CN216820758U - End effector of spherical fruit picking robot - Google Patents

Abstract

The utility model discloses a ball type fruit picking robot end effector, end effector include support piece, support piece can be used to the location, picks fruit, the last collection piece that is used for receiving fruit temporarily that is equipped with of support piece, it is equipped with first extensible member and second extensible member all to rotate on the collection piece, first extensible member and second extensible member symmetric distribution, first extensible member rotates with support piece to be connected, second extensible member and support piece fastening connection, support piece goes up to slide to be equipped with and is used for shearing the shearing piece of fruit stalk, the last gliding driving piece that is used for driving the shearing piece that is equipped with of support piece. The utility model discloses end effector carries on spacingly through adopting Y type draw-in groove with fruit stalk, makes the precision of improving the harvesting, and is flexible through first telescopic link, and second telescopic link length is unchangeable, makes the fruit that collects in the frame get into and collects the box and retrieve, can carry out the picking task many times, collects fruit again, promotes and picks efficiency, and the easy cutting is cuted to the fruit stalk to the shearing piece, and the fruit stalk can not slide away.

Description

End effector of spherical fruit picking robot

Technical Field

The utility model relates to an information and automatic control field specifically are a ball type fruit picking robot end effector.

Background

China is a big agricultural country, and with the abundance of the substance life of people, the demand for fruits is increasing. In fruit production, picking cost is a great expense, and picking robots are born. The end effector of the existing picking robot mostly adopts a claw type structure. After every picking, the fruit in the claws needs to be put into a collecting box, and the efficiency is low. Simultaneously, the picking manipulator with the claw structure has the problem that the grabbing strength and the positioning are difficult to control, and the fruit can be damaged.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a ball type fruit picking robot end effector, judge the fruit position through second vision device, adopt Y type draw-in groove to carry on spacingly with fruit stalk, it picks to fix a position in making fruit stalk get into Y type draw-in groove gap, the precision of picking is improved, it is flexible through first telescopic link, second telescopic link length is unchangeable, make the fruit in the collection frame get into through the arc slide and collect the box and retrieve, can carry out the picking task many times, put into fruit among the collection box again, promote picking efficiency, shearing member shears the fruit stalk, the draw-in groove cutting method of non-grabbing formula, the blade atress is more even, change the cutting, and the fruit stalk can not slide away.

The purpose of the utility model can be realized by the following technical scheme:

the utility model provides an end effector of robot is picked to ball type fruit, end effector includes support piece, support piece can be used to the location, picks fruit, is equipped with the collection piece that is used for receiving fruit temporarily on the support piece, all rotates on the collection piece and is equipped with first extensible member and second extensible member.

First extensible member and second extensible member symmetric distribution, first extensible member rotate with support piece to be connected, second extensible member and support piece fastening connection, support piece goes up to slide to be equipped with the shearing piece that is used for cuting fruit stalk, is equipped with on the support piece to be used for driving the gliding driving piece of shearing piece.

Further, support piece includes the backup pad, and the one end of backup pad is equipped with Y type draw-in groove, and the other end is equipped with and is used for judging a visual device of fruit position height.

And a second vision device used for judging whether the fruit stalks enter the Y-shaped clamping grooves or not is arranged above the supporting plate and connected with a signal processor, and when the fruit stalks enter the gaps of the Y-shaped clamping grooves, the second vision device transmits signals to the signal processor.

Further, collect the piece including the collection frame that is used for collecting fruit temporarily, collect the frame and be the slope form, be equipped with the discharge gate on collecting the frame, collect one side that the frame is located the discharge gate and be higher than normal, be equipped with the arc slide on the discharge gate.

Furthermore, first extensible member includes the first telescopic link of symmetric distribution, and first telescopic link is located the backup pad and is close to the one end of Y type draw-in groove, and the base of first telescopic link passes through the bearing and rotates with the backup pad to be connected, and the output shaft of first telescopic link passes through the bearing and is connected with collecting the frame rotation.

Furthermore, the second extensible member includes the second telescopic link of symmetric distribution, and the base of second telescopic link is fixed in the backup pad, and the output shaft of second telescopic link passes through the bearing and is connected with collecting the frame rotation.

Further, the shearing part comprises a rotating shaft, a first connecting rod is arranged on the rotating shaft, one end of the first connecting rod is connected with the rotating shaft in a sliding mode, a second connecting rod sliding in the supporting plate is arranged at the other end of the first connecting rod in a rotating mode, and an inclined blade used for shearing fruit stalks is fixed on the second connecting rod.

Furthermore, the driving part comprises a motor fixed on the supporting plate, a disc is fixed on an output shaft of the motor, and the disc is fixedly connected with the rotating shaft.

The utility model has the advantages that:

1. the end effector judges the position of the fruit through the second vision device, and the Y-shaped clamping groove is adopted to limit the position of the fruit stalks, so that the fruit stalks enter the gap of the Y-shaped clamping groove to be positioned and picked, and the picking precision is improved;

2. the end effector of the utility model is stretched by the first telescopic rod, the length of the second telescopic rod is not changed, so that the fruits in the collecting frame can enter the collecting box through the arc-shaped sliding plate to be recovered, the picking task can be executed for many times, and then the fruits are placed in the collecting box, thereby improving the picking efficiency;

3. the utility model discloses end effector cuts the fruit stalk through shearing the piece, and the draw-in groove cutting method of non-grabbing formula, blade atress are more even, change the cutting, and the fruit stalk can not slide away.

Drawings

The present invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of the end effector of the present invention;

fig. 2 is a schematic structural view of the end effector of the present invention;

fig. 3 is a schematic structural view of the end effector of the present invention;

fig. 4 is a schematic structural view of the shearing part of the present invention.

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 of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides a ball type fruit picking robot end effector, end effector includes support piece 1, as shown in fig. 1, support piece 1 can be used to the location, pick fruit, be equipped with the collection piece 2 that is used for receiving fruit temporarily on support piece 1, it is equipped with first extensible member 3 and second extensible member 4 all to rotate on the collection piece 2, first extensible member 3 and 4 symmetric distributions of second extensible member, first extensible member 3 rotates with support piece 1 to be connected, second extensible member 4 and support piece 1 fastening connection, it is equipped with shearing piece 5 that is used for shearing fruit stalk to slide on support piece 1, be equipped with on support piece 1 and be used for driving 5 gliding driving pieces 6 of shearing piece.

Support piece 1 includes backup pad 11, as shown in fig. 2, the one end of backup pad 11 is equipped with Y type draw-in groove 12, the other end is equipped with and is used for judging the first vision device 13 of fruit position height, the gap of Y type draw-in groove 12 can make the fruit stalk of fruit pass through, the top of backup pad 11 is equipped with the second vision device 14 that is used for judging whether the fruit stalk gets into the gap, signal processor 15 is connected to second vision device 14, when the fruit stalk gets into the gap of Y type draw-in groove 12, second vision device 14 is signal transmission to signal processor 15, can conveniently fix a position fruit and pick.

Collect 2 including the collection frame 21 that is used for collecting fruit temporarily, collect frame 21 and be the slope form, be equipped with discharge gate 22 on the collection frame 21, collect one side that frame 21 is located discharge gate 22 and be higher than normal, can prevent that fruit from dropping, be equipped with arc slide 23 on the discharge gate 22, arc slide 23 is connected with the collection box.

First extensible member 3 includes the first telescopic link 31 of symmetric distribution, as shown in fig. 3, first telescopic link 31 is located the one end that backup pad 11 is close to Y type draw-in groove 12, and the base of first telescopic link 31 passes through the bearing and is connected with backup pad 11 rotation, and the output shaft of first telescopic link 31 passes through the bearing and is connected with collection frame 21 rotation.

The second telescopic part 4 comprises symmetrically distributed second telescopic rods 41, the base of the second telescopic rods 41 is fixed on the support plate 11, and the output shaft of the second telescopic rods 41 is rotatably connected with the collecting frame 21 through a bearing.

The cutting member 5 includes a rotating shaft 51, as shown in fig. 4, a first connecting rod 52 is disposed on the rotating shaft 51, one end of the first connecting rod 52 is slidably connected to the rotating shaft 51, the other end of the first connecting rod 52 is rotatably disposed with a second connecting rod 53 sliding on the supporting plate 11, and an inclined blade 54 for cutting fruit stalks is fixed on the second connecting rod 53.

The driving member 6 includes a motor 61 fixed on the supporting plate 11, and as shown in fig. 3 and 4, a disc 62 is fixed on an output shaft of the motor 61, and the disc 62 is tightly connected with the rotating shaft 51.

When the fruit picking machine is used, the end effector is connected with the fruit picking robot, the position of a fruit is judged through the second vision device 14, the mechanical arm of the robot drives the end effector to move towards the fruit, the fruit stalks are positioned in the range of the Y-shaped clamping groove 12, the mechanical arm drives the end effector to be pushed, the fruit stalks enter the gap of the Y-shaped clamping groove 12, the second vision device 14 transmits signals to the signal processor 15, at the moment, the first vision device 13 is started to judge the height of the fruit position, the first telescopic rod 31 and the second telescopic rod 41 are simultaneously driven to stretch, when the fruit is contacted with the collecting frame 21, the motor 61 is started to drive the inclined blade 54 to cut the fruit stalks, the fruit can be better positioned, the fruit is stretched through the first telescopic rod 31 after being picked, the length of the second telescopic rod 41 is unchanged, and the fruit in the collecting frame 21 enters the collecting box through the arc-shaped sliding plate 23 to be recovered, can carry out the picking task many times, put into collection box with fruit again among, promote and pick efficiency, simple structure, reduce cost.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention.

Claims (7)

1. An end effector of a spherical fruit picking robot comprises a supporting piece (1), and is characterized in that the supporting piece (1) can be used for positioning and picking fruits, a collecting piece (2) used for temporarily receiving the fruits is arranged on the supporting piece (1), and a first telescopic piece (3) and a second telescopic piece (4) are rotatably arranged on the collecting piece (2);

first extensible member (3) and second extensible member (4) symmetric distribution, first extensible member (3) rotate with support piece (1) and are connected, second extensible member (4) and support piece (1) fastening connection, and support piece (1) is gone up to slide and is equipped with shearing piece (5) that are used for cuting fruit stalk, is equipped with on support piece (1) to be used for driving shearing piece (5) gliding driving piece (6).

2. The ball type fruit picking robot end effector as claimed in claim 1, characterized in that the support member (1) comprises a support plate (11), one end of the support plate (11) is provided with a Y-shaped slot (12), and the other end is provided with a first vision device (13) for judging the height of the fruit;

a second visual device (14) used for judging whether the fruit stalks enter the Y-shaped clamping grooves (12) or not is arranged above the supporting plate (11), the second visual device (14) is connected with a signal processor (15), and when the fruit stalks enter gaps of the Y-shaped clamping grooves (12), the second visual device (14) transmits signals to the signal processor (15).

3. The ball type fruit picking robot end effector of claim 2, characterized in that the collecting member (2) comprises a collecting frame (21) for temporarily collecting fruits, the collecting frame (21) is inclined, a discharge port (22) is arranged on the collecting frame (21), one side of the collecting frame (21) at the discharge port (22) is higher, and an arc-shaped sliding plate (23) is arranged on the discharge port (22).

4. The ball type fruit picking robot end effector according to claim 3, characterized in that the first telescopic member (3) comprises symmetrically distributed first telescopic rods (31), the first telescopic rods (31) are located at one end of the support plate (11) close to the Y-shaped clamping groove (12), the base of the first telescopic rods (31) is rotatably connected with the support plate (11) through bearings, and the output shafts of the first telescopic rods (31) are rotatably connected with the collecting frame (21) through bearings.

5. The ball type fruit picking robot end effector according to claim 3, characterized in that the second telescopic member (4) comprises symmetrically distributed second telescopic rods (41), the base of the second telescopic rods (41) is fixed on the support plate (11), and the output shaft of the second telescopic rods (41) is rotatably connected with the collecting frame (21) through bearings.

6. The ball type fruit picking robot end effector of claim 2, characterized in that the cutting member (5) comprises a rotating shaft (51), a first connecting rod (52) is arranged on the rotating shaft (51), one end of the first connecting rod (52) is slidably connected with the rotating shaft (51), the other end of the first connecting rod (52) is rotatably provided with a second connecting rod (53) which is slidably arranged on the supporting plate (11), and an inclined blade (54) for cutting fruit stalks is fixed on the second connecting rod (53).

7. The ball type fruit picking robot end effector as claimed in claim 6, characterized in that the driving member (6) comprises a motor (61) fixed on the supporting plate (11), a disc (62) is fixed on the output shaft of the motor (61), and the disc (62) is tightly connected with the rotating shaft (51).

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