CN209449256U - A kind of fruit picking end effector - Google Patents

Abstract

The utility model discloses a kind of fruit picking end effector, is related to fruits picking mechanical field, including import body, cutter device and support device；The importing body includes the first importing block, the second importing block, and the front end of the first importing block is provided with the first lozenges；The front end of the second importing block is provided with the second lozenges；First lozenges and second lozenges can form the semiclosed region of V-shape；The cutter device includes roundlet saw blade, motor, the power output shaft rotation connection of the roundlet saw blade and the motor；The support device includes mobile jib and lantern ring, and the upper end of the mobile jib screws with lantern ring rotation and connect；The branch of fruit is introduced by two importing block front ends with lozenges and is imported in body, fruit is accurately grabbed；Carpopodium is cut off by the rotation of motor-driven roundlet saw blade again, realizes the picking of fruit, and does not destroy the surface of fruit.

Description

A kind of fruit picking end effector

Technical field

The utility model relates to fruits picking mechanical fields, and in particular to a kind of fruit picking end effector.

Background technique

The picking of fruit mainly manually operates, but because most of fruit shape is tall and big, branches and leaves are luxuriant, picking effect Rate is lower, and the picking of fruit is always a great problem for perplexing orchard worker.Fruit picking part has used automation equipment at present.But In the prevalence of crawl fruit accuracy rate, low, destructible fruit surface is unfavorable for water to current existing seed harvester end effector The disadvantages of preservation of fruit.

Utility model content

To solve the above problems, the utility model provides a kind of fruit picking end effector, including import body, cutting dress It sets and support device, the gatherer, the cutter device is fixed at the top of the support device；

The importing body include first import block, second import block, it is described first import block one side in the middle part of with it is described It is welded and fixed in the middle part of the one side of second importing block；

The front end of the first importing block is provided with the first lozenges；The front end of the second importing block is provided with the second wedge Shape face；First lozenges and second lozenges can form the semiclosed region of V-shape；

The cutter device includes roundlet saw blade, motor, and the roundlet saw blade is arranged in the lower section of the motor, and with institute State the power output shaft rotation connection of motor；

The support device includes mobile jib and lantern ring, and the upper end of the mobile jib passes through the lantern ring, and turns with the lantern ring It is dynamic to screw connection；

End, the described second end for importing block of the first importing block pass through revolute pair and are connected to the lantern ring Edge.

As a kind of improvement of the utility model, first lozenges is provided with the first groove；Close to described Two lozenges are provided with the second groove；First groove and the second groove can surround the cutting groove for accommodating more fruit carpopodiums.

As a kind of improvement of the utility model, cutting groove described in face below the edge of the roundlet saw blade.

As a kind of improvement of the utility model, it is provided with collection frame below the cutting groove, the two of the collection frame Side passes through hook respectively and is fixedly connected with the lateral surface of the lateral surface of the first importing block, the second importing block.

As a kind of improvement of the utility model, hollow pipeline is equipped with inside the mobile jib；The motor fixed setting In the upper end of the pipeline.

As a kind of improvement of the utility model, multiple edges for importing body and being annularly distributed in the lantern ring.

The utility model has the beneficial effects that being formed by V-shape region Jiang Shui by two importing blocks with lozenges The branch of fruit is introduced into cutting groove, can accurately be grabbed to fruit；Promote the accuracy rate of crawl；Again by cutting groove Carpopodium is cut off in the rotation of roundlet saw blade of side, and since fruit is located at the lower section of cutting groove, when cutting, which will not contact, does not break fruit It is real；4 importing bodies, which are arranged, to realize that the continuous several times of fruit are picked by the rotation of support device.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of fruit picking end effector of the utility model；

Fig. 2 is the structural schematic diagram that body is imported in the utility model；

Fig. 3 is that schematic diagram after body is connect with lantern ring by revolute pair is imported in the utility model；

Attached drawing mark: 1- imports body；11- first imports block；The first lozenges of 111-；The first groove of 112-；12- second is led Enter block；The second lozenges of 121-；The second groove of 122-；2- cutter device；21- roundlet saw blade；22- motor；3- support device； 31- mobile jib；311- pipeline；32- lantern ring；4- cutting groove；5- collection frame.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe.

As shown in Figs. 1-2, one embodiment of the utility model discloses a kind of fruit picking end effector, including leads Enter body 1, cutter device 2 and support device 3, the importing body 1, the cutter device 2 are fixed at the support dress Set 3 top；The importing body 1 includes that the first importing block 11, second imports block 12, and described first imports in the one side of block 11 It is welded and fixed in the middle part of portion and the one side of the second importing block 12；The front end of the first importing block 11 is provided with the first wedge shape Face 111；The front end of the second importing block 12 is provided with the second lozenges 121；First lozenges 111 and second wedge Shape face 121 can form the semiclosed region of V-shape；The cutter device 2 includes roundlet saw blade 21, motor 22, the roundlet saw blade 21 are arranged in the lower section of the motor 22, and are rotatablely connected with the power output shaft of the motor 22；The support device 3 includes Mobile jib 31 and lantern ring 32, the upper end of the mobile jib 31 passes through the lantern ring 32, and screws and connect with the lantern ring 32 rotation；It is described End, the described second end for importing block 12 of first importing block 11 pass through the edge that revolute pair is connected to the lantern ring 32. V-shape region is formed by by two importing blocks with lozenges the branch of fruit is introduced into cutting groove, then pass through Carpopodium is cut off in the rotation of roundlet saw blade above cutting groove, realizes the picking of fruit.

In the present embodiment, first lozenges 111 is provided with the first groove 112；Close to second wedge shape Face 121 is provided with the second groove 122；First groove 112 can surround with the second groove 122 and accommodate cutting for more fruit carpopodiums Cut slot 4.The fruit branch of importing is concentrated in cutting groove, and fruit is made to be located at the lower section of cutting groove, avoids cutting off carpopodium When destroy fruit surface.

In the present embodiment, cutting groove 4 described in face below the edge of the roundlet saw blade 21.Make the edge of roundlet saw blade It is directed at carpopodium to be cut, realizes accurately cutting.

In the present embodiment, the lower section of the cutting groove 4 is provided with collection frame 5, and the two sides of the collection frame 5 pass through respectively It links up with and is fixedly connected with the lateral surface of the lateral surface of the first importing block 11, the second importing block 12.It can make to cut carpopodium Fruit afterwards, which drops into frame, to be collected.

In the present embodiment, hollow pipeline 311 is equipped with inside the mobile jib 31；The motor 22 is fixed at described The upper end of pipeline 311.So that cutter device and support device is formed an entirety, simplifies the structure of fruit picking end effector.

In the present embodiment, multiple edges for importing body 1 and being annularly distributed in the lantern ring 32.It is imported when one When collection frame below body fills fruit, strut can be rotated, other bodies that import can be used to carry out continuing to pick.

When specific works, after being moved to the front end for importing body near the fruit wait pick, wedge is had using two The importing block front end in shape face is formed by V-shape region and the branch of fruit is introduced into cutting groove, starts motor, motor rotation The carpopodium of fruit is cut off in the rotation for driving roundlet saw blade, and the fruit after cutting carpopodium, which drops into, completes fruit in collection frame Picking.

Finally, it is stated that above be only described in detail explanation to the utility model specific embodiment.But this is practical new Type is not restricted to above description specific embodiment.The equivalent modifications and replace that those skilled in the art carries out the utility model In generation, is also all among the scope of the utility model.Therefore, the made equalization under the spirit and scope for not departing from the utility model Transformation and modification, all cover in the scope of the utility model.

Claims (6)

1. a kind of fruit picking end effector, including body (1), cutter device (2) and support device (3) are imported, it is described to lead Enter body (1), the cutter device (2) is fixed at the top of the support device (3), it is characterised in that:

The importing body (1) includes the first importing block (11), the second importing block (12), and described first imports the one side of block (11) It is welded and fixed in the middle part of the one side that middle part imports block (12) with described second；

Described first front end for importing block (11) is provided with the first lozenges (111)；Described second front end for importing block (12) is set It is equipped with the second lozenges (121)；It is semiclosed that first lozenges (111) with second lozenges (121) can form V-shape Region；

The cutter device (2) includes roundlet saw blade (21), motor (22), and the roundlet saw blade (21) is arranged in the motor (22) lower section, and be rotatablely connected with the power output shaft of the motor (22)；

The support device (3) includes mobile jib (31) and lantern ring (32), and the upper end of the mobile jib (31) passes through the lantern ring (32), And it screws and connect with the lantern ring (32) rotation；

Described first, which imports the end of block (11), the described second end for importing block (12), passes through revolute pair and is connected to the set The edge of ring (32).

2. fruit picking end effector according to claim 1, it is characterised in that:

First lozenges (111) is provided with the first groove (112)；It is provided with close to second lozenges (121) Second groove (122)；First groove (112) and the second groove (122) can surround the cutting groove for accommodating more fruit carpopodiums (4)。

3. fruit picking end effector according to claim 1, it is characterised in that:

Face cutting groove (4) below the edge of the roundlet saw blade (21).

4. fruit picking end effector according to claim 3, it is characterised in that:

Be provided with collection frame (5) below the cutting groove (4), the two sides of the collection frame (5) pass through respectively hook with it is described First imports the lateral surface of block (11), the described second lateral surface for importing block (12) is fixedly connected.

5. fruit picking end effector according to claim 1, it is characterised in that:

Hollow pipeline (311) is equipped with inside the mobile jib (31)；The motor (22) is fixed at the pipeline (311) Upper end.

6. fruit picking end effector according to claim 1, it is characterised in that:

Multiple edges for importing body (1) and being annularly distributed in the lantern ring (32).