CN210610363U - Fruit and vegetable picking robot end effector - Google Patents
Fruit and vegetable picking robot end effector Download PDFInfo
- Publication number
- CN210610363U CN210610363U CN201920968162.2U CN201920968162U CN210610363U CN 210610363 U CN210610363 U CN 210610363U CN 201920968162 U CN201920968162 U CN 201920968162U CN 210610363 U CN210610363 U CN 210610363U
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- Prior art keywords
- clamping jaw
- manipulator
- driver
- seat
- fruit
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- Expired - Fee Related
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Abstract
An end effector of a fruit and vegetable picking robot relates to the technical field of robots. Including manipulator and driver, the driver passes through the link and is connected with the manipulator, and the driver is used for driving the manipulator and opens and shuts, the manipulator includes one end and link fixed connection's clamping jaw seat, is provided with a plurality of clamping jaws around the clamping jaw seat, and the clamping jaw seat is kept away from the center of the one end of link and is connected with the industry camera, is connected with vacuum chuck all around. The utility model discloses the during operation absorbs the fruit vegetables of picking through vacuum chuck earlier, and the redriving clamping jaw folds and holds tightly, avoids because of the fruit vegetables is too big or snatch not jail because of the dead weight, leads to picking the failure.
Description
Technical Field
The utility model relates to the technical field of robots, specifically be a fruit vegetables picking robot end effector.
Background
In order to improve the production efficiency of facility agriculture and reduce the production cost, the research on implementing agricultural fruit and vegetable mechanical picking and harvesting is carried out in various countries around the world. The robot for harvesting fruits and vegetables is a development trend of fruit harvesting in the future, and along with the development of high and new technologies taking a computer as a core, the performance of the robot is greatly improved, and the price is greatly reduced. Agriculture is the root of human survival, and human beings are always dedicated to continuously improving the agricultural production efficiency, improving the agricultural production mode and improving the agricultural mechanized and automatic production.
The emergence of agricultural robots is expected to change the traditional labor mode and improve the life and labor states of farmers. In the production operation of fruits and vegetables, harvesting and picking are a link which is most laborious and time-consuming. According to statistics, the harvesting and picking workload accounts for about 40% of the whole workload, and timely picking must be achieved to guarantee the product quality, the operation is the most laborious work in the whole operation, picking in the prior art mainly depends on manpower to pick, and the position needing to be climbed is completed through ladder stand assistance, so that the safety of picking personnel cannot be protected, and the position of the ladder needs to be moved anytime and anywhere, so that the problem of low picking efficiency exists.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a fruit vegetables picking robot end effector can effectively solve the problem in the background art.
The technical scheme for realizing the purpose is as follows: the utility model provides a fruit vegetables picking robot end effector which characterized in that: the manipulator comprises a manipulator and a driver, wherein the driver is connected with the manipulator through a connecting frame, and the driver is used for driving the manipulator to open and close.
Further, the manipulator includes one end and link fixed connection's clamping jaw seat, and clamping jaw seat is provided with a plurality of clamping jaws all around, and the one end of clamping jaw is rotated and is installed on clamping jaw seat's outer wall, and the other end of clamping jaw stretches out the one end of keeping away from the link forward, is connected with the pressure spring between clamping jaw and the clamping jaw seat.
Furthermore, the center of one end of the clamping jaw seat, which is far away from the connecting frame, is connected with an industrial camera, and the periphery of the clamping jaw seat is connected with a vacuum chuck.
Furthermore, the clamping jaw seat is provided with the mounting groove that corresponds with the clamping jaw respectively all around, the one end of clamping jaw is installed in the mounting groove through the pivot rotation.
Furthermore, the connecting frame is a hollow pipe, a pull rope arranged along the length direction of the hollow pipe is arranged in the center of the hollow pipe, one end of the pull rope is connected with the driver, the other end of the pull rope is connected with a transmission rope corresponding to the number of the clamping jaws, and the other end of the transmission rope extends out of the hollow pipe and is connected with one clamping jaw respectively.
Furthermore, the driver comprises a mounting seat with a hollow cavity, a driving motor is mounted on one side of the mounting seat, a rotating shaft which is vertically arranged relative to the connecting frame is arranged in the mounting seat, the rotating shaft is in transmission connection with the driving motor, a winding drum is connected to the rotating shaft, and one end of the pull rope is connected with and wound on the winding drum.
The utility model discloses the during operation absorbs the fruit vegetables of picking through vacuum chuck earlier, and the redriving clamping jaw folds and holds tightly, avoids because of the fruit vegetables is too big or snatch not jail because of the dead weight, leads to picking the failure.
The utility model discloses a stay cord control clamping jaw opens and shuts, can the effective control clamping jaw open and shut speed, realize the flexible of fruit vegetables and pick, avoid causing the damage to the fruit vegetables.
The utility model discloses efficiency and economic benefits are picked to the fruit vegetables has effectively been improved.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a schematic structural diagram of the present invention.
Detailed Description
As shown in fig. 1 and 2, the present invention comprises a manipulator 1 and a driver 2, wherein the driver 2 is connected with the manipulator 1 through a hollow tube 3.
The central point of hollow tube 3 puts and is provided with stay cord 4 along the square arrangement of 3 length of hollow tube, and the one end of stay cord 4 is connected with the driving rope 5 corresponding with clamping jaw 1.2 quantity, and hollow tube 3 is outwards stretched out to the other end of driving rope 5, corresponds respectively and connects a clamping jaw 1.2.
The driver 2 comprises a mounting seat 2.1 with a hollow cavity, a driving motor 2.2 is mounted on one side of the mounting seat 2.1, a rotating shaft 2.3 which is vertically arranged relative to the hollow tube 3 is arranged in the mounting seat 2.1, the rotating shaft 2.3 is in transmission connection with the driving motor 2.2, a winding drum 2.4 is connected onto the rotating shaft 2.3, and the other end of the pull rope 4 is connected with and wound on the winding drum 2.4.
The utility model discloses install the output at the robot during use, during initial state, clamping jaw 1.2 is in the state of opening under driving motor 2.2's drive, when picking, earlier through the position of 5 discernment fruit vegetables of industrial camera, robot drive executor automatic adjustment positions and be close to waiting to snatch the fruit vegetables, earlier lean on through vacuum chuck 6 and go to absorb the fruit vegetables, then driving motor 2.2 rotates, it relaxs stay cord 4 gradually to drive reel 2.4, the clamping jaw receives the spring force inwards to fold and hold the fruit vegetables of picking, robot drive executor will pick the fruit vegetables displacement to placing the position, re-driving motor 2.2 rotates, drive reel 2.4 convolutes stay cord 4, make clamping jaw 1.2 open, the fruit vegetables of picking are put down to the vacuum chuck 6 of controlling again.
Claims (4)
1. The utility model provides a fruit vegetables picking robot end effector which characterized in that: the manipulator comprises a manipulator and a driver, wherein the driver is connected with the manipulator through a connecting frame, the driver is used for driving the manipulator to open and close, the manipulator comprises a clamping jaw seat, one end of the clamping jaw seat is fixedly connected with the connecting frame, a plurality of clamping jaws are arranged on the periphery of the clamping jaw seat, one end of each clamping jaw is rotatably installed on the outer wall of the clamping jaw seat, the other end of each clamping jaw extends forwards to be far away from one end of the connecting frame, and a pressure spring is connected between each clamping jaw and;
the connecting frame is a hollow pipe, a pull rope arranged along the length direction of the hollow pipe is arranged in the center of the hollow pipe, one end of the pull rope is connected with the driver, the other end of the pull rope is connected with a transmission rope corresponding to the number of the clamping jaws, and the other end of the transmission rope extends out of the hollow pipe and is respectively connected with one clamping jaw.
2. The end effector of the fruit and vegetable picking robot as claimed in claim 1, wherein: the center of one end of the clamping jaw seat, which is far away from the connecting frame, is connected with an industrial camera, and the periphery of the clamping jaw seat is connected with a vacuum chuck.
3. The end effector of the fruit and vegetable picking robot as claimed in claim 1, wherein: the clamping jaw is characterized in that mounting grooves corresponding to the clamping jaws are formed in the periphery of the clamping jaw seat respectively, and one ends of the clamping jaws are rotatably mounted in the mounting grooves through rotating shafts.
4. The end effector of the fruit and vegetable picking robot as claimed in claim 1, wherein: the driver comprises a mounting seat with a hollow cavity, a driving motor is mounted on one side of the mounting seat, a rotating shaft which is vertically arranged relative to the connecting frame is arranged in the mounting seat, the rotating shaft is in transmission connection with the driving motor, a winding drum is connected to the rotating shaft, and one end of the pull rope is connected with and wound on the winding drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920968162.2U CN210610363U (en) | 2019-06-26 | 2019-06-26 | Fruit and vegetable picking robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920968162.2U CN210610363U (en) | 2019-06-26 | 2019-06-26 | Fruit and vegetable picking robot end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210610363U true CN210610363U (en) | 2020-05-26 |
Family
ID=70745765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920968162.2U Expired - Fee Related CN210610363U (en) | 2019-06-26 | 2019-06-26 | Fruit and vegetable picking robot end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210610363U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478172A (en) * | 2020-11-12 | 2021-03-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
| CN114030704A (en) * | 2021-11-15 | 2022-02-11 | 珠海格力智能装备有限公司 | Automatic clamping equipment and automatic part clamping system |
-
2019
- 2019-06-26 CN CN201920968162.2U patent/CN210610363U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112478172A (en) * | 2020-11-12 | 2021-03-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
| CN112478172B (en) * | 2020-11-12 | 2022-07-12 | 西安交通大学 | Passive quick grabbing manipulator suitable for rotor unmanned aerial vehicle |
| CN114030704A (en) * | 2021-11-15 | 2022-02-11 | 珠海格力智能装备有限公司 | Automatic clamping equipment and automatic part clamping system |
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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: 20200526 Termination date: 20210626 |