CN208675820U - A kind of terminal executor of picking robot - Google Patents
A kind of terminal executor of picking robot Download PDFInfo
- Publication number
- CN208675820U CN208675820U CN201820977425.1U CN201820977425U CN208675820U CN 208675820 U CN208675820 U CN 208675820U CN 201820977425 U CN201820977425 U CN 201820977425U CN 208675820 U CN208675820 U CN 208675820U
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- Prior art keywords
- knife rest
- finger
- shaped finger
- pneumatic
- spring
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- 230000001681 protective effect Effects 0.000 claims description 18
- 230000000007 visual effect Effects 0.000 claims description 9
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000013519 translation Methods 0.000 abstract description 3
- 235000013399 edible fruits Nutrition 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 235000012055 fruits and vegetables Nutrition 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 235000016623 Fragaria vesca Nutrition 0.000 description 1
- 240000009088 Fragaria x ananassa Species 0.000 description 1
- 235000011363 Fragaria x ananassa Nutrition 0.000 description 1
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 1
- 241000220225 Malus Species 0.000 description 1
- 235000011430 Malus pumila Nutrition 0.000 description 1
- 235000015103 Malus silvestris Nutrition 0.000 description 1
- 240000003768 Solanum lycopersicum Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model provides a kind of terminal executor of picking robot, comprising: pneumatic-finger, left U-shaped finger shield knife rest, right U-shaped finger shield knife rest, left blade, left spring clamping plate, right blade and right spring clip plate.A pair of of spring clip plate opposite direction is driven to translate using pneumatic-finger, after clamping carpopodium by elasticity, two fingers continue translation and drive the blade closure connected firmly on two fingers, to cut off carpopodium, the utility model has many advantages, such as compact-sized, succinct, versatile, at low cost.
Description
Technical field
The utility model belongs to agriculture fruits and vegetables automation seed harvester technical field more particularly to a kind of picking robot end
Hold actuator.
Background technique
In recent years, agriculture fruit and vegetable picking robot is increasingly becoming the hot spot of robot field's research and development, the relevant technologies
Many achievements are at home and abroad obtained, but major part rests on laboratory development phase, due to agriculture fruit and vegetable picking robot
It is higher to the manufacture claim of end effector in R&D process, therefore picking robot distance is practical, there is also very for commercialization
Big gap.
So far, there are mainly two types of the Softenings of terminal executor of picking robot: stubborn formula is broken in movement and knife cuts off
Disconnected formula.Movement, which breaks stubborn formula design corresponding mechanism and first carries out clamping to fruit, holds, and recycles in carpal two vertical direction
Rotation simulate the movement that people breaks stubborn carpopodium, the object of operation requires carpopodium to be easy to separate with fruit branch, while needing stringent
The size for controlling the power of clamping fruit, otherwise easily damages fruit.Knife cuts cutting type and mainly utilizes motor driven annular saw knife
Or scissor action directly cuts off carpopodium, this method transmission mechanism scheme and control sensor-based system are often more tedious, thus
The difficulty of system control and the complexity of mechanism are increased, cost is increased.
Summary of the invention
In order to solve the above technical problems, the utility model provides a kind of terminal executor of picking robot.In order to disclosure
The some aspects of embodiment have a basic understanding, simple summary is shown below.The summarized section is not generally to comment
It states, nor to determine key/critical component or describe the protection scope of these embodiments.Its sole purpose is with simple
Form some concepts are presented, in this, as the preamble of following detailed description.
The utility model adopts the following technical solution:
In some alternative embodiments, a kind of terminal executor of picking robot is provided, comprising: pneumatic-finger, it is described
Left U-shaped finger shield knife rest and right U-shaped finger shield knife rest are respectively set on two clamping jaws of pneumatic-finger；The U-shaped finger shield in a left side
Left blade is set on the clamping face of knife rest, and left spring clamping plate is connect by spring with the clamping face that the U-shaped finger in the left side protects knife rest；
On the clamping face of the U-shaped finger shield knife rest in the right side setting right blade corresponding with the left blade and with the left spring clamping plate
Corresponding right spring clip plate, the right spring clip plate are connect by spring with the clamping face that the U-shaped finger in the right side protects knife rest.
In some alternative embodiments, a kind of terminal executor of picking robot, further includes: mechanical arm docking
Part, the pneumatic-finger are fixed by screws on the mechanical arm interfacing part.
In some alternative embodiments, a kind of terminal executor of picking robot, further includes: visual sensing
Device, the visual sensor are fastened on the middle position below the pneumatic-finger ontology by screw.
In some alternative embodiments, a kind of terminal executor of picking robot, further includes: be arranged described
Left protective cover and right protective cover on the sliding rail of pneumatic-finger, the left protective cover are set in the U-shaped finger shield knife rest in the left side
Outside, the right protective cover are set in the outside of the U-shaped finger shield knife rest in the right side.
In some alternative embodiments, the front end of the left spring clamping plate extends and protects knife rest to the U-shaped finger in the left side
Curving formed it is left outside prolong plate, the front end of the right spring clip plate extends simultaneously to the U-shaped finger shield knife rest curving in right side
Form right extension plate.
The utility model has the advantages that only can be realized pair using a piston stretching motion of a cylinder brought by the utility model
The clamping and cutting of carpopodium, power resources drive in air pressure, are swift in motion, light weight, movement range is square with active force
Just type selecting and setting can save the mechanics sensor of the control chucking power of a variety of higher costs and the stroke position of control blade flex
Switch is set, control structure is simplified, reduces costs and control difficulty structure, therefore there is compact, light-weight, high-efficient
And the advantage that control is simple；Spring clip plate structure guarantees that carpopodium clamping is reliable and durable, and two fingers can after blade structure cuts off carpopodium
Continue to clamp lower section carpopodium, fruit is placed in collection device, falls and be damaged after preventing the disconnected stalk of fruit；It is versatile,
It can be applied to a variety of fruits and vegetables such as picking strawberry, tomato, apple；Degree of intelligence is high, carries out fruit position using visual sensor
Image Acquisition, to promote avoidance.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of terminal executor of picking robot of the utility model；
Fig. 2 is structure of the terminal executor of picking robot of the utility model after dismantle left protective cover and right protective cover
Schematic diagram；
Fig. 3 is the utility model left spring clamping plate, right spring clip plate, left U-shaped finger shield knife rest and right U-shaped finger shield knife rest
Connection schematic diagram.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Other embodiments may include structure, logic, it is electrical, process and other change.Embodiment
Only represent possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and the sequence operated can be with
Variation.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The range of bright embodiment includes equivalent obtained by the entire scope of claims and all of claims
Object.
As shown in Figures 1 to 3, in some illustrative embodiments, a kind of terminal executor of picking robot is provided, is wrapped
It includes: pneumatic-finger 1, left U-shaped finger shield knife rest 4, right U-shaped finger shield knife rest 11, left blade 3, right blade 8, spring 5, left spring
Clamping plate 6, right spring clip plate 7, mechanical arm interfacing part 12, visual sensor 10, left protective cover 2 and right protective cover 9.
Pneumatic-finger 1 is fixed by screws on mechanical arm interfacing part 12, and the rear portion processing of mechanical arm interfacing part 12 is reserved
There is the threaded mounting hole connecting with picking mechanical wrist.Left U-shaped finger shield knife rest 4 and right U type finger shield knife rest 11 pass through spiral shell
Nail, which is tightened, to be arranged on two clamping jaw 1a of pneumatic-finger 1.
The clamping face of left U-shaped finger shield knife rest 4 opens up blade installation slot, and left blade 3 is arranged in blade installation slot, left U
The clamping face of type finger shield knife rest 4 refers to the one side towards right U-shaped finger shield knife rest 11.Left spring clamping plate 6 passes through spring 5 and a left side
The clamping face connection of U-shaped finger shield knife rest 4, specifically, left spring clamping plate 6 is fixed on left U-shaped finger shield knife rest 4, pneumatic-finger 1
In the mounting hole of left and right translation finger corresponding position.
The clamping face of right U-shaped finger shield knife rest 11 opens up blade installation slot, and right blade 8 is arranged in blade installation slot, right U
The clamping face of type finger shield knife rest 11 refers to the one side towards left U-shaped finger shield knife rest 4.Right spring clip plate 7 passes through spring 5 and the right side
The clamping face connection of U-shaped finger shield knife rest 11, specifically, right spring clip plate 7 is fixed on right U-shaped finger shield knife rest 11, pneumatic hand
In the mounting hole for referring to 1 or so translation finger corresponding positions.Wherein, left blade 3 is corresponding with the position of right blade 8, can mutually hand over
It connects, to guarantee that carpopodium can be cut completely, and realizes the movement of two handover blades truncation carpopodium, ensure that and cut off carpopodium
Success rate and extension blade life.Left spring clamping plate 6 is corresponding with the position of right spring clip plate 7.
5 both ends of spring are fixed respectively to be fastened in left spring clamping plate 6, right spring clip plate 7 and left U-shaped finger shield knife rest 4, right U
Type finger protects between knife rest 11, with guarantee after carpopodium clamping will not moving, while left blade 3, right blade 8 can effectively cut off fruit
Obstruct and clamp remaining carpopodium and fruit is put into collection basket under the drive of robot.When practical picking operation, the utility model
Terminal executor of picking robot moves closer to target carpopodium under the drive of picking mechanical arm, and final carpopodium is by the left spring
Clamping plate 6, right spring clip plate 7 clamp, and spring 5 continues to compress, and are closed completely until the left and right of pneumatic-finger 1 translates finger, i.e., left
Blade 3, right blade 8 mutually handover cutting carpopodium.
Visual sensor 10 is fastened on the middle position below pneumatic-finger ontology 1b by screw, so that acquired figure
The fruit reference axis of picture is aligned with practical picking point reference axis, reduces the correction amount of later period picking Working motion control.
The real work process of the utility model: at the left U-shaped finger shield knife rest 4 of original state, right U-shaped finger shield knife rest 11
In open configuration, spring 5 is in tensional state, i.e., left blade 3, right blade 8 are in original state.Visual sensor 10 is caught when picking
Fruit 3-D image is caught, robot analyzes to obtain the coordinate in the visual coordinate system of fruit mass center through image acquisition and processing, thus
The position of carpopodium is obtained, the position of the carpopodium position in robot coordinate system is then obtained by coordinate conversion, and calculate
The corresponding robot joint angles of picking point are counter to be solved, and is driven each joint of mechanical arm to link by slave computer and joint servo, is driven
The terminal executor of picking robot of the utility model moves on picking location point.
Robot control mechanical arm is maintained at the existing position of picking working position and posture, and controls pneumatic-finger 1 and be passed through phase
After the gas for answering the operating air pressure in direction, left spring clamping plate 6 is completed, right spring clip plate 7 clips carpopodium movement.Then pneumatic-finger
After 1 right-hand man refers to compressed spring 5, drives left blade 3, right blade 8 to connect and cut off carpopodium, in the process, pneumatic-finger 1
Keep ventilation direction constant, left spring clamping plate 6, right spring clip plate 7 keep clamping carpopodium state.Robot drives the utility model
Terminal executor of picking robot move at collector for fruits, pneumatic-finger 1 ventilate direction change, left spring folder
Plate 6, right spring clip plate 7 open, and fruit is fallen into collector for fruits immediately, and so far, end effector is completed to a fruit
The all processes picked in fact.
Left protective cover 2 and right protective cover 9 are arranged on the sliding rail 1c of pneumatic-finger, and left protective cover 2 is set in left U-shaped finger
The outside of knife rest 4 is protected, right protective cover 9 is set in the outside of right U-shaped finger shield knife rest 11, left protective cover 2 and right protective cover 9 and gas
Starting, finger 1, left U-shaped finger protect knife rest 4, right U-shaped finger shield knife rest 4 is bolted connection.
The front end of left spring clamping plate 6 extends and U-shaped finger protects 4 curving of knife rest and formed and left outside prolongs plate 61, right bullet to the left
The front end of spring clamping plate 7 extends and U-shaped finger shield 11 curving of knife rest forms right extension plate 71 to the right, left outside to prolong plate 61 and the right side
Extension plate 71 can enter between left spring clamping plate 6 and right spring clip plate 7 convenient for carpopodium.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, the change made under other any spiritual essence and principles without departing from the utility model are modified, substitution,
Combination simplifies, should be equivalent substitute mode, all should include within the protection scope of the present utility model.
Claims (5)
1. a kind of terminal executor of picking robot characterized by comprising pneumatic-finger, two folders of the pneumatic-finger
Left U-shaped finger shield knife rest and right U-shaped finger shield knife rest are respectively set on pawl；It is set on the clamping face of the U-shaped finger shield knife rest in a left side
Left blade is set, left spring clamping plate is connect by spring with the clamping face that the U-shaped finger in the left side protects knife rest；The U-shaped finger shield in the right side
And the corresponding right blade of the left blade and right spring clip corresponding with the left spring clamping plate is set on the clamping face of knife rest
Plate, the right spring clip plate are connect by spring with the clamping face that the U-shaped finger in the right side protects knife rest.
2. a kind of terminal executor of picking robot according to claim 1, which is characterized in that further include: mechanical arm pair
Fitting, the pneumatic-finger are fixed by screws on the mechanical arm interfacing part.
3. a kind of terminal executor of picking robot according to claim 2, which is characterized in that further include: visual sensing
Device, the visual sensor are fastened on the middle position below the pneumatic-finger ontology by screw.
4. a kind of terminal executor of picking robot according to claim 3, which is characterized in that further include: it is arranged in institute
The left protective cover and right protective cover on the sliding rail of pneumatic-finger are stated, the left protective cover is set in the U-shaped finger shield knife rest in the left side
Outside, the right protective cover is set in the outside of the right side U-shaped finger shield knife rest.
5. a kind of terminal executor of picking robot according to claim 4, which is characterized in that the left spring clamping plate
Front end, which extends and formed to the U-shaped finger in left side shield knife rest curving, left outside prolongs plate, the front end extension of the right spring clip plate
And right extension plate is formed to the U-shaped finger shield knife rest curving in the right side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820977425.1U CN208675820U (en) | 2018-06-25 | 2018-06-25 | A kind of terminal executor of picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820977425.1U CN208675820U (en) | 2018-06-25 | 2018-06-25 | A kind of terminal executor of picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208675820U true CN208675820U (en) | 2019-04-02 |
Family
ID=65879122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820977425.1U Expired - Fee Related CN208675820U (en) | 2018-06-25 | 2018-06-25 | A kind of terminal executor of picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208675820U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108551883A (en) * | 2018-06-25 | 2018-09-21 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN109987407A (en) * | 2019-04-28 | 2019-07-09 | 安庆工匠智能化设备制造有限公司 | A kind of full-automatic slicing machine unloading manipulator |
| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
-
2018
- 2018-06-25 CN CN201820977425.1U patent/CN208675820U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108551883A (en) * | 2018-06-25 | 2018-09-21 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN109987407A (en) * | 2019-04-28 | 2019-07-09 | 安庆工匠智能化设备制造有限公司 | A kind of full-automatic slicing machine unloading manipulator |
| CN109987407B (en) * | 2019-04-28 | 2024-01-09 | 安庆工匠智能化设备制造有限公司 | Full-automatic slicer mechanical arm of unloading |
| CN110149907A (en) * | 2019-05-21 | 2019-08-23 | 南京工程学院 | A kind of spring leaf terminal executor of picking robot |
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| 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: 20190402 |