CN221306548U - Fruit picking end effector - Google Patents

Abstract

The utility model discloses a fruit picking end effector which comprises a fixed plate, a clamping device, a feeding device and a cutting device. The device adopts the clamping device to clamp fruits or fruit stalks, the clamping jaw of the clamping device has a certain containing range, and the device is applicable to fruits or fruit stalks with different sizes; the device adopts a feeding device to drive a cutting device to execute cutting action; the device adopts cutting device to cut the fruit stalk, and it adopts the rotary-cut of motor drive blade, can effectively cut off the fruit stalk fast. The utility model can be arranged on a picking robot, has high picking reliability, is quick and effective, and can be suitable for picking operations of different types of fruits such as lotus seedpod, pomelo, litchi strings and the like.

Description

A fruit picking end effector

Technical Field

The utility model relates to the technical field of agricultural machinery, in particular to a fruit picking end effector.

Background technique

Fruit picking is a key link in the orchard production process. Due to its complex operating environment, fruit picking has long been a manual operation. This picking method is labor-intensive, and the labor shortage problem is becoming more and more prominent during the fruit ripening season. At the same time, there are problems such as high picking costs, high labor intensity and safety risks.

In recent years, with the development of agricultural machinery, robots that can automatically pick fruits have emerged. Picking robots are generally composed of walking mechanisms, visual recognition systems, picking systems, etc. The picking end effector of the picking system is the core component of the picking robot, which is related to the picking efficiency and picking quality, and directly affects the economic benefits. Previous researchers have proposed some solutions around fruit picking devices. Patent 202122597932.7 proposes a picking robot end effector with adjustable fruit posture. The utility model uses a motor-driven scissors to cut the fruit stems. In practical applications, due to the hardness and toughness of the fruit stems, it is difficult to cut off the fruit stems by using scissors due to slippage, and even cause great damage to the fruit body, thereby affecting its economic value. Patent 201820251347.7 proposes a fruit bunch picking manipulator end effector, which uses a motor plus a flexible shaft transmission to drive the saw blade to cut the fruit stems, and uses a screw mechanism to drive the saw blade to move toward the fruit to achieve fruit picking, but its structure is complex and the overall weight of the device is large, which increases the workload of the picking robot.

Utility Model Content

In order to solve the above problems, the utility model provides a fruit picking end effector, whose clamping device adopts finger-shaped claws to clamp the target fruit, the claw arm is long and the opening and closing angle is large, and it has a certain fault tolerance rate when clamping fruits with certain errors in position recognition; its driving device controls the opening and closing angle of the claws; and its cutting device adopts a motor-driven blade to achieve rapid cutting of the target fruit stalk.

In order to solve the above technical problems, the utility model adopts the following technical solutions:

A fruit picking end effector comprises a fixed plate, a clamping device, a feeding device and a cutting device, characterized in that: the clamping device is installed at one end of the fixed plate, comprises a mounting bracket, a driving device and a clamping claw, the mounting bracket is connected to the fixed plate, the driving device is fixed on the mounting bracket, the clamping claw is connected to the driving device, and is driven by the driving device to perform opening and closing actions; the clamping claw comprises a first claw finger and a second claw finger, the installation positions of the first claw finger and the second claw finger are not completely symmetrical, and the first claw finger and the second claw finger cross and close when the clamping claw is closed, so as to achieve the purpose of gathering and clamping the fruit or fruit stalk inward; the feeding device is installed on one side of the clamping device, and is connected to the cutting device, and the cutting device is driven by the feeding device to complete the cutting action; the cutting device comprises a motor and a blade, the motor is connected to the feeding device, and the feeding device drives the motor to move toward the fruit clamped by the clamping claw, and the blade is installed on the motor shaft, and the motor drives the blade to rotate to quickly cut off the fruit stalk.

Preferably, the first claw finger comprises at least one pair of finger pieces, with pillars provided between the finger pieces and connecting the finger pieces by the pillars; the second claw finger has the same structure as the first claw finger, and its installation height is lower than the first claw finger so that the two can cross and close together.

Preferably, the feeding device comprises a fixed bracket and a steering gear, wherein the fixed bracket is connected to the fixed plate, and the steering gear is mounted on the fixed bracket.

Preferably, the finger pieces are all arc-shaped, and their inner arc surfaces are provided with tooth-like circular protrusions to prevent the fruit or the fruit stem from slipping.

Preferably, the driving device of the clamping device is a steering gear.

Preferably, the blade is a disc-shaped serrated blade.

Compared with the prior art, the beneficial effects of the present invention are:

The utility model adopts a clamping device to gather and clamp the fruit, and the clamping claws can be suitable for fruits or fruit stems of different sizes and reduce the damage rate; a feeding device is adopted to drive the motor to move to the cutting position, and the motor drives the blade to quickly cut off the fruit stem.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the specific implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the specific implementation or the prior art description. In all the drawings, similar or repeated elements are not repeatedly marked in the drawings. The elements or parts in the drawings are not necessarily drawn according to the actual scale.

Figure 1 is an axonometric view of the present utility model;

Figure 2 is a top view of the utility model;

Figure 3 is an axonometric view of the clamping device of the present invention;

Figure 4 is a front view of the clamping device of the present invention;

Figure 5 is a left side view of the clamping device of the present invention;

Figure 6 is a schematic diagram of the clamping and cutting operation of the utility model;

Figure 7 is a top view of the clamping and cutting operation of the utility model;

In the above figure: 1. fixed plate, 2. clamping device, 21. mounting bracket, 22. driving device, 23. clamping claw, 231. first claw finger, 2311. finger piece, 2312. support, 232. second claw finger, 3. feeding device, 31. fixed bracket, 32. servo, 4. cutting device, 41. motor, 42. blade.

Detailed ways

Embodiment 1, as shown in Figures 1 to 7: A fruit picking end effector, comprising a fixed plate 1, a clamping device 2, a feeding device 3 and a cutting device 4, characterized in that: the clamping device 2 is installed at one end of the fixed plate 1, and comprises a mounting bracket 21, a driving device 22 and a clamping claw 23, wherein the mounting bracket 21 is connected to the fixed plate 1, the driving device 22 is fixed to the mounting bracket 21, the clamping claw 23 is connected to the driving device 22, and is driven by the driving device 22 to perform an opening and closing action; the clamping claw 23 comprises a first claw finger 231 and a second claw finger 232, wherein the first claw finger 231 and the second claw finger 232 are arranged The installation position is not completely symmetrical. When the clamping jaws 23 are closed, the first claw finger 231 and the second claw finger 232 cross and close together, so as to achieve the purpose of retracting and clamping the fruit or fruit stalk inward; the feeding device 3 is installed on one side of the clamping device 2, which is connected to the cutting device 4, and the cutting device 4 is driven by the feeding device 3 to complete the cutting action; the cutting device 4 includes a motor 41 and a blade 42, wherein the motor 41 is connected to the feeding device 3, and the feeding device 3 drives the motor 41 to move toward the fruit clamped by the clamping jaws 23, and the blade 42 is installed on the shaft of the motor 41, and the motor 41 drives the blade 42 to rotate to quickly cut off the fruit stalk.

The first claw finger 231 includes at least one pair of finger pieces 2311, and a pillar 2312 is provided between the finger pieces 2311 and the finger pieces 2311 are connected by the pillar 2312; the second claw finger 232 has the same structure as the first claw finger 231, and its installation height is lower than the first claw finger 231 so that the two can cross and close.

The feeding device 3 includes a fixed bracket 31 and a steering gear 32 . The fixed bracket 31 is connected to the fixed plate 1 , and the steering gear 32 is installed on the fixed bracket 31 .

The finger pieces 2311 are all arc-shaped, and the inner arc surface thereof is provided with tooth-shaped circular protrusions to prevent the fruit or the fruit stem from slipping.

The driving device 22 of the clamping device 2 is a steering gear.

The blade 42 is a disc-shaped sawtooth blade.

The working process of a fruit picking end effector of the utility model is as follows: the fruit picking end effector can be fixed on the picking robot through a fixing plate 1. Before it approaches the target fruit, the clamping claw 23 of its clamping device 2 is in an open state, and its cutting device 4 is on one side of the clamping device 2, which can ensure that there is enough space in front of the clamping claw 23 to approach the target fruit. When the fruit picking end effector reaches the specified position, the first claw finger 231 and the second claw finger 232 of the clamping claw 23 are driven by the driving device 22 to close. When the fruit is located at the center of the clamping claw 23, the clamping claw 23 is closed to clamp the fruit tightly; when the fruit is located at a certain distance in front of the center of the clamping claw 23, when the clamping claw 23 is tightened, its first claw finger 231 and the second claw finger 232 are crossed and closed, and the fruit can be gathered to the center of the clamping claw 23. The inner arc surface of the finger piece 2311 of the claw finger is arc-shaped, and its shape has good compatibility with the shape of the fruit. After the fruit has been clamped, the servo 32 of the feeding device 3 drives the motor 41 to move as a whole toward the clamping jaws 23. The motor 41 drives the blade 42 to rotate during the movement. When the blade 42 contacts the fruit stem, it can quickly cut it off. Since the motor 41 rotates to a position where the cutting area of the blade 42 can cover the center of the clamping jaws 23 and most of the surrounding area, the fruit stem that is offset in the vertical direction can be completely cut off. When the cutting is completed, the servo 32 drives the motor 41 to move in the opposite direction and return to the position before feeding. At the same time, the fruit picking end effector moves as a whole to the fruit collection position, and then the driving device 22 drives the clamping jaws 23 to open so that the clamping jaws 23 are separated from the fruit.

Claims (6)

1. The utility model provides an end effector is picked to fruit, includes fixed plate (1), clamping device (2), feeding device (3) and cutting device (4), its characterized in that: the clamping device (2) is arranged at one end of the fixed plate (1) and comprises a mounting bracket (21), a driving device (22) and clamping jaws (23), wherein the mounting bracket (21) is connected with the fixed plate (1), the driving device (22) is fixed on the mounting bracket (21), the clamping jaws (23) are connected with the driving device (22), and the driving device (22) drives the clamping jaws to execute opening and closing actions; the clamping jaw (23) comprises a first claw finger (231) and a second claw finger (232), the installation positions of the first claw finger (231) and the second claw finger (232) are not completely symmetrical, and when the clamping jaw (23) is closed, the first claw finger (231) and the second claw finger (232) are crossed and folded, so that the purpose of inwards gathering and clamping fruits or fruit stalks is achieved; the feeding device (3) is arranged on one side of the clamping device (2) and is connected with the cutting device (4), and the cutting device (4) is driven by the feeding device (3) to complete cutting action; the cutting device (4) comprises a motor (41) and a blade (42), wherein the motor (41) is connected with the feeding device (3), the feeding device (3) drives the motor (41) to move towards fruits clamped by the clamping jaw (23), the blade (42) is arranged on the shaft of the motor (41), and the motor (41) drives the blade (42) to rotate so as to cut off the fruit stalks rapidly.

2. A fruit picking end effector as defined in claim 1, wherein: the first claw finger (231) comprises at least one pair of finger pieces (2311), a support post (2312) is arranged between the finger pieces (2311) and the finger pieces (2311), and the finger pieces (2311) are connected through the support post (2312); the second claw finger (232) is identical to the first claw finger (231) in structure, and is lower in installation height than the first claw finger (231) so that the second claw finger and the first claw finger are folded in a crossing mode.

3. A fruit picking end effector as defined in claim 1, wherein: the feeding device (3) comprises a fixed support (31) and a steering engine (32), wherein the fixed support (31) is connected with the fixed plate (1), and the steering engine (32) is arranged on the fixed support (31).

4. A fruit picking end effector as claimed in claim 2, wherein: the finger pieces (2311) are arc-shaped, and tooth-shaped circular protrusions for preventing fruits or fruit stalks from sliding are arranged on the inner arc surfaces of the finger pieces.

5. A fruit picking end effector as defined in claim 1, wherein: the driving device (22) of the clamping device (2) is a steering engine.

6. A fruit picking end effector as defined in claim 1, wherein: the blade (42) is a disc-shaped serrated blade.