 to make right clamping limb 21, left clamping limb 22 with the axis pin at middle part
It is rotated for hinge point, and then drives right gripping finger 12, left gripping finger 13 that the main carpopodium of tomato is clamped respectively；With 1 piston rod of cylinder
Forward movement, right gripping finger 12,13 chucking power of left gripping finger increase, and clamping compression piezoelectricity diaphragm type sensing element 14 passes through piezoelectricity membrane type
Sensor 14 is transferred to controller by force signal is clamped, and is preset more than in controller when piezoelectricity diaphragm type sensing element 14 receives chucking power
Pressure when, three two-way electromagnetic valves replace to hold mode；
4th step：Controller control relay makes dc motor 3 work, and dc motor 3 is driven by flexible axle 16 to be justified
Shape saws 11 high speed rotations, while controller control driving circuit makes stepping motor 5 rotate in the forward direction, and stepping motor 5 passes through connection
Axis device 7 drives lead screw 18 to rotate, and guide rod 17 moves forward under 18 screw action of lead screw and by which third support plate 15 drives
Circular saw 11 moves forward, and after circular saw 11 is contacted with the main carpopodium of tomato and continues to move to, the main carpopodium of tomato is by circular saw 11
Cut-out, before circular saw 11 is moved to when extreme position, controller control relay makes dc motor 3 be stopped, simultaneously
Controller control driving circuit makes stepping motor 5 reversely rotate, until circular saw 11 is moved rearwardly into initial position；
5th step：The end effector for being clamped with fruit string is moved to designated position by tamato fruit string picking mechanical arm；
6th step：Controller controls three two-way electromagnetic valves and reversely connects, and the piston rod of cylinder 1 is shunk, push rod 19, connecting rod
20, right clamping limb 21, left clamping limb 22, right gripping finger 12, left gripping finger 13 respectively do the action opposite with second step, right gripping finger
12, left gripping finger 13 is unclamped, and fruit string is placed on designated position.
The course of work of the utility model：Controlling three two-way electromagnetic valves by controller makes the piston rod of cylinder 1 be in
Contraction state, to make right gripping finger 12, left gripping finger 13 be in separated position；Controller control driving circuit makes circular saw 11 be located at
9 top of upper substrate, makes end effector system reset；End effector is moved to tomato by fruit string picking mechanical arm
At main carpopodium, and the right gripping finger 12 of end effector, left gripping finger 13 are located at the main carpopodium both sides of tomato；Controller controls three
Two-way electromagnetic valve forward direction is connected, and the piston rod of cylinder 1 stretches out, while push rod 19 being driven to move forward, and push rod 19 drives two companies
Bar 20 rotates to make right clamping limb 21, left clamping limb 22 be rotated as hinge point using the axis pin at middle part, and then driven respectively
The main carpopodium of tomato is clamped in right gripping finger 12, left gripping finger 13；With the forward movement of 1 piston rod of cylinder, right gripping finger 12, left gripping finger 13 are pressed from both sides
Holding force increases, and clamping compression piezoelectricity diaphragm type sensing element 14 is transferred to control by piezoelectricity diaphragm type sensing element 14 by force signal is clamped
Device, when piezoelectricity diaphragm type sensing element 14, which receives chucking power, is more than the pressure of controller design, three two-way electromagnetic valves replace to guarantor
Hold state；Controller control relay makes dc motor 3 work, and dc motor 3 drives circular saw 11 high by flexible axle 16
Speed rotation, while controller control driving circuit makes stepping motor 5 rotate in the forward direction, stepping motor 5 is driven by shaft coupling 7
Lead screw 18 rotates, and guide rod 17 moves forward under 18 screw action of lead screw and drives circular saw 11 to Forward by third support plate 15
It is dynamic, it after circular saw 11 is contacted with the main carpopodium of tomato and continues to move to, the main carpopodium of tomato is cut off by circular saw 11, when circular saw 11
Before being moved to when extreme position, controller control relay makes dc motor 3 be stopped, while controller control driving electricity
Road makes stepping motor 5 reversely rotate, until circular saw 11 is moved rearwardly into initial position；Tamato fruit string picking mechanical arm will
The end effector for being clamped with fruit string is moved to designated position；Controller controls three two-way electromagnetic valves and reversely connects, cylinder 1
Piston rod shrink, push rod 19, connecting rod 20, right clamping limb 21, left clamping limb 22, right gripping finger 12, left gripping finger 13 are respectively pressed from both sides
Counteragent when holding, right gripping finger 12, left gripping finger 13 are unclamped, and fruit string is placed on designated position, complete a fruit string picking, end
Actuator system is held to reset.
Claims (5)
1. a kind of fruit string picking mechanical arm end effector, it is characterised in that including carpopodium clamping device, carpopodium cutting mechanism,
Carpopodium cutting mechanism is installed on the upper surface of carpopodium clamping device；
Carpopodium clamping device includes cylinder (1), T shapes frame (6), lower substrate (10), right gripping finger (12), left gripping finger (13), push rod
(19), right clamping limb (21), left clamping limb (22), the cylinder body front end of cylinder (1) are fixed on the rear side of T shapes frame (6), cylinder (1)
Piston rod passes through vertical in the middle part of push rod (19) in the middle part of T shapes frame (6) be fixedly connected；Push rod (19) both ends respectively with two connecting rods
(20) other end of one end hinge connection, two connecting rods (20) connects with right clamping limb (21), left clamping limb (22) hinge respectively
It connects；Lower substrate (10) rear portion is fixed on downside before T shapes frame (6), right clamping limb (21), left clamping limb (22) middle part respectively under
Substrate (10) front is connected by pin hinge, and right gripping finger (12), left gripping finger (13) are separately fixed at right clamping limb (21), Zuo Jia
The front end of gripping arm (22), right gripping finger (12), right clamping limb (21) and left gripping finger (13), left clamping limb (22) are vertical along lower substrate (10)
It is arranged symmetrically to center line, and in the symmetrical center line and cylinder (1) piston rod of right clamping limb (21) and left clamping limb (22)
Heart line is parallel and in same vertical plane；
Carpopodium cutting mechanism includes the first support plate (2), dc motor (3), the second support plate (4), stepping motor (5), shaft coupling
Device (7), pedestal sliding sleeve (8), upper substrate (9), circular saw (11), third support plate (15), flexible axle (16), guide rod (17), lead screw
(18), upper substrate (9) rear portion is fixed on T shapes frame (6) front upper side, and dc motor (3), stepping motor (5) pass through respectively
One support plate (2), the second support plate (4) are fixed on the upper surface of cylinder (1), and pedestal sliding sleeve (8) is fixed on upper substrate (9) upper surface,
Guide rod (17) passes through pedestal sliding sleeve (8) and constitutes axial movement pair with pedestal sliding sleeve (8)；It is helical structure inside guide rod (17),
The inside spin of guide rod (17) constitutes worm drive with lead screw (18) external spiral；Lead screw (18) outer end passes through shaft coupling (7) and stepping
Motor (5) is coaxially connected, and third support plate (15) is fixed on guide rod (17) front end, and circular saw (11) is mounted on third by bearing
Support plate (15) is below；One end of flexible axle (16) and dc motor (3) power output axis connection, the other end and circle of flexible axle (16)
Shape saws the power input shaft connection of (11).
2. fruit string picking mechanical arm end effector according to claim 1, it is characterised in that be additionally provided with for controlling
The control assembly of carpopodium clamping device, carpopodium cutting mechanism.
3. fruit string picking mechanical arm end effector according to claim 2, it is characterised in that the control assembly
Including piezoelectricity diaphragm type sensing element (14), controller, three two-way electromagnetic valves, driving circuit, relays, two piezoelectricity membrane type sensings
Device (14) is separately fixed at the inside of right gripping finger (12), left gripping finger (13), cylinder (1), dc motor (3), stepping motor
(5) three two-way electromagnetic valves, relay, driving circuits are separately connected；Three two-way electromagnetic valves, relay, driving circuit and
Two piezoelectricity diaphragm type sensing elements (14) are connected with controller.
4. fruit string picking mechanical arm end effector according to claim 1, it is characterised in that right gripping finger (12), Zuo Jia
Refer to (13) upper surface in same plane, circular saw (11) lower surface is parallel with right gripping finger (12) upper surface, and under circular saw (11)
There are gaps with right gripping finger (12) upper surface on surface.
5. fruit string picking mechanical arm end effector according to claim 1, it is characterised in that circular saw (11) following table
Chinky altitude between face and right gripping finger (12) upper surface is 0.5-5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820251347.7U CN207927251U (en) | 2018-02-12 | 2018-02-12 | A kind of fruit string picking mechanical arm end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820251347.7U CN207927251U (en) | 2018-02-12 | 2018-02-12 | A kind of fruit string picking mechanical arm end effector |
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| Publication Number | Publication Date |
|---|---|
| CN207927251U true CN207927251U (en) | 2018-10-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820251347.7U Withdrawn - After Issue CN207927251U (en) | 2018-02-12 | 2018-02-12 | A kind of fruit string picking mechanical arm end effector |
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| CN (1) | CN207927251U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108293418A (en) * | 2018-02-12 | 2018-07-20 | 中国计量大学 | Fruit string picking mechanical arm end effector and its picking method |
| CN111010993A (en) * | 2019-12-18 | 2020-04-17 | 华南理工大学 | Manipulator end device for bunching tomatoes and picking method thereof |
-
2018
- 2018-02-12 CN CN201820251347.7U patent/CN207927251U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108293418A (en) * | 2018-02-12 | 2018-07-20 | 中国计量大学 | Fruit string picking mechanical arm end effector and its picking method |
| CN108293418B (en) * | 2018-02-12 | 2024-01-30 | 中国计量大学 | End effector of fruit string picking manipulator and picking method thereof |
| CN111010993A (en) * | 2019-12-18 | 2020-04-17 | 华南理工大学 | Manipulator end device for bunching tomatoes and picking method thereof |
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Granted publication date: 20181002 Effective date of abandoning: 20240130 |