CN216451973U - Air bag type citrus picking manipulator end effector - Google Patents
Air bag type citrus picking manipulator end effector Download PDFInfo
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- CN216451973U CN216451973U CN202122906562.0U CN202122906562U CN216451973U CN 216451973 U CN216451973 U CN 216451973U CN 202122906562 U CN202122906562 U CN 202122906562U CN 216451973 U CN216451973 U CN 216451973U
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- fixed cavity
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Abstract
The utility model discloses an air bag type end effector of an orange picking manipulator, which relates to the field of fruit picking devices and comprises a fixed cavity, wherein air bags are arranged on the periphery of the inner wall of the fixed cavity, two air inflation holes are formed in one side of the fixed cavity, a connecting plate is fixedly connected to one side of the bottom of the fixed cavity, a cutting assembly comprises a forward and reverse rotating motor, a rotating shaft is fixedly connected to the output end of the forward and reverse rotating motor, a driving wheel is fixedly sleeved at one end of the rotating shaft, racks are meshed and connected to the two sides of the driving wheel, limiting plates are fixedly connected to one ends of the two racks, and connecting blocks are fixedly connected to the other ends of the two racks. According to the utility model, through the design of the cutting assembly, the output end of the forward and reverse rotating motor is connected with the driving wheel, the two cutters can approach each other to cut off the orange stalks of oranges, the oranges to be picked can conveniently enter the inner cavity of the fixed cavity, and the orange picking efficiency is improved.
Description
Technical Field
The utility model relates to the technical field of fruit picking devices, in particular to an end effector of an air bag type orange picking manipulator.
Background
China is a big agricultural country, annual output of agricultural and sideline products is in the top of the world, oranges and tangerines are high in output in fruits, the fruit growers need to pick the oranges and tangerines manually every year in an orange picking period, the oranges and tangerines are picked manually in the traditional mode, picking efficiency is low, spines growing on orange trees easily prick pickers, mechanical picking is adopted, the top fruit stems of the oranges and tangerines are difficult to cut off effectively at one time, secondary cutting is needed, and orange picking efficiency is easily affected.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the defects that mechanical picking is difficult to effectively cut off the top stem of citrus at one time, secondary cutting is needed, and picking efficiency is low.
In order to achieve the purpose, the utility model adopts the following technical scheme:
an air bag type citrus picking manipulator end effector comprises a fixed cavity, wherein inflatable air bags are arranged on the periphery of the inner wall of the fixed cavity, two inflatable holes are formed in one side of the fixed cavity, a connecting plate is fixedly connected to one side of the bottom of the fixed cavity, a cutting assembly is arranged at the top end of the connecting plate, and a storage frame is arranged at the bottom end of the fixed cavity;
cutting assembly, cutting assembly includes the motor that just reverses, the output fixedly connected with pivot of the motor that just reverses, the fixed cup joint of one end of pivot has the action wheel, the both sides of action wheel all mesh and are connected with the rack, two the equal fixedly connected with limiting plate of one end of rack, two the equal fixedly connected with connecting block of the other end of rack, two one side of connecting block is provided with the cutting knife respectively.
Preferably, one side fixedly connected with transmission horizontal pole of connecting block, the one end fixedly connected with montant of transmission horizontal pole, montant top one side and the one end fixed connection of cutting knife.
Preferably, one side of the top of the vertical rod is fixedly connected with a positioning sliding block, and one side of the middle of the vertical rod is fixedly connected with a convex sliding block.
Preferably, one side of the forward and reverse rotation motor is fixedly connected with a support frame on the top end of the connecting plate, a fixing groove is formed in one side of the support frame, and a through hole is formed in the other side of the support frame.
Preferably, the inner wall both ends of fixed slot have all been seted up the spacing groove, two the inner chamber of spacing groove sliding connection has two limiting slide block respectively, two limiting slide block sets up respectively in the both ends of two racks.
Preferably, a positioning sliding groove is formed in the top end of the fixed cavity, and an inner cavity of the positioning sliding groove is connected with the two positioning sliding blocks in a sliding mode.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, through the design of the cutting assembly, the output end of the forward and reverse rotating motor is connected with the driving wheel, so that the forward and reverse rotating motor can control the movement of the two cutting knives, the motor rotates forward, the two cutting knives can be close to each other to cut off the orange stalks of oranges, the forward and reverse rotating motor rotates reversely, the two cutting knives can be far away from each other, the oranges to be picked conveniently enter the inner cavity of the fixed cavity, the one-time cutting of the orange stalks is realized, and the orange picking efficiency is improved.
2. According to the utility model, by means of the arrangement of the inflatable air bag, the inflatable air bag is inflated or deflated, the rubber anti-slip stripes are arranged on the outer surface of the inflatable air bag, after inflation, the friction force of the part in contact with the oranges can be increased, the oranges in the fixed cavity are fixed, the oranges can be conveniently picked, and after deflation, the picked oranges can conveniently fall into the storage frame.
Drawings
Fig. 1 is a schematic overall structural diagram of an end effector of a gas-bag type citrus picking manipulator according to the present invention;
fig. 2 is a schematic structural diagram of a cutting assembly of an end effector of a gas-bag type citrus picking manipulator according to the present invention;
fig. 3 is a schematic structural diagram of a rack of an end effector of a gas bag type citrus picking manipulator according to the present invention;
fig. 4 is a schematic structural diagram of a support frame of an end effector of a gas bag type citrus picking manipulator according to the present invention.
In the figure: 1. fixing the cavity; 101. an inflation hole; 102. an inflatable air bag; 103. a connecting plate; 104. a storage frame; 2. a positive and negative rotation motor; 201. a rotating shaft; 202. a driving wheel; 3. a support frame; 301. fixing grooves; 302. a limiting groove; 4. a cutting knife; 401. a vertical rod; 402. a male slider; 403. a drive rail; 5. a rack; 501. a limiting plate; 502. connecting blocks; 503. and a limiting sliding block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-4, an air bag type citrus picking manipulator end effector comprises a fixed cavity 1, an inflatable air bag 102 is arranged on the periphery of the inner wall of the fixed cavity 1, two inflatable holes 101 are formed in one side of the fixed cavity 1, the inflatable air bag 102 can be inflated through the inflatable holes 101, the inflatable air bag 102 is inflated and then swells, rubber anti-slip lines are arranged on the outer surface of the inflatable air bag 102, friction force between the inflatable air bag and a citrus contact part can be increased, citrus inside the fixed cavity 1 is fixed, and the citrus picking operation is convenient.
One side fixedly connected with connecting plate 103 of fixed cavity 1 bottom, the robotic arm fixed connection of the one end and the oranges and tangerines ware of picking of connecting plate 103, robotic arm can control end effector's motion route and position, and the bottom of fixed cavity 1 is provided with stores frame 104, and the inner chamber of storing frame 104 is used for depositing the oranges and tangerines that have picked.
The top of connecting plate 103 is provided with cutting assembly, cutting assembly can cut the tangerine stalk of the fixed oranges and tangerines of inflatable air bag 102 and cut, carry out the harvesting of oranges and tangerines, cutting assembly includes positive reverse motor 2, when positive reverse motor 2 during operation, the output forward rotation of motor, positive reverse motor 2's output fixedly connected with pivot 201, pivot 201 forward rotation under the drive of output, the fixed cover of one end of pivot 201 has connect action wheel 202, action wheel 202 takes place to rotate under the drive of pivot 201, the both sides of action wheel 202 all mesh and are connected with rack 5.
One of them rack 5 and the tooth toothing at action wheel 202 top, the tooth toothing of another rack 5 and action wheel 202 bottom, when action wheel 202 rotates, rack 5 at top is along the horizontal direction, to the left side motion of action wheel 202, and simultaneously, rack 5 of bottom is along the horizontal direction, to the right side motion of action wheel 202, the equal fixedly connected with limiting plate 501 of one end of two racks 5, limiting plate 501 moves along with rack 5, when limiting plate 501's lateral wall and action wheel 202 contact, just reverse motor 2 reverses, the motor output can drive pivot 201 antiport, thereby action wheel 202 antiport, drive two rack 5 antiport, get back to initial position.
The other ends of the two racks 5 are fixedly connected with connecting blocks 502, the connecting blocks 502 are driven by the racks 5 to move, when the forward and reverse rotation motor 2 rotates forwards, the two connecting blocks 502 move in opposite directions in the horizontal direction, one side of the connecting block 502 is fixedly connected with the transmission cross rod 403, the transmission cross rod 403 moves under the drive of the connecting block 502, one end of the transmission cross rod 403 is fixedly connected with the vertical rod 401, the vertical rod 401 moves under the drive of the transmission cross rod 403, one side of the top of the vertical rod 401 is fixedly connected with one end of the cutting knife 4, the cutting knife 4 moves under the drive of the vertical rod 401, when the forward and reverse rotation motor 2 rotates forwards, the two cutting knives 4 approach each other to cut off the orange stalks of the oranges, when the motor 2 that just reverses, two cutting knives 4 keep away from each other, expose the top of fixed cavity 1, and the oranges and tangerines that conveniently need to be picked get into in the inner chamber of fixed cavity 1.
One side fixedly connected with location slider at montant 401 top, the location spout has been seted up on the top of fixed cavity 1, the inner chamber and two location slider sliding connection of location spout, when two cutting knife 4 remove on the top of fixed cavity 1, the location slider can mutually support with the location spout, make cutting knife 4 carry out the steady movement, one side fixedly connected with convex slider 402 at montant 401 middle part, two montant 401's length is inequality, certain difference in height has, and two convex slider 402 are located same level, the sliding tray that corresponds has been seted up to fixed cavity 1's side, two convex slider 402 homoenergetic enough mutually support with the sliding tray, play spacing and supported effect to the removal of two montants 401.
Just be located the top fixedly connected with support frame 3 of connecting plate 103 in one side of motor 2 just reversing, support frame 3 supports two racks 5 fixedly, fixed slot 301 has been seted up to one side of support frame 3, the through-hole has been seted up to the opposite side of support frame 3, the through-hole is run through at the middle part of pivot 201, spacing groove 302 has all been seted up at the inner wall both ends of fixed slot 301, two spacing groove 302's inner chamber sliding connection respectively has two spacing slider 503, spacing slider 503 can mutually support with the inner chamber of spacing groove 302, spacing slider 503 can take place to slide in spacing groove 302's inner chamber, two spacing slider 503 set up respectively in the both ends of two racks 5.
According to the utility model, the mechanical arm moves according to an operation instruction, the oranges to be picked enter the inner cavity of the fixed cavity 1, the inner cavity of the inflatable air bag 102 is inflated through the inflation hole 101, the inflatable air bag 102 is inflated and then swells, and the oranges in the fixed cavity 1 are fixed;
when the forward and reverse rotation motor 2 works, the output end of the motor rotates forward, the rotating shaft 201 rotates forward under the drive of the output end, the driving wheel 202 rotates under the drive of the rotating shaft 201, the rack 5 at the top moves to the left side of the driving wheel 202 along the horizontal direction, meanwhile, the rack 5 at the bottom moves to the right side of the driving wheel 202 along the horizontal direction, the limiting plate 501 moves along with the rack 5, and the connecting block 502 moves under the drive of the rack 5;
when the forward and reverse rotation motor 2 rotates forward, the two connecting blocks 502 move in the opposite direction in the horizontal direction, the transmission cross rod 403 moves under the driving of the connecting blocks 502, the vertical rod 401 moves under the driving of the transmission cross rod 403, the cutting knife 4 moves under the driving of the vertical rod 401, the two cutting knives 4 approach each other, and the citrus stalks of the citrus are cut off;
the inflatable air bags 102 are deflated, and after the air bags around the citrus shrink, the citrus loses support and falls into the inner cavity of the storage frame 104 below from the bottom end of the fixed cavity 1;
when limiting plate 501's lateral wall and action wheel 202 contact, positive reverse motor 2 reverses, and the motor output drives pivot 201 antiport, and action wheel 202 antiport drives two rack 5 reverse motion, and two cutting knives 4 keep away from each other, get back to initial position, expose the top of fixed cavity 1, carry out the harvesting of next oranges and tangerines.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.
Claims (6)
1. An air bag type citrus picking manipulator end effector comprises a fixed cavity (1), and is characterized in that air bags (102) are arranged on the periphery of the inner wall of the fixed cavity (1), two air inflation holes (101) are formed in one side of the fixed cavity (1), a connecting plate (103) is fixedly connected to one side of the bottom of the fixed cavity (1), a cutting assembly is arranged at the top end of the connecting plate (103), and a storage frame (104) is arranged at the bottom end of the fixed cavity (1);
cutting assembly, cutting assembly includes positive reverse motor (2), output fixedly connected with pivot (201) of positive reverse motor (2), the fixed cover of one end of pivot (201) has connect action wheel (202), the both sides of action wheel (202) all mesh and are connected with rack (5), two the equal fixedly connected with limiting plate (501) of one end of rack (5), two the equal fixedly connected with connecting block (502) of the other end of rack (5), two one side of connecting block (502) is provided with cutting knife (4) respectively.
2. The air bag type citrus picking manipulator end effector as claimed in claim 1, wherein a transmission cross bar (403) is fixedly connected to one side of the connecting block (502), a vertical bar (401) is fixedly connected to one end of the transmission cross bar (403), and one side of the top of the vertical bar (401) is fixedly connected to one end of the cutting knife (4).
3. The air bag type citrus picking manipulator end effector as claimed in claim 2, wherein a positioning slider is fixedly connected to one side of the top of the vertical rod (401), and a convex slider (402) is fixedly connected to one side of the middle of the vertical rod (401).
4. The air bag type citrus picking manipulator end effector according to claim 1, wherein a support frame (3) is fixedly connected to one side of the forward and reverse rotation motor (2) and located at the top end of the connecting plate (103), a fixing groove (301) is formed in one side of the support frame (3), and a through hole is formed in the other side of the support frame (3).
5. The air bag type citrus picking manipulator end effector according to claim 4, wherein two limiting grooves (302) are formed at two ends of the inner wall of the fixing groove (301), two limiting slide blocks (503) are respectively connected to the inner cavities of the two limiting grooves (302) in a sliding manner, and the two limiting slide blocks (503) are respectively arranged at two ends of the two racks (5).
6. The air bag type citrus picking manipulator end effector as claimed in claim 1, wherein a positioning chute is formed at the top end of the fixed cavity (1), and an inner cavity of the positioning chute is slidably connected with the two positioning sliders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122906562.0U CN216451973U (en) | 2021-11-19 | 2021-11-19 | Air bag type citrus picking manipulator end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122906562.0U CN216451973U (en) | 2021-11-19 | 2021-11-19 | Air bag type citrus picking manipulator end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216451973U true CN216451973U (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122906562.0U Active CN216451973U (en) | 2021-11-19 | 2021-11-19 | Air bag type citrus picking manipulator end effector |
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| CN (1) | CN216451973U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
| CN115136792A (en) * | 2022-07-25 | 2022-10-04 | 嘉应学院 | Fruit is picked with automatic walking intelligence and is picked fruit device |
| CN115918371A (en) * | 2023-01-12 | 2023-04-07 | 陈彬 | berry picking equipment |
-
2021
- 2021-11-19 CN CN202122906562.0U patent/CN216451973U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115067076A (en) * | 2022-06-13 | 2022-09-20 | 嘉应学院 | Intelligent citrus picking machine and picking method |
| CN115067076B (en) * | 2022-06-13 | 2023-07-25 | 嘉应学院 | Intelligent orange picking machine and picking method |
| CN115136792A (en) * | 2022-07-25 | 2022-10-04 | 嘉应学院 | Fruit is picked with automatic walking intelligence and is picked fruit device |
| CN115918371A (en) * | 2023-01-12 | 2023-04-07 | 陈彬 | berry picking equipment |
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