CN213214401U - End effector for orange picking robot - Google Patents
End effector for orange picking robot Download PDFInfo
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- CN213214401U CN213214401U CN202022106176.9U CN202022106176U CN213214401U CN 213214401 U CN213214401 U CN 213214401U CN 202022106176 U CN202022106176 U CN 202022106176U CN 213214401 U CN213214401 U CN 213214401U
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- connecting rod
- blades
- negative pressure
- suction device
- pressure suction
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- 239000012636 effector Substances 0.000 title claims abstract description 19
- 235000020971 citrus fruits Nutrition 0.000 claims abstract description 22
- 238000005520 cutting process Methods 0.000 claims abstract description 15
- 241000675108 Citrus tangerina Species 0.000 claims abstract description 12
- 238000013459 approach Methods 0.000 claims abstract description 5
- 230000000712 assembly Effects 0.000 claims abstract description 5
- 238000000429 assembly Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims abstract description 5
- 241000207199 Citrus Species 0.000 claims description 15
- 235000013399 edible fruits Nutrition 0.000 abstract description 36
- 230000002349 favourable effect Effects 0.000 abstract description 4
- 238000010008 shearing Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model relates to the field of fruit picking, in particular to an end effector for an orange picking robot, which comprises a fixed disc, a cylinder I, a cylinder II, two blades and a negative pressure suction device, wherein the two blades and the negative pressure suction device are arranged in parallel; the air cylinder I and the air cylinder II are arranged in parallel and are both fixedly connected to the fixed disc, and the two blades are respectively connected with the connecting frame through two connecting rod assemblies which are arranged in parallel left and right; the top end of a piston rod I of the cylinder I is fixedly connected to the connecting frame, and the two blades approach to each other in the reciprocating movement process of the piston rod I to form a cutting state or separate from each other to remove the cutting state; and the top end of a piston rod II of the air cylinder II is fixedly connected with a negative pressure suction device, and the negative pressure suction device is arranged between the two blades and is used for generating suction force for sucking the citrus fruits. The utility model discloses can realize snatching and cutting the handle to the oranges and tangerines fruit, be favorable to improving oranges and tangerines picking speed and precision, reduce oranges and tangerines fruit mechanical damage rate.
Description
Technical Field
The utility model relates to a fruit field of picking especially relates to an end effector for oranges and tangerines picking robot.
Background
The citrus is a fruit with a wider planting area in China, for example, the planting area of the citrus in the whole area in 2018 in the Wanzhou area in Chongqing city reaches 36 ten thousand mu. In citrus production operation, picking is the most time-consuming and labor-consuming link, the problem of agricultural labor shortage is more and more prominent at present, and the agricultural labor cost is correspondingly increased. The unique mountain landform characteristics in Chongqing city also increase the difficulty and danger of manual picking.
With the development of industrialization and intelligent control theory, the automatic picking by using a machine becomes possible. Citrus has been developed into an industrial cluster integrating planting production, warehouse logistics and fine and further processing, and the development of citrus non-destructive picking towards mechanization and intellectualization is a necessary trend, for example, an intelligent citrus picking robot shown in patent CN 106105566 a.
The end effector is one of the important devices of the picking robot, the structure of the end effector directly affects the success rate, speed and damage rate of picking operation, and the existing end effector has defects in picking speed, precision and damage rate, which is a technical problem to be solved urgently.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing an end effector for oranges and tangerines picking robot can realize snatching and cutting the handle to the oranges and tangerines fruit, is favorable to improving oranges and tangerines picking speed and precision, reduces oranges and tangerines fruit mechanical damage rate.
In order to achieve the purpose, the utility model provides an end effector for an orange picking robot, which comprises a fixed disc, a cylinder I, a cylinder II, two blades and a negative pressure suction device, wherein the two blades and the negative pressure suction device are arranged in parallel; the air cylinder I and the air cylinder II are arranged in parallel and are both fixedly connected to the fixed disc, and the two blades are respectively connected with the connecting frame through two connecting rod assemblies which are arranged in parallel left and right;
the top end of a piston rod I of the cylinder I is fixedly connected to the connecting frame, and the two blades approach to each other in the reciprocating movement process of the piston rod I to form a cutting state or separate from each other to remove the cutting state; and the top end of the piston rod II of the air cylinder II is fixedly connected to a negative pressure suction device, and the negative pressure suction device is arranged between the two blades and is used for generating suction force for sucking the citrus fruits.
As a further improvement of the technical scheme of the utility model, the negative pressure suction means is a sponge sucker structure.
As the utility model discloses technical scheme's further improvement, II tops fixedly connected with sucking disc connecting pieces of piston rod of cylinder II, the sucking disc connecting piece is connected with the negative pressure suction means through the sucking disc support.
As a technical scheme of the utility model further improve, link assembly includes push-and-pull rod and rotating link I, the lower extreme of push-and-pull rod articulates in link, upper end and articulates in rotating link I, the lower extreme of rotating link I articulates in fixed disk, upper end and is connected with the blade.
As the utility model discloses technical scheme's further improvement, two the blade is installed in cutter mount I and cutter mount II along the horizontal direction respectively, cutter mount I and cutter mount II articulate respectively in the upper end of two swivelling joint poles I, piston rod I and the setting of II equal perpendicular to horizontal planes of piston rod.
As a further improvement of the technical proposal of the utility model, the utility model also comprises a branch seizing plate I and a branch seizing plate II which are arranged in parallel at the left and the right; the top of the cutter fixing frame I is fixedly connected with the branch collecting plate I, the top of the cutter fixing frame II is fixedly connected with the branch collecting plate II, and one opposite side surface of the branch collecting plate I and the branch collecting plate II is of a concave surface structure.
As a further improvement of the technical scheme of the utility model, the rotating connecting rod I is "L" shape.
As the utility model discloses technical scheme's further improvement, link assembly still includes parallel establish the swivelling joint pole II in the I outside of swivelling joint pole, the lower extreme of swivelling joint pole II articulates and is connected with the blade in fixed disk, upper end.
Through the above disclosure, the present invention has the following beneficial technical effects:
when the device is used, after the citrus fruits to be picked are determined, the air cylinder II is started, the piston rod II of the air cylinder II extends towards the fruit direction and drives the negative pressure suction device to gradually approach the fruits, and after the distance between the negative pressure suction device and the fruits meets suction conditions, the negative pressure suction device is started to generate suction force for sucking the fruits, so that the grabbing of the specific fruits is completed; then starting the cylinder I, extending the piston rod I of the cylinder I towards the fruit direction, enabling the two blades to move to the upper part of the fruit and gradually joint through the transmission of the connecting frame and the connecting rod assembly to form a shearing structure, and cutting the fruit stem of the specific fruit through the shearing structure, so that the specific fruit is separated from the fruit tree, and picking is completed.
Therefore, the utility model discloses can realize snatching and cutting the handle to the oranges and tangerines fruit, be favorable to improving oranges and tangerines and pick speed and precision to realize the fruit separation from the stalk, be favorable to reducing the mechanical damage rate of oranges and tangerines fruit. Of course, the present invention can also be applied to other fruit picking fields as required, and the citrus is used as an example for illustration.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a perspective view of the present invention with the fixing plate removed.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.
Examples
As shown in fig. 1 and 2: the embodiment provides an end effector for a citrus picking robot, which comprises a fixed disc 17, a cylinder I1, a cylinder II 16, two blades 10 and a negative pressure suction device 12, wherein the two blades are arranged in parallel left and right; the air cylinder I1 and the air cylinder II 16 are arranged in parallel and are both fixedly connected to the fixed disc 17, and the two blades 10 are respectively connected with the connecting frame through two connecting rod assemblies which are arranged in parallel left and right; the top end of a piston rod I of the air cylinder I1 is fixedly connected to the connecting frame 3, and the two blades 10 are close to each other in the reciprocating movement process of the piston rod I2 to form a cutting state or are far away from each other to release the cutting state; the top end of a piston rod II 15 of the air cylinder II 16 is fixedly connected to the negative pressure suction device 12, and the negative pressure suction device 12 is arranged between the two blades 10 and used for generating suction force for sucking the citrus fruits.
The structure and the principle of the air cylinder I1 and the air cylinder II 16 are the same as those of the prior art, and the existing model (such as the Schmidt TN16 model) can be selected; the two blades 10 are not on the same horizontal plane and can form a shearing type structure in a matching way, so that shearing force is generated; the negative pressure suction device 12 generates suction force by the negative pressure principle; the two connecting rod assemblies are arranged in bilateral symmetry. The directions of "left", "right", "up" and "down" are based on the directions shown in FIG. 2; the fixed connection in this embodiment may be, for example, a bolt connection, a welding connection, or other existing connection methods.
When the device is used, after the citrus fruits to be picked are determined, the air cylinder II 16 is started, the piston rod II 15 of the air cylinder II 16 extends towards the fruit direction and drives the negative pressure suction device 12 to gradually approach the fruits, and after the distance between the negative pressure suction device 12 and the fruits meets suction conditions, the negative pressure suction device 12 is started to generate suction force for sucking the fruits, so that the grabbing of the specific fruits is completed; then starting the air cylinder I1, extending a piston rod I2 of the air cylinder I1 towards the fruit direction, enabling the two blades 10 to move to the upper part of the fruit and gradually joint through the transmission of the connecting frame 3 and the connecting rod assembly to form a shearing structure, and cutting the fruit stem of the specific fruit through the shearing structure, so that the specific fruit is separated from the fruit tree, and picking is completed.
In this embodiment, the negative pressure suction device 12 is a sponge suction cup structure; the structure of the negative pressure suction device 12 can adopt a sponge suction cup structure shown in CN 207387691U, for example. In order to realize the installation of the negative pressure suction device 12, the top end of the piston rod II 15 of the air cylinder II 16 is fixedly connected with a sucker connecting piece 14, and the sucker connecting piece 14 is connected with the negative pressure suction device 12 through a sucker support 13.
In this embodiment, the connecting rod assembly includes a push-pull rod 4 and a rotating connecting rod i 6, the lower end of the push-pull rod 4 is hinged to the connecting frame 3, the upper end of the push-pull rod is hinged to the rotating connecting rod i 6, the lower end of the rotating connecting rod i 6 is hinged to the fixed plate 17, and the upper end of the rotating connecting rod i 6 is connected to the blade 10. The push-pull rod 4 is of a straight rod structure, and the rotary connecting rod I6 is preferably L-shaped; the reciprocating expansion of the piston rod I2 generates pushing force or pulling force on the rotating connecting rod I6 through the push-pull rod 4, so that the rotating connecting rod I6 rotates outwards or inwards within a certain angle range, and the two blades 10 are close to each other to form a cutting state or are far away from each other to release the cutting state.
In the embodiment, the two blades 10 are respectively installed on a cutter fixing frame I7 and a cutter fixing frame II 11 along the horizontal direction, the cutter fixing frame I7 and the cutter fixing frame II 11 are respectively hinged at the upper ends of the two rotary connecting rods I6, and the piston rod I2 and the piston rod II 15 are both arranged perpendicular to the horizontal plane; through the parallelogram principle, two blades 10 move in parallel, the inner sides of the cutter fixing frame I7 and the cutter fixing frame II 11 can extrude fruit stalks when the cutters move, so that the cut fruit stalks are not sharp any more and damage other fruits, and the mechanical damage rate of citrus fruits is further reduced.
In the embodiment, the end effector also comprises a branch collecting plate I8 and a branch collecting plate II 9 which are arranged in parallel from left to right; the top of the cutter fixing frame I7 is fixedly connected with a branch seizing plate I8, the top of the cutter fixing frame II 11 is fixedly connected with a branch seizing plate II 9, and one opposite side surface of the branch seizing plate I8 and the branch seizing plate II 9 is of a concave surface structure; an action area of the blade 10 is arranged between the branch collecting plate I8 and the branch collecting plate II 9, so that the action position of the blade 10 can be determined conveniently; the concave structure may be, for example, a cambered surface structure.
In this embodiment, the connecting rod assembly further comprises a rotating connecting rod II 5 arranged outside the rotating connecting rod I6 in parallel, the lower end of the rotating connecting rod II 5 is hinged to the fixed disc 17, and the upper end of the rotating connecting rod II 5 is connected with the blade 10; the rotary connecting rod II 5 is also L-shaped, which is beneficial to improving the stability of the action of the blade 10.
The above description is only an example of the present invention, and the common general knowledge of the known specific structures and characteristics of the embodiments is not described herein. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. The utility model provides an end effector for oranges and tangerines picking robot which characterized in that: the device comprises a fixed disc, a cylinder I, a cylinder II, two blades and a negative pressure suction device, wherein the two blades and the negative pressure suction device are arranged in parallel left and right; the air cylinder I and the air cylinder II are arranged in parallel and are both fixedly connected to the fixed disc, and the two blades are respectively connected with the connecting frame through two connecting rod assemblies which are arranged in parallel left and right;
the top end of a piston rod I of the cylinder I is fixedly connected to the connecting frame, and the two blades approach to each other in the reciprocating movement process of the piston rod I to form a cutting state or separate from each other to remove the cutting state; and the top end of the piston rod II of the air cylinder II is fixedly connected to a negative pressure suction device, and the negative pressure suction device is arranged between the two blades and is used for generating suction force for sucking the citrus fruits.
2. An end effector for a citrus picking robot according to claim 1, wherein: the negative pressure suction device is of a sponge sucker structure.
3. An end effector for a citrus picking robot according to claim 2, wherein: and the top end of the piston rod II of the air cylinder II is fixedly connected with a sucker connecting piece, and the sucker connecting piece is connected with a negative pressure suction device through a sucker support.
4. An end effector for a citrus picking robot according to any of claims 1 to 3, wherein: the connecting rod assembly comprises a push-pull rod and a rotary connecting rod I, the lower end of the push-pull rod is hinged to the connecting frame, the upper end of the push-pull rod is hinged to the rotary connecting rod I, and the lower end of the rotary connecting rod I is hinged to the fixed disc, and the upper end of the rotary connecting rod I is connected with the blade.
5. An end effector for a citrus picking robot according to claim 4, wherein: the two blades are respectively installed on a cutter fixing frame I and a cutter fixing frame II in the horizontal direction, the cutter fixing frame I and the cutter fixing frame II are respectively hinged to the upper ends of two rotary connecting rods I, and the piston rod I and the piston rod II are both perpendicular to the horizontal plane.
6. An end effector for a citrus picking robot according to claim 5, wherein: the device also comprises a branch collecting plate I and a branch collecting plate II which are arranged in parallel on the left and right; the top of the cutter fixing frame I is fixedly connected with the branch collecting plate I, the top of the cutter fixing frame II is fixedly connected with the branch collecting plate II, and one opposite side surface of the branch collecting plate I and the branch collecting plate II is of a concave surface structure.
7. An end effector for a citrus picking robot according to claim 4, wherein: the rotary connecting rod I is L-shaped.
8. An end effector for a citrus picking robot according to claim 5, wherein: the connecting rod assembly further comprises a rotary connecting rod II which is arranged on the outer side of the rotary connecting rod I in parallel, and the lower end of the rotary connecting rod II is hinged to the fixed disc and the upper end of the rotary connecting rod II is connected with the blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022106176.9U CN213214401U (en) | 2020-09-23 | 2020-09-23 | End effector for orange picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022106176.9U CN213214401U (en) | 2020-09-23 | 2020-09-23 | End effector for orange picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213214401U true CN213214401U (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022106176.9U Expired - Fee Related CN213214401U (en) | 2020-09-23 | 2020-09-23 | End effector for orange picking robot |
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| CN (1) | CN213214401U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
| CN114871785A (en) * | 2022-07-12 | 2022-08-09 | 江苏国强兴晟能源科技有限公司 | Continuous C-shaped steel punching and cutting production line |
| CN117999962A (en) * | 2024-04-10 | 2024-05-10 | 南京信息工程大学 | End effector for autonomous picking and control system |
-
2020
- 2020-09-23 CN CN202022106176.9U patent/CN213214401U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114451144A (en) * | 2022-03-17 | 2022-05-10 | 河北省科学院应用数学研究所 | End effector for picking fruits |
| CN114871785A (en) * | 2022-07-12 | 2022-08-09 | 江苏国强兴晟能源科技有限公司 | Continuous C-shaped steel punching and cutting production line |
| CN114871785B (en) * | 2022-07-12 | 2022-12-06 | 江苏国强兴晟能源科技有限公司 | Continuous C-shaped steel punching and cutting production line |
| CN117999962A (en) * | 2024-04-10 | 2024-05-10 | 南京信息工程大学 | End effector for autonomous picking and control system |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210518 |
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| CF01 | Termination of patent right due to non-payment of annual fee |