End effector and application thereof

Abstract

The invention discloses an end effector which comprises an effector shell, an effector motor, an eccentric cutter and a clamping mechanism, wherein one end of the clamping mechanism is arranged in the effector shell, and the other end of the clamping mechanism extends out of the effector shell. The end effector also comprises a bevel gear group arranged in the effector shell; the eccentric cutter is eccentrically connected to the output end of the bevel gear group; the effector motor is connected with the input end of the bevel gear group in a transmission manner. By the adoption of a bevel gear transmission mode in structure, the end effector is only required to be arranged on a mechanical arm for use, so that the trouble that a special mechanical arm is used and is also required to be carried during use is avoided; due to the bevel gear group transmission mode, the cutting torque is increased, the cutting is more stable, and harder materials can be cut; and furthermore, the end effector is simple in structure, further improves the working efficiency, reduces the labor intensity of people, has a wide market application and popularization prospect and can be applied to agricultural harvesting and emergency rescue.

Description

Technical field [0001] The invention relates to an executive mechanism, in particular to an end effector and its application. Background technique [0002] As a large developing agricultural country, China is widely used in agricultural farming due to its high production efficiency and greatly reduced labor intensity. Among them, picking robots are mostly used in the picking process. Traditional picking robots have huge structure and control The shortcomings such as complexity and heavy weight are far from being able to meet the needs of the rapid development of the fruit and vegetable planting industry, and severely restrict the process of automation of fruit and vegetable harvesting machinery. [0003] Therefore, the inventor developed the "end effector and robot for the multi-fruit fruit and vegetable picking robot" in the invention patent application with the Chinese application number 201010565235.7 and the publication number CN102090210A. However, in the long-term use, they f...

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Problems solved by technology

[0004] In addition, in natural disasters such as earthquakes, in order to more effectively rescue people and property in disasters, especially in collapsed houses, most obstacles need to be cut and moved, such as steel bars, wood, etc. etc. In the current rescue, the obstacles are first fixed with ropes to prevent them from falling or sliding, and then they are cut to obtain a rescue space. After cutting, the obstacles are carried to other places by hand. The whole process is mainly Manually operated, the rescue progress is slow and there is a possibility of secondary injury to personnel

In addition, it may also cause injury to rescuers, and the current special rescue equipment is relatively large and inconvenient to transport, and its relatively small size and single function cannot meet the needs of rescue. Therefore, a portable, simple structure and clip-on A rescue device that integrates holding, cutting and moving obstacles is an urgent problem to be solved in rescue

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