Picking robot end effector

A technology for end effectors and picking robots, which is applied in the direction of picking machines, manipulators, harvesters, etc., can solve the problems of increasing the difficulty of system control and the complexity of the mechanism, the transmission mechanism scheme and the control and sensing system are redundant, and the cost is increased. Achieve the effect of reducing cost and control difficulty, small and compact structure, and high degree of intelligence

Pending Publication Date: 2017-06-20
NANJING INST OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The knife-cutting method mainly uses a motor to drive a circular saw or scissors to directly cut off the fruit stem. This method of transmission mecha

Method used

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  • Picking robot end effector

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Embodiment Construction

[0019] The present invention is described in further detail now in conjunction with accompanying drawing.

[0020] Such as Figure 1-3 As shown, the end effector of the picking robot includes a translation clamping fruit stem assembly and an oblique knife cutting fruit stem assembly. The translation clamping fruit stem assembly includes a translation finger cylinder 11, a left trapezoidal tooth finger 5, a right trapezoidal tooth finger 9, and a stopper 6 , elastic shading cloth 7, opposite beam photoelectric switch 8, visual sensor 10 and mechanical arm docking part 12, the oblique knife cutting fruit stem assembly includes a double-rod guiding cylinder 1, a cutter mounting plate 2, a cutter pressure plate 3 and a cutter 4 .

[0021] The mechanical arm docking part 12 is fixedly connected with the translation finger cylinder 11 and the double-rod guiding cylinder 1 respectively by screws, and a threaded waist-shaped installation hole connected with the picking mechanical arm...

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Abstract

Provided is a picking robot end effector. The picking robot end effector comprises a fruit stem translation clamping assembly and a fruit stem oblique knife cutting assembly. The fruit stem translation clamping assembly comprises a translation finger cylinder, a left trapezoidal tooth finger, a right trapezoidal tooth finger, a stopping piece, an elastic black-out cloth, a biinjection optoelectronic switch, a visual sensor and a mechanical arm butt joint piece. The fruit stem oblique knife cutting assembly comprises a double-pole guide cylinder, a cutter mounting plate, a cutter pressing plate and a cutter. According to the picking robot end effector, the picking movement mode that pneumatic trapezoidal teeth clamp fruit stems and a pneumatic oblique knife extends out to cut off the fruit stems is mainly adopted; and meanwhile, camera image recognition and optoelectronic switch signals are combined to automatically match a robot to complete fruit picking operation, and the picking robot end effector has the advantages of being simple in structure, high in universality, low in component weight and free of pollution.

Description

technical field [0001] The invention belongs to the technical field of development of an end effector for automatic picking of agricultural fruits and vegetables, and in particular relates to an end effector of a picking robot. Background technique [0002] In recent years, agricultural fruit and vegetable picking robots have gradually become the focus of domestic and foreign research and development in the field of robotics. Many achievements have been made in related technologies at home and abroad, but most of them stay in the laboratory research and development stage, and there is still a long way to go before practical commercialization. big gap. One of the main reasons is that the requirements for the development of the end effector are relatively high. The main requirements include: 1. The mechanism scheme should be simple and compact, the weight should be light, avoid redundant transmission mechanisms, ensure the compactness and reliability of the overall structure, ...

Claims

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Application Information

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IPC IPC(8): B25J15/08A01D46/00A01D46/30
CPCA01D46/00A01D46/30B25J15/08Y02P60/12
Inventor 杨文亮吴京秋冯虎郁汉琪史建俊徐有峰
Owner NANJING INST OF TECH
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