CN213819199U - A intelligent end effector for mushroom is gathered - Google Patents
A intelligent end effector for mushroom is gathered Download PDFInfo
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- CN213819199U CN213819199U CN202022861614.2U CN202022861614U CN213819199U CN 213819199 U CN213819199 U CN 213819199U CN 202022861614 U CN202022861614 U CN 202022861614U CN 213819199 U CN213819199 U CN 213819199U
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- claw
- wrist
- paw
- finger
- end effector
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Abstract
The utility model relates to an intelligent end effector for mushroom harvesting, which is characterized in that the intelligent end effector comprises a paw and a paw wrist, wherein the paw wrist is provided with a hole at the center and is provided with a central positioning sleeve to form screw transmission by matching with a lead screw, and the lead screw is driven by a motor; the paw comprises at least three paws, the outer sides of the finger joints of the paws are rotatably connected with the paw wrists through corresponding outer wrist finger connecting joints, the inner sides of the finger joints of the paws are rotatably connected with one end of a corresponding connecting rod through corresponding inner wrist finger connecting joints, and the other end of the connecting rod penetrates through the paw wrists to be connected with the motor support; the claw finger also comprises a claw bone, a claw bone lining and claw tongs, wherein the middle part of the claw bone is concave, the claw bone lining and the claw tongs are nested on the claw bone, and the claw bone lining and the claw tongs are made of rubber materials. The utility model discloses the structure is ingenious, has guaranteed the harmless harvesting of mushroom.
Description
Technical Field
The utility model belongs to the technical field of the agricultural picking machine, concretely relates to an intelligent end effector for mushroom is gathered.
Background
Along with the development of science and technology, the mechanical intelligent degree is continuously improved, and the mushroom picking efficiency is low, and the mushroom picking robot is gradually replaced by the mushroom picking robot. The picking robot is an efficient automatic device, and the key part of the picking robot is a manipulator end effector. The design of the shiitake mushroom picking end effector mostly adopts an alloy blade at present, mushrooms picked by the rigid blade are easy to damage and discolor, and are easy to slip in the actual picking process, and the quality of the picked shiitake mushrooms cannot be guaranteed.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model discloses an intelligent end effector for mushroom is gathered.
In order to solve the above problems in the prior art, the utility model adopts the following scheme:
an intelligent end effector for mushroom harvesting comprises a paw and a paw wrist, wherein a hole is formed in the center of the paw wrist, a central positioning sleeve is installed on the paw wrist to be matched with a lead screw to form spiral transmission, and the lead screw is driven by a motor; the paw comprises at least three paws, the outer sides of the finger joints of the paws are rotatably connected with the paw wrists through corresponding outer wrist finger connecting joints, the inner sides of the finger joints of the paws are rotatably connected with one end of a corresponding connecting rod through corresponding inner wrist finger connecting joints, and the other end of the connecting rod penetrates through the paw wrists to be connected with the motor support;
the claw finger also comprises a claw bone, a claw bone lining and claw tongs, wherein the middle part of the claw bone is concave, the claw bone lining and the claw tongs are nested on the claw bone, and the claw bone lining and the claw tongs are made of rubber materials.
Furthermore, an anti-skidding structure is arranged on the claw tongs.
Furthermore, the claw bone is made of alloy steel.
Furthermore, the claw bone is fixedly connected to the corresponding finger joint through a screw; the upper end of the outer wrist finger connecting joint is rotationally connected with the corresponding finger joint through a bolt, and the lower end of the outer wrist finger connecting joint is fixedly connected with the claw wrist through a bolt; the upper end of the inner wrist finger joint is rotatably connected with the corresponding finger joint through a bolt, and the lower end of the inner wrist finger joint is rotatably connected with the corresponding connecting rod through a bolt.
Furthermore, a groove is arranged inside the claw wrist and forms a moving pair with the corresponding connecting rod.
Further, the claw wrist is in interference connection with the central positioning sleeve.
Further, the lead screw is connected with the motor through a coupler.
Further, there are five fingers.
The claw wrist is uniformly distributed with a plurality of sleeve pins on the circumference and connected with the upper end of the claw base, and the lower end of the claw base is connected with the motor support through the plurality of sleeve pins; the gripper base is provided with connecting rod through holes, and the number of the connecting rod through holes is consistent with that of the gripper fingers.
Further, the device also comprises a shell which encloses the structure below the claw wrist.
When the motor rotates anticlockwise, the screw rod is driven to rotate anticlockwise, the central positioning sleeve descends along the screw rod to drive the claw wrist to move downwards along the connecting rod, the claw wrist belt drives the outer wrist finger connecting joint and the claw base to move downwards along the surface of the connecting rod until the claw base reaches the maximum moving distance, and the claw is completely opened.
When the motor rotates clockwise, the screw rod is driven to rotate clockwise, the central positioning sleeve ascends along the screw rod to drive the claw wrist to move upwards along the connecting rod, the claw wrist belt moves the outer wrist finger connecting joint and the claw base to move upwards along the surface of the connecting rod until the claw base reaches the maximum moving distance, and the claw fingertips touch and are completely closed.
The opening and closing processes of the paw are used for finishing the grabbing and picking of the mushrooms.
This an intelligent end effector for mushroom is gathered has following beneficial effect:
(1) the utility model discloses in, the claw bone inside lining and the claw pincers adopt rubber material, and flexible hand claw is difficult for causing mechanical damage to the fruit vegetables because of its soft material, and rubber material's claw pincers be difficult for skidding, further provide an effective way for the harmless harvesting of mushroom.
(2) In the utility model, the rotation of the screw rod is controlled by the motor, so as to drive the rotation of the connecting joint, thereby controlling the opening and the kneading of the paw, and the structure is simple and ingenious; and through calculating the number of turns of rotation of the lead screw, the size of the clamping force can be accurately controlled, and the lossless picking of mushrooms is further ensured.
Drawings
FIG. 1: the utility model discloses an exploded structure sketch map of an intelligent end effector for mushroom harvest in the implementation mode;
FIG. 2: the utility model discloses a working state schematic diagram (without casing) when the intelligent end effector for mushroom harvest is opened;
FIG. 3: the utility model discloses an operating state schematic diagram (without casing) when the intelligent end effector for mushroom harvest is closed;
FIG. 4: the utility model discloses a perspective view of an intelligent end effector for mushroom harvesting in the embodiment;
FIG. 5: the utility model discloses in the embodiment, the appearance diagram I of an intelligent end effector for mushroom harvesting;
FIG. 6: the utility model discloses be used for intelligent end effector's that the mushroom was gathered outward appearance picture II among the embodiment.
Description of reference numerals:
1-the paw bone; 2-lining of the talus bone; 3, claw pincers; 4-knuckle joint; 5-outer wrist finger joint; 6-inner wrist finger joint; 7-paw wrist; 8, connecting rods; 9, sleeving a pin; 10, a motor; 11-a housing; 12-a gripper base; 13-motor support; 14, a coupler; 15-a lead screw; 16-centering the sleeve.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to fig. 6 show a specific embodiment of the intelligent end effector for mushroom harvesting of the present invention. Fig. 1 is an exploded structure diagram of an intelligent end effector for mushroom harvesting in the present embodiment; fig. 2 and 3 are schematic diagrams of the working state of the intelligent end effector for picking mushrooms in the embodiment; fig. 4 is a perspective view of an intelligent end effector for mushroom harvesting in the present embodiment; fig. 5 and 6 are external views of the intelligent end effector for harvesting shiitake mushrooms according to the present embodiment.
As shown in fig. 1 to 6, the intelligent end effector for picking mushrooms in the present embodiment comprises a paw and a paw wrist 7, wherein a central hole is formed in the paw wrist 7 and a central positioning sleeve 16 is installed to cooperate with a lead screw 15 to form a screw transmission, and the lead screw 15 is driven by a motor 10; the paw comprises at least three paws, the outer sides of the finger joints 4 of the paws are rotatably connected with a paw wrist 7 through corresponding outer wrist finger connecting joints 5, the inner sides of the finger joints 4 of the paws are rotatably connected with one end of a corresponding connecting rod 8 through corresponding inner wrist finger connecting joints 6, and the other end of the connecting rod 8 penetrates through the paw wrist 7 to be connected with a motor support 13; the claw finger also comprises a claw bone 1, a claw bone lining 2 and claw tongs 3, wherein the middle part of the claw bone 1 is concave, the claw bone lining 2 and the claw tongs 3 are embedded on the claw bone 1, and the claw bone lining 2 and the claw tongs 3 are made of rubber materials.
Preferably, the claws 3 are provided with anti-slip structures, as shown in fig. 2 and 5.
Preferably, the talus 1 is made of alloy steel.
In the embodiment, the claw bone 1 is fixedly connected to the corresponding finger joint 4 through a screw; the upper end of the outer wrist finger joint 5 is rotationally connected with the corresponding finger joint 4 through a bolt, and the lower end of the outer wrist finger joint is fixedly connected with the claw wrist 7 through a bolt; the upper end of the inner wrist finger joint 6 is rotationally connected with the corresponding finger joint 4 through a bolt, and the lower end is rotationally connected with the corresponding connecting rod 8 through a bolt, as shown in figure 1.
In this embodiment, the claw wrist 7 is provided with a groove therein to form a sliding pair with the corresponding connecting rod 8, as shown in fig. 1.
In this embodiment, the wrist 7 is in interference fit with the centering sleeve 16.
In this embodiment, the lead screw 15 is coupled to the motor 10 via a coupling 14, as shown in fig. 1.
In this embodiment, there are five fingers, as shown in fig. 1 to 6.
Preferably, the intelligent end effector for picking mushrooms in the embodiment further comprises a gripper base 12, a plurality of sleeve pins 9 are uniformly distributed on the circumference of the gripper wrist 7 and connected with the upper end of the gripper base 12, and the lower end of the gripper base 12 is connected with a motor support 13 through the plurality of sleeve pins 9; the gripper base 12 is provided with link through holes, and the number of the link through holes is the same as that of the gripper fingers, as shown in fig. 1 to 6. The gripper base 12 further ensures smooth operation of the end effector.
Preferably, the intelligent end effector for picking mushrooms in the present embodiment further includes a housing 11, and the housing 11 encloses the structure below the claw wrist 7, as shown in fig. 1, 4, 5 and 6.
As shown in fig. 2 and 5, when the motor 10 rotates counterclockwise, the screw 15 is driven to rotate counterclockwise, the central positioning sleeve 16 descends along the screw 15, the wrist 7 is driven to move downward along the connecting rod 8, the wrist 7 drives the outer wrist finger connecting joint 5 and the paw base 12 to move downward along the surface of the connecting rod 8, until the paw base 12 reaches the maximum moving distance, and the paw is fully opened.
As shown in fig. 3 and 6, when the motor 10 rotates clockwise, the screw rod 15 is driven to rotate clockwise, the central positioning sleeve 16 ascends along the screw rod 15, the claw wrist 7 is driven to move upwards along the connecting rod 8, the claw wrist 7 drives the outer wrist finger connecting joint 5 and the claw base 12 to move upwards along the surface of the connecting rod 8, and the claw fingertips touch and close completely until the claw base 12 reaches the maximum moving distance.
The opening and closing processes of the paw are used for finishing the grabbing and picking of the mushrooms.
The utility model discloses in, the claw bone inside lining and the claw pincers adopt rubber material, and flexible hand claw is difficult for causing mechanical damage to the fruit vegetables because of its soft material, and rubber material's claw pincers be difficult for skidding, further provide an effective way for the harmless harvesting of mushroom.
In the utility model, the rotation of the screw rod is controlled by the motor, so as to drive the rotation of the connecting joint, thereby controlling the opening and the kneading of the paw, and the structure is simple and ingenious; and through calculating the number of turns of rotation of the lead screw, the size of the clamping force can be accurately controlled, and the lossless picking of mushrooms is further ensured.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (10)
1. An intelligent end effector for mushroom harvesting is characterized by comprising a paw and a paw wrist, wherein a hole is formed in the center of the paw wrist, a central positioning sleeve is installed on the paw wrist and matched with a lead screw to form spiral transmission, and the lead screw is driven by a motor; the paw comprises at least three paws, the outer sides of the finger joints of the paws are rotatably connected with the paw wrists through corresponding outer wrist finger connecting joints, the inner sides of the finger joints of the paws are rotatably connected with one end of a corresponding connecting rod through corresponding inner wrist finger connecting joints, and the other end of the connecting rod penetrates through the paw wrists to be connected with the motor support;
the claw finger also comprises a claw bone, a claw bone lining and claw tongs, wherein the middle part of the claw bone is concave, the claw bone lining and the claw tongs are nested on the claw bone, and the claw bone lining and the claw tongs are made of rubber materials.
2. The intelligent end effector for mushroom harvest according to claim 1, wherein the claw tongs are provided with an anti-slip structure.
3. The intelligent end effector for mushroom harvest according to claim 1, wherein the claw bone is made of alloy steel.
4. The intelligent end effector for mushroom harvest according to claim 1, 2 or 3, wherein the claw bone is fixedly connected to the corresponding knuckle through a screw; the upper end of the outer wrist finger connecting joint is rotationally connected with the corresponding finger joint through a bolt, and the lower end of the outer wrist finger connecting joint is fixedly connected with the claw wrist through a bolt; the upper end of the inner wrist finger joint is rotatably connected with the corresponding finger joint through a bolt, and the lower end of the inner wrist finger joint is rotatably connected with the corresponding connecting rod through a bolt.
5. The intelligent end effector for mushroom picking according to claim 1, wherein a groove is arranged inside the claw wrist to form a moving pair with a corresponding connecting rod.
6. The intelligent end effector for mushroom harvest of claim 1, wherein the wrist is in interference connection with the center locating sleeve.
7. The intelligent end effector for mushroom harvest of claim 1, wherein the lead screw is coupled with the motor through a coupling.
8. The intelligent end effector for mushroom harvest of claim 1, wherein there are five fingers.
9. The intelligent end effector for mushroom picking according to claim 1, further comprising a gripper base, wherein a plurality of sleeve pins are evenly distributed on the circumference of the gripper wrist and connected with the upper end of the gripper base, and the lower end of the gripper base is connected with the motor support through the plurality of sleeve pins; the gripper base is provided with connecting rod through holes, and the number of the connecting rod through holes is consistent with that of the gripper fingers.
10. The intelligent end effector for mushroom harvest of claim 1, 2, 3, 5, 6, 7, 8 or 9, further comprising a housing that encloses all of the structure below the claw wrist.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022861614.2U CN213819199U (en) | 2020-12-02 | 2020-12-02 | A intelligent end effector for mushroom is gathered |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022861614.2U CN213819199U (en) | 2020-12-02 | 2020-12-02 | A intelligent end effector for mushroom is gathered |
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| Publication Number | Publication Date |
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| CN213819199U true CN213819199U (en) | 2021-07-30 |
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| CN202022861614.2U Active CN213819199U (en) | 2020-12-02 | 2020-12-02 | A intelligent end effector for mushroom is gathered |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766289A (en) * | 2022-06-01 | 2022-07-22 | 山东农业大学 | Rotary finger-pulling type end effector suitable for picking mushroom sticks and picking method |
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2020
- 2020-12-02 CN CN202022861614.2U patent/CN213819199U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114766289A (en) * | 2022-06-01 | 2022-07-22 | 山东农业大学 | Rotary finger-pulling type end effector suitable for picking mushroom sticks and picking method |
| CN114766289B (en) * | 2022-06-01 | 2023-08-25 | 山东农业大学 | Rotary finger type end effector suitable for picking mushroom sticks and harvesting method |
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