CN214676630U - End effector of tea picking robot - Google Patents
End effector of tea picking robot Download PDFInfo
- Publication number
- CN214676630U CN214676630U CN202120968561.6U CN202120968561U CN214676630U CN 214676630 U CN214676630 U CN 214676630U CN 202120968561 U CN202120968561 U CN 202120968561U CN 214676630 U CN214676630 U CN 214676630U
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- end effector
- threaded rod
- tea
- threaded
- executor
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Abstract
The utility model relates to a tea-leaf picking equipment technical field just discloses a tea-leaf picking robot's end effector, including executor, installation mechanism, mounting panel and gripper, installation mechanism sets up in the upper end of executor, the mounting panel sets up in installation mechanism's upper end, the gripper sets up in the bottom of executor. This end effector of tea-leaf picking robot, it rotates to turn round the drive threaded rod through rotating, because threaded rod and first movable block threaded connection, when the threaded rod rotates, first movable block drives the splint and moves left along the sliding opening, make the post of inserting break away from the left spliced eye of spliced pole, the executor can break away from and be connected between the mounting panel this moment, conveniently dismantle, when installation end effector, the contrarotation turns round, make the inside of inserting post grafting spliced eye, can accomplish the installation, simple structure is convenient for install or dismantle end effector when the maintenance, the plenty of time of saving, the practicality has been improved.
Description
Technical Field
The utility model relates to a tea-leaf picking equipment technical field specifically is an end effector of tea-leaf picking robot.
Background
China is the home country of tea, and is also the largest tea producing and consuming country in the world at present. The famous green tea (especially the top grade and top grade famous green tea) has high requirements on the shape of the bud and the leaf, the standard of the fresh leaf is one bud and one leaf and two buds and leaves, and the completeness of the leaf is required to be ensured. The young leaves of the new shoots can be picked only by hand at home and abroad at present. However, manual tea plucking is very laborious and time consuming. The tea pluckers commonly used at present have two forms, a hand-held type and a riding type, which are based on a cutting type working principle. Although the tea picking method has higher picking efficiency, the tea picking method has no selectivity on the tender leaves and the old leaves, only cuts the tea plant canopy surface integrally once, has serious damage to the tea leaves and cannot be used for manufacturing high-grade famous green tea. The end effector is an important component of the tea plucking robot, and compared with the end effector of an industrial robot, the design of the end effector is generally considered to be one of the core technologies of an agricultural robot because the tea leaves are fragile in appearance and complicated in shape and growth.
When tea picking is carried out by the end effector of the tea picking robot, the workload is large, so that the end effector needs to be maintained frequently, the end effector is troublesome to detach and install, and a large amount of time needs to be consumed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an end effector of tea-leaf picker to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an end effector of tea-leaf picking robot, includes executor, installation mechanism, mounting panel and gripper, installation mechanism sets up in the upper end of executor, the mounting panel sets up in the upper end of installation mechanism, the gripper sets up in the bottom of executor.
The installation mechanism comprises a device plate and a threaded rod, the threaded rod is rotatably connected inside the device plate, a first moving block is connected to the rod body of the threaded rod in a threaded mode, a connecting block is fixedly connected to the upper surface of the first moving block, a clamping plate is fixedly installed on the upper surface of the connecting block, an inserting column is fixedly connected to the right side of the clamping plate, a second moving block is connected to the rod body of the threaded rod in a threaded mode, and a rotating knob is fixedly installed at the right end of the threaded rod.
Preferably, a first internal thread hole is formed in the first moving block, and a threaded rod is connected to the internal thread of the first internal thread hole in a threaded manner.
Preferably, a second internal threaded hole is formed in the second moving block, a threaded rod is connected to the internal thread of the second internal threaded hole in a threaded manner, and the direction of the internal thread of the first internal threaded hole is opposite to that of the internal thread of the second internal threaded hole.
Preferably, the upper surface of the device plate is provided with a moving port, the connecting block penetrates through the moving port, and the upper surface of the actuator is fixedly provided with the device plate.
Preferably, the bottom of the mounting plate is fixedly connected with a connecting column, and a splicing hole is formed in the left wall of the connecting column.
Preferably, the inserting column is inserted in the inserting hole, and the upper surface of the mounting plate is provided with a mounting hole.
Compared with the prior art, the utility model provides an end effector of tea-leaf picking robot. The method has the following beneficial effects:
this end effector of tea-leaf picking robot, it rotates to turn round the drive threaded rod through rotating, because threaded rod and first movable block threaded connection, when the threaded rod rotates, first movable block drives the splint and moves left along the sliding opening, make and insert the post and break away from the left spliced eye of spliced pole, the executor can break away from and be connected between the mounting panel this moment, conveniently dismantle, make when installation end effector, the contrarotation turns round, make and insert the inside of post grafting spliced eye, can accomplish the installation, simple structure is convenient for install or dismantle end effector when the maintenance, the plenty of time of saving, the practicality has been improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic view of the structure of the installation mechanism of the present invention;
fig. 3 is a schematic view of the device board of the present invention.
In the figure: the mechanical gripper comprises an actuator 1, a 2-installation mechanism, a 201 device plate, a 202 threaded rod, a 203 first moving block, a 204 first internal threaded hole, a 205 second moving block, a 206 second internal threaded hole, a 207 rotating knob, a 208 connecting block, a 209 moving port, a 210 clamping plate, a 211 inserting column, a 3-installation plate, a 4 connecting column, a 5 inserting hole, a 6-installation hole and a 7 mechanical gripper.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an end effector of tea-leaf picking robot, includes executor 1, installation mechanism 2, mounting panel 3 and gripper 7, and installation mechanism 2 sets up in the upper end of executor 1, and mounting panel 3 sets up in the upper end of installation mechanism 2, and the gripper sets up in the bottom of executor 1.
The mounting mechanism 2 comprises a device plate 201 and a threaded rod 202, the threaded rod 202 is rotatably connected to the inside of the device plate 201, a first moving block 203 is connected to a rod body thread of the threaded rod 202, a connecting block 208 is fixedly connected to the upper surface of the first moving block 203, a clamping plate 210 is fixedly mounted to the upper surface of the connecting block 208, an inserting column 211 is fixedly connected to the right side of the clamping plate 210, a second moving block 205 is connected to the rod body thread of the threaded rod 202, a rotating knob 207 is fixedly mounted at the right end of the threaded rod 202, a first internal threaded hole 204 is formed in the first moving block 203, the threaded rod 202 is connected to the internal thread of the first internal threaded hole 204, a second internal threaded hole 206 is formed in the second moving block 205, the threaded rod 202 is connected to the internal thread of the second internal threaded hole 206, and the internal thread directions of the first internal threaded hole 204 and the second internal threaded hole 206 are opposite.
The upper surface of the device plate 201 is provided with a moving port 209, the connecting block 208 penetrates through the moving port 209, the upper surface of the actuator 1 is fixedly provided with the device plate 201, the bottom of the mounting plate 3 is fixedly connected with a connecting column 4, the left wall inside the connecting column 4 is provided with an inserting hole 5, the inside of the inserting hole 5 is inserted with an inserting column 211, the upper surface of the mounting plate 3 is provided with a mounting hole 6, the threaded rod 202 is driven to rotate by the rotating knob 207, as the threaded rod 202 is in threaded connection with the first moving block 203, when the threaded rod 202 rotates, the first moving block 203 drives the clamping plate 210 to move leftwards along the sliding port 209, so that the inserting column 211 is separated from the inserting hole 5 on the left side of the connecting column 4, the actuator 1 can be separated from the mounting plate 3 at the moment, the disassembly is convenient, when the actuator is mounted, the rotating knob 207 is rotated reversely, so that the inserting column 211 is inserted into the inside of the inserting hole 5, and the installation can be completed, simple structure is convenient for install or dismantle end effector when the maintenance, and the practicality has been improved to a large amount of times of saving.
In the actual operation process, when this device uses, drive threaded rod 202 through rotating turn-knob 207 and rotate, because threaded rod 202 and first movable block 203 threaded connection, when threaded rod 202 rotated, first movable block 203 drove clamping plate 210 and moves left along smooth mouthful 209, make insert post 211 break away from the left spliced eye 5 of spliced pole 4, executor 1 can break away from and be connected between the mounting panel 3 this moment, conveniently dismantle, make when installation end effector, the turn-knob 207 of reverse rotation makes the inside of inserting post 211 grafting spliced eye 5, can accomplish the installation, simple structure is convenient for install or dismantle end effector when the maintenance, the plenty of time of saving, the practicality has been improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an end effector of tea-leaf picking robot, includes executor (1), installation mechanism (2), mounting panel (3) and gripper (7), its characterized in that: the mounting mechanism (2) is arranged at the upper end of the actuator (1), the mounting plate (3) is arranged at the upper end of the mounting mechanism (2), and the mechanical claw is arranged at the bottom of the actuator (1);
the installation mechanism (2) comprises a device plate (201) and a threaded rod (202), the threaded rod (202) is rotatably connected inside the device plate (201), a rod body of the threaded rod (202) is in threaded connection with a first moving block (203), the upper surface of the first moving block (203) is fixedly connected with a connecting block (208), the upper surface of the connecting block (208) is fixedly provided with a clamping plate (210), the right side of the clamping plate (210) is fixedly connected with an inserting column (211), the rod body of the threaded rod (202) is in threaded connection with a second moving block (205), and the right end of the threaded rod (202) is fixedly provided with a rotating knob (207).
2. An end effector of a tea plucking robot as claimed in claim 1, wherein: a first internal thread hole (204) is formed in the first moving block (203), and a threaded rod (202) is connected to the internal thread of the first internal thread hole (204).
3. An end effector of a tea plucking robot as claimed in claim 2, wherein: a second internal threaded hole (206) is formed in the second moving block (205), a threaded rod (202) is connected to the internal thread of the second internal threaded hole (206), and the directions of the internal threads of the first internal threaded hole (204) and the second internal threaded hole (206) are opposite.
4. An end effector of a tea plucking robot as claimed in claim 1, wherein: the upper surface of the device plate (201) is provided with a moving port (209), the connecting block (208) penetrates through the moving port (209), and the upper surface of the actuator (1) is fixedly provided with the device plate (201).
5. An end effector of a tea plucking robot as claimed in claim 1, wherein: the bottom of the mounting plate (3) is fixedly connected with a connecting column (4), and a splicing hole (5) is formed in the left wall of the inner portion of the connecting column (4).
6. An end effector of a tea plucking robot as claimed in claim 5, wherein: the plug-in connection structure is characterized in that plug-in columns (211) are plugged in the plug-in connection holes (5), and mounting holes (6) are formed in the upper surface of the mounting plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120968561.6U CN214676630U (en) | 2021-05-08 | 2021-05-08 | End effector of tea picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120968561.6U CN214676630U (en) | 2021-05-08 | 2021-05-08 | End effector of tea picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214676630U true CN214676630U (en) | 2021-11-12 |
Family
ID=78551207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120968561.6U Expired - Fee Related CN214676630U (en) | 2021-05-08 | 2021-05-08 | End effector of tea picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214676630U (en) |
-
2021
- 2021-05-08 CN CN202120968561.6U patent/CN214676630U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20211112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |