Low-damage mango picking end effector

Abstract

The utility model discloses a low-damage mango picking end effector, which belongs to the technical field of fruit picking, and comprises a clamping mechanism, a shearing mechanism and a connecting plate, the shearing mechanism is arranged above the clamping mechanism and is fixedly connected with the clamping mechanism, the connecting plate is arranged on one side of the clamping mechanism and is fixedly connected with the clamping mechanism, and the clamping mechanism is fixedly connected with the shearing mechanism. The clamping mechanism comprises a moving assembly and a clamping assembly, and the shearing mechanism comprises a driving assembly and a shearing assembly. According to the low-damage mango picking end effector adopting the structure, enveloping grabbing of mango fruits is achieved through a rigid-flexible coupling grabbing mode, then shearing is completed through the pneumatic scissors, the low-damage mango picking end effector has the advantages of being stable in rigid structure and small in size, damage to mangoes can be reduced during grabbing, and the picking efficiency is improved. And low-damage stable grabbing during mango picking is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to a low-damage mango picking end effector. Background Art

[0002] As my country's agricultural modernization level continues to improve, the degree of mechanization of fruit harvesting has gradually increased. However, when harvesting mangoes, it still mainly relies on manual picking. The harvest period of mangoes is mostly in the hot summer, and manual outdoor picking is time-consuming and laborious, and the efficiency is low. After the mango picking end effector can cooperate with the robotic arm, it can solve this problem well.

[0003] There are few types of existing mango picking end effectors, and most of them are rigid structures, which will cause a certain degree of damage to mangoes when grabbing. The general fruit picking end effectors are not suitable for irregular fruits such as mangoes. Most fruit picking end effectors separate the fruit from the stem by cutting or twisting. The serrated blade is large in size and easily causes damage to the neighboring fruits of the target fruit. Utility Model Content

[0004] The utility model aims to provide a low-damage mango picking end effector, which realizes the envelope grabbing of mango fruits through a rigid-flexible coupling grabbing method, and then completes the shearing through pneumatic scissors. It has the characteristics of stable rigid structure and small size, and can reduce the damage to mangoes during grabbing, thereby ensuring low-damage and stable grabbing during mango picking.

[0005] To achieve the above-mentioned objectives, the utility model provides a low-damage mango picking end effector, including a clamping mechanism, a shearing mechanism and a connecting plate. The shearing mechanism is arranged above the clamping mechanism and is fixedly connected to the clamping mechanism. The connecting plate is arranged on one side of the clamping mechanism and is fixedly connected to the clamping mechanism. The clamping mechanism includes a moving component and a clamping component. The shearing mechanism includes a driving component and a shearing component.

[0006] Preferably, the moving assembly includes a bracket, a screw rod and a motor are arranged in the bracket, one side of the screw rod is connected to the bracket, and the other side is connected to the motor, a screw rod nut and a moving plate are arranged on the screw rod, and the screw rod nut is fixedly connected to the moving plate.

[0007] Preferably, two groups of clamping assemblies are provided, which are symmetrically arranged, and the clamping assemblies include a finger base, a first proximal finger, a second proximal finger, a finger base connecting rod, an intermediate connecting plate, a first intermediate finger, a second intermediate finger, a distal finger and a bottom connecting rod. One end of the first proximal finger is hinged to the finger base, and the other end is hinged to the first hole of the intermediate connecting plate and one end of the first intermediate finger. The other end of the first intermediate finger is hinged to the first hole of the distal finger. The first hole of the finger base connecting rod is hinged to the finger base, one end of the second proximal finger is hinged to the first hole of the finger base connecting rod, and the other end is hinged to the second hole of the intermediate connecting plate, one end of the second intermediate finger is hinged to the third hole of the intermediate connecting plate, and the other end is hinged to the second hole of the distal finger. One end of the bottom connecting rod is hinged to the second hole of the finger base connecting rod, and the other end is hinged to the movable plate.

[0008] Preferably, the finger base is fixedly connected to the bracket.

[0009] Preferably, grooves are provided on the first proximal finger and the first middle finger, and flexible fingers are provided between the grooves. The flexible fingers are fixedly connected to the first proximal finger and the first middle finger through a shaft pin.

[0010] Preferably, the driving assembly is provided with a fixing frame, a cylinder is provided above the fixing frame, a tripod is provided at one end of the cylinder, and a fixing plate is provided at the other end, and the fixing plate and the tripod are both connected to the fixing frame by bolts.

[0011] Preferably, the shearing assembly includes a piston rod, a slider is provided at one end of the piston rod, and the other end passes through a fixed plate and is connected to the cylinder, the side of the slider away from the piston rod is connected to a left cutter head and a right cutter head through a pin shaft, a groove is provided under the slider, and a protrusion matching the groove is provided on the fixed frame.

[0012] Preferably, a cushion block and a fruit stem clamping block are sequentially arranged under the left cutter head and the right cutter head.

[0013] Preferably, limit rods are provided on both sides of the slider, and the limit rods are fixedly connected to the fixing plate.

[0014] Therefore, the utility model adopts a low-damage mango picking end effector with the above structure, which has the following beneficial effects:

[0015] (1) The clamping assembly can realize adaptive enveloping clamping of mangoes, thereby reducing damage to mangoes;

[0016] (2) As the right and left blades complete the shearing, the fruit stem clamping block clamps the fruit stem of the target mango, ensuring that the mango can be picked even when the clamping mechanism fails;

[0017] (3) The structure is simple and stable, which not only improves picking efficiency but also reduces labor costs.

[0018] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a low-damage mango picking end effector of the utility model;

[0020] Figure 2 This is a schematic diagram of a clamping assembly of an embodiment of a low-damage mango picking end effector of the utility model;

[0021] Figure 3 This is a schematic diagram of a clamping mechanism of an embodiment of a low-damage mango picking end effector of the utility model;

[0022] Figure 4 It is a partial schematic diagram of a clamping assembly of an embodiment of a low-damage mango picking end effector of the utility model;

[0023] Figure 5 This is a schematic diagram of a shearing mechanism of an embodiment of a low-damage mango picking end effector of the utility model;

[0024] Reference numerals

[0025] 1. Connecting plate; 2. Bracket; 3. Screw; 4. Motor; 5. Screw nut; 6. Moving plate; 7. Finger base; 8. First proximal finger; 9. Second proximal finger; 10. Finger base connecting rod; 11. Middle connecting plate; 12. First middle finger; 13. Second middle finger; 14. Distal finger; 15. Bottom connecting rod; 16. Flexible finger; 17. Fixed frame; 18. Cylinder; 19. Tripod; 20. Fixed plate; 21. Piston rod; 22. Sliding block; 23. Left cutter head; 24. Right cutter head; 25. Pad; 26. Fruit stem clamping block; 27. Limit rod. DETAILED DESCRIPTION

[0026] The technical solution of the utility model is further described below through the accompanying drawings and embodiments.

[0027] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] Example

[0029] Reference Figure 1-4 A low-damage mango picking end effector includes a clamping mechanism, a shearing mechanism and a connecting plate 1. The shearing mechanism is arranged above the clamping mechanism and is fixedly connected to the clamping mechanism. The connecting plate is arranged on one side of the clamping mechanism and is fixedly connected to the clamping mechanism. The clamping mechanism includes a moving component and a clamping component. The shearing mechanism includes a driving component and a shearing component.

[0030] The moving assembly includes a bracket 2, in which a screw rod 3 and a motor 4 are arranged. One side of the screw rod 3 is connected to the bracket 2, and the other side is connected to the motor 4. A screw rod nut 5 and a moving plate 6 are arranged on the screw rod 3, and the screw rod nut 5 and the moving plate 6 are fixedly connected by bolts.

[0031] There are two groups of clamping assemblies, which are symmetrically arranged. The clamping assemblies include a finger base 7, a first proximal finger 8, a second proximal finger 9, a finger base connecting rod 10, an intermediate connecting plate 11, a first middle finger 12, a second middle finger 13, a distal finger 14 and a bottom connecting rod 15. The finger base 7 is fixedly connected to the bracket 2 by bolts. One end of the first proximal finger 8 is hinged to the finger base 7, and the other end is hinged to the first hole of the intermediate connecting plate 11 and one end of the first middle finger 12. The other end of the first middle finger 12 is hinged to the first hole of the distal finger 14. The first hole of the finger base connecting rod 10 is hinged to the finger base 7. One end of the second proximal finger 9 is hinged to the third hole of the finger base connecting rod 10, and the other end is hinged to the second hole of the intermediate connecting plate 11. One end of the second middle finger 13 is hinged to the third hole of the intermediate connecting plate 11, and the other end is hinged to the second hole of the distal finger 14. One end of the bottom connecting rod 15 is hinged to the second hole of the finger base connecting rod 10, and the other end is hinged to the movable plate 6.

[0032] The finger base connecting rod 10, the first proximal finger 8, the second proximal finger 9, the middle connecting plate 11, the first middle finger 12, the second middle finger 13, and the distal finger 14 constitute an under-actuated mechanism.

[0033] The first proximal finger 8 and the first middle finger 12 are both provided with grooves, and a flexible finger 16 is provided between the grooves, and the flexible finger 16 is fixedly connected to the first proximal finger 8 and the first middle finger 12 through an axle pin. When the flexible finger 16 contacts the mango, the flexible finger 16 is deformed due to the characteristics of its own material, thereby reducing damage to the mango.

[0034] Reference Figure 1 and Figure 5 The driving assembly is provided with a fixing frame 17, a cylinder 18 is provided above the fixing frame 17, a tripod 19 is provided at one end of the cylinder 18, and a fixing plate 20 is provided at the other end. The fixing plate 20 and the tripod 19 are both connected to the fixing frame 17 by bolts.

[0035] The shearing assembly includes a piston rod 21, one end of which is provided with a slider 22, and the other end passes through the fixed plate 20 and is connected to the cylinder 18. The side of the slider 22 away from the piston rod 21 is connected to a left cutter head 23 and a right cutter head 24 through a pin shaft. A groove is provided under the slider 22, and a protrusion matching the groove is provided on the fixed frame 17 to facilitate the sliding of the slider 22 on the fixed frame 17.

[0036] A cushion block 25 and a fruit stem clamping block 26 are sequentially arranged under the left cutter head 23 and the right cutter head 24. The fruit stem clamping block 26 shears along with the right cutter head 24 and the left cutter head 23, and clamps the fruit stem of the target mango during shearing, ensuring that the target mango can be picked even when the clamping mechanism fails.

[0037] Limit rods 27 are disposed on both sides of the slider 22 , and the limit rods 27 are fixedly connected to the fixing plate 20 .

[0038] Working principle: The end effector is installed on the robot arm through the connecting plate 1. When the robot arm drives the end effector to move near the target mango, the motor 4 starts to work, and the motor 4 drives the screw 3 and the screw nut 5 to move, so that the movable plate 6 fixed on the screw nut 5 moves, and the movable plate 6 drives the bottom connecting rod 15 to rotate, and the bottom connecting rod 15 drives the first proximal finger 8 and the finger base connecting rod 10 to rotate at the same time. The first proximal finger 8 and the finger base connecting rod 10 drive the second proximal finger 9 and the flexible finger 16 to move, and the movable plate 6 continues to move, driving the rotation of the middle connecting plate 11, the first middle finger 12 and the second middle finger 13. The rotation of the first middle finger 11 drives the upper end of the flexible finger 16 to contact the target mango at the same time. The distal finger 14 is hinged with the first middle finger 11 and the second middle finger 12. With the movement of the movable plate 6, the distal finger 14 rotates until it contacts the target mango, completing the enveloping process. The enveloping process is as follows Figure 2 and Figure 3 After the clamping mechanism completes enveloping the target mango, the cylinder 18 drives the piston rod 21 to move linearly, and at the same time drives the slider 22 to move on the fixed plate 20; with the reciprocating motion of the slider 22, the right blade 24 and the left blade 23 complete the shearing motion due to the action of the limit rod 17.

[0039] Therefore, the utility model adopts a low-damage mango picking end effector of the above structure, which realizes the envelope grabbing of mango fruits through a rigid-flexible coupling grabbing method, and then completes the shearing through pneumatic scissors. It has the characteristics of stable rigid structure and small size, and can reduce the damage to mangoes during grabbing, thereby ensuring low-damage and stable grabbing during mango picking.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that they can still modify or replace the technical solution of the utility model with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the utility model.

Claims

1. A low-damage mango picking end effector, characterized by: It includes a clamping mechanism, a shearing mechanism and a connecting plate, wherein the shearing mechanism is arranged above the clamping mechanism and is fixedly connected to the clamping mechanism, the connecting plate is arranged on one side of the clamping mechanism and is fixedly connected to the clamping mechanism, the clamping mechanism includes a moving component and a clamping component, and the shearing mechanism includes a driving component and a shearing component; The moving assembly includes a bracket, a screw rod and a motor are arranged in the bracket, one side of the screw rod is connected to the bracket, and the other side is connected to the motor, a screw rod nut and a moving plate are arranged on the screw rod, and the screw rod nut is fixedly connected to the moving plate; The clamping assembly is provided with two groups, which are symmetrically arranged. The clamping assembly includes a finger base, a first proximal finger, a second proximal finger, a finger base connecting rod, an intermediate connecting plate, a first intermediate finger, a second intermediate finger, a distal finger and a bottom connecting rod. One end of the first proximal finger is hinged to the finger base, and the other end is hinged to the first hole of the intermediate connecting plate and one end of the first intermediate finger. The other end of the first intermediate finger is hinged to the first hole of the distal finger. The first hole of the finger base connecting rod is hinged to the finger base. One end of the second proximal finger is hinged to the first hole of the finger base connecting rod, and the other end is hinged to the second hole of the intermediate connecting plate. One end of the second intermediate finger is hinged to the third hole of the intermediate connecting plate, and the other end is hinged to the second hole of the distal finger. One end of the bottom connecting rod is hinged to the second hole of the finger base connecting rod, and the other end is hinged to the movable plate. The first proximal finger and the first middle finger are both provided with grooves, and flexible fingers are provided between the grooves. The flexible fingers are fixedly connected with the first proximal finger and the first middle finger through axle pins.

2. The low-damage mango picking end effector according to claim 1, characterized in that: The finger base is fixedly connected to the bracket.

3. The low-damage mango picking end effector according to claim 1, characterized in that: The driving component is provided with a fixing frame, a cylinder is provided above the fixing frame, a tripod is provided at one end of the cylinder, and a fixing plate is provided at the other end, and the fixing plate and the tripod are both connected to the fixing frame by bolts.

4. The low-damage mango picking end effector according to claim 3 is characterized by: The shearing assembly includes a piston rod, one end of which is provided with a slider, and the other end passes through a fixed plate and is connected to a cylinder. The side of the slider away from the piston rod is connected to a left cutter head and a right cutter head through a pin shaft. A groove is provided under the slider, and a protrusion matching the groove is provided on the fixed frame.

5. The low-damage mango picking end effector according to claim 4, characterized in that: A cushion block and a fruit stem clamping block are arranged in sequence below the left cutter head and the right cutter head.

6. The low-damage mango picking end effector according to claim 5, characterized in that: Limit rods are arranged on both sides of the slide block, and the limit rods are fixedly connected to the fixing plate.

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