End execution mechanism of picking robot

Abstract

The utility model belongs to the technical field of tea leaf picking robots, and particularly relates to a picking robot end executing mechanism which comprises a connecting plate connected with a robot, a telescopic assembly and a collecting box are arranged on the connecting plate, a connecting rod is installed at the telescopic end of the telescopic assembly, and the bottom of the connecting rod penetrates through the connecting plate and is provided with a picking cylinder. A negative pressure assembly is arranged on the collecting box, a connecting hose is arranged on the negative pressure assembly and communicated with the picking cylinder, a closed face is arranged on the top of the picking cylinder, an opening allowing tea to enter is formed in the bottom of the picking cylinder, a mounting groove is formed in the picking cylinder, a rotating assembly is arranged in the mounting groove, and a circular blade attached to the opening is arranged on the rotating assembly. The negative pressure assembly comprises a negative pressure fan arranged on the collecting box. The device not only can prevent tea from falling off, but also is simple in structure, low in cost and convenient for subsequent maintenance.

Description

Technical Field

[0001] This utility model belongs to the technical field of hot-melt joint detection of polyethylene gas pipelines, and specifically relates to an end effector of a picking robot. Background Art

[0002] In the field of tea picking, the traditional manual picking method has been difficult to meet the needs of the modern tea industry due to low efficiency, high cost, and limitations in seasonality and human resources. With the rapid development of automation and intelligent technologies, picking robots have gradually become a research hotspot in the field of tea picking. The end effector of a picking robot is a key component for the picking robot to perform the picking task. It is installed at the end of the robotic arm, directly contacts the fruit to be picked, and is responsible for guiding the picking robot to locate the target fruit and perform the picking.

[0003] In the prior art, the end effector of a picking robot generally uses a gripper to clamp the tea leaves, then drives a cutter through a pneumatic component to cut off the tender buds, and finally makes the tender buds enter a negative pressure component for adsorption and collection. For example, an end effector of a tea picking robot as described in the authorized announcement number CN217884495U includes a base chassis and a first sleeve. It is characterized in that the base chassis is movably sleeved on the outer wall of the first sleeve, an L-shaped rod is provided in contact with the outer wall of the connection between the first sleeve and the base chassis, and both ends of the L-shaped rod are threadedly locked and connected to the corresponding first sleeve and base chassis through bolts. A second sleeve is sleeved inside the first sleeve, a third sleeve is sleeved on the top of the first sleeve, a vacuum suction inner shaft is sleeved inside the first sleeve, a plurality of first hinge seats are fixedly provided on the lower side walls of the first sleeve and the third sleeve, and a plurality of second hinge seats are fixedly provided on the lower side wall of the second sleeve and the side wall of the vacuum suction inner cylinder. This utility model can make clamping and shearing actions to pick the tea shoots, ensuring the quality of tea picking and improving the tea picking efficiency.

[0004] However, the up and down movement of the second sleeve drives two fixed rods to realize the tea leaf clamping action, and the shearing is performed by a shearing V-shaped rod. Then, after the tea leaves are clamped and picked, through the cooperation of the second motor and the third motor, the tea leaves are clamped to the inlet of the vacuum suction inner shaft, and through the vacuum pumping of the vacuum suction inner shaft, the tea leaves are sucked into the storage area. With such a setting, there are large gaps around the fixed rods (i.e., grippers). After being sheared by the shearing V-shaped rod, the supporting force only has the clamping force. At the same time, such a clamping force should not be too large (because tea leaves are plants, and if a large clamping force is used, it will cause damage to the tea leaves). If there is a slightly larger vibration (the vibration during machine operation) during the movement, the tea leaves will fall off. Secondly, by setting multiple electrical components to work simultaneously, the structure is too complex, and it is time-consuming and laborious for subsequent maintenance.

[0005] To this end, we propose an end effector for a picking robot. This device can not only prevent tea leaves from falling, but also has a simple structure, low cost, and is convenient for subsequent maintenance. Summary of the Invention

[0006] The purpose of this utility model is to provide an end effector for a picking robot. This device can not only prevent tea leaves from falling, but also has a simple structure, low cost, and is convenient for subsequent maintenance.

[0007] The technical solutions adopted by this utility model are specifically as follows:

[0008] An end effector for a picking robot includes a connecting plate connected to the robot. A telescopic component and a collection box are arranged on the connecting plate. A connecting rod is installed at the telescopic end of the telescopic component. The bottom of the connecting rod penetrates through the connecting plate and is installed with a picking cylinder. A negative pressure component is arranged on the collection box. A connecting hose is arranged on the negative pressure component. The connecting hose is communicated with the picking cylinder;

[0009] The top of the picking cylinder is provided with a closed surface, and the bottom is provided with an opening for tea leaves to enter. An installation groove is opened on the picking cylinder. A rotating component is arranged inside the installation groove. A circular blade that fits the opening is arranged on the rotating component.

[0010] Further, the negative pressure component includes a negative pressure fan arranged on the collection box.

[0011] Further, a sealing door is arranged on the collection box.

[0012] Further, an exhaust port is arranged on the collection box.

[0013] Further, through holes are opened on the circular blade.

[0014] Further, the rotating component includes a stepping motor arranged inside the installation groove. The output end of the stepping motor is connected to the circular blade.

[0015] Further, a buffer layer is arranged on the inner wall of the picking cylinder.

[0016] Further, the telescopic component includes an electric telescopic rod arranged on the connecting plate.

[0017] The technical effects achieved by this utility model are:

[0018] First, the entire device is installed on the robot through a connecting plate, and then the telescopic component and the negative pressure component are connected to the robot control system. When picking tea leaves (usually picking the tender buds of tea leaves), the connecting rod is driven to move by the telescopic component, and the connecting rod drives the picking cylinder to move downward, so that the tender buds enter the interior of the picking cylinder. Then, the circular blade is driven by the rotating component to cut the tender buds. At the same time, the circular blade and the opening of the picking cylinder are closed to prevent the tender buds from falling. At the same time, the negative pressure component is started, and the negative pressure component generates suction, so that the tender buds inside the picking cylinder enter the collection box through the connecting hose for collection. Compared with the existing tea picking robot (clamping the tea leaves with a clamping jaw, then the pneumatic component makes the cutter cut off the tender buds, and then the tender buds enter the negative pressure component for adsorption), this device can not only prevent the tea leaves from falling, but also has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the whole of the present utility model;

[0020] Figure 2 is a side view of the present utility model;

[0021] Figure 3 is a schematic structural diagram of the telescopic component of the present utility model;

[0022] Figure 4 is a schematic structural diagram of the negative pressure component of the present utility model;

[0023] Figure 5 is a schematic structural diagram of the circular cutter of the present utility model.

[0024] In the drawings, the list of components represented by each reference numeral is as follows:

[0025] 1, connecting plate; 2, collection box; 3, connecting rod; 4, picking cylinder; 5, connecting hose; 6, opening; 7, installation groove; 8, circular blade; 9, negative pressure fan; 10, sealing door; 11, exhaust port; 12, through hole; 13, stepping motor; 14, electric telescopic rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In order to make the purpose and advantages of the present utility model more clear, the following specifically describes the present utility model in conjunction with the embodiments. It should be understood that the following text only describes one or several specific implementation manners of the present utility model, and does not strictly limit the scope of protection of the specific claims of the present utility model.

[0027] As Figures 1-5As shown in the figure, the technical solution adopted by this utility model is as follows: An end effector of a picking robot includes a connecting plate 1 connected to the robot. A telescopic component and a collection box 2 are arranged on the connecting plate 1. A connecting rod 3 is installed at the telescopic end of the telescopic component. The bottom of the connecting rod 3 penetrates through the connecting plate 1 and a picking cylinder 4 is installed. A negative pressure component is arranged on the collection box 2. A connecting hose 5 is arranged on the negative pressure component. The connecting hose 5 is communicated with the picking cylinder 4;

[0028] A closed surface is arranged at the top of the picking cylinder 4, and an opening 6 for tea leaves to enter is arranged at the bottom. An installation groove 7 is formed on the picking cylinder 4. A rotating component is arranged inside the installation groove 7. A circular blade 8 that fits the opening 6 is arranged on the rotating component.

[0029] Its working principle is as follows: First, the entire device is installed on the robot through the connecting plate 1. Then, the telescopic component and the negative pressure component are connected to the robot control system. When picking tea leaves (usually picking the tender buds of tea leaves), the telescopic component drives the connecting rod 3 to move, and the connecting rod 3 drives the picking cylinder 4 to move downward, so that the tender buds enter the interior of the picking cylinder 4. Then, the rotating component drives the circular blade 8 to cut the tender buds. At the same time, the circular blade 8 closes the opening 6 of the picking cylinder 4, thus preventing the tender buds from falling. At the same time, the negative pressure component is started, and the negative pressure component generates suction, so that the tender buds inside the picking cylinder 4 enter the collection box 2 through the connecting hose 5 for collection. Compared with the existing picking robots (clamping the tea leaves with clamping jaws, then the pneumatic component makes the cutter cut off the tender buds, and then the tender buds enter the negative pressure component for adsorption), this device can not only prevent the tea leaves from falling, but also has a simple structure and low cost.

[0030] Among them, bolts are arranged on the connecting plate 1 and are connected to the robot through the bolts. This setting facilitates the installation and disassembly of the connecting plate 1.

[0031] At the same time, a sealing door 10 is arranged on the collection box 2. The collection box 2 can be sealed through the sealing door 10, which facilitates the start of the negative pressure component. At the same time, it is convenient to take out the tea leaves when the collection box 2 is opened.

[0032] An exhaust port 11 is arranged on the collection box 2. The airflow generated by the negative pressure component is discharged through the exhaust port 11, so that the negative pressure component can work normally.

[0033] Through holes 12 are formed on the circular blade 8. The arrangement of the through holes 12 allows the outside air to enter, ensuring the stable operation of the negative pressure component and further improving the accuracy and reliability of picking.

[0034] The rotating component includes a stepping motor 13 arranged inside the installation groove 7. The output end of the stepping motor 13 is connected to the circular blade 8. The circular blade 8 is driven to rotate by the stepping motor 13 to cut the tea leaves.

[0035] A buffer layer is provided on the inner wall of the picking cylinder 4. Through the buffer layer, when the tea leaves move due to suction and touch the inner wall, the phenomenon of tea leaf damage can be avoided.

[0036] The negative pressure component includes a negative pressure fan 9 provided on the collection box 2. The negative pressure fan 9 provides power, and its model is FBD axial flow negative pressure fan 9.

[0037] The telescopic component includes an electric telescopic rod 14 provided on the connecting plate 1. The electric telescopic rod 14 drives the connecting rod 3 to move the picking cylinder 4 downward.

[0038] The robot control system is a Siemens programmable PLC controller in the prior art, which can program each step. It belongs to the prior art and will not be elaborated here.

[0039] At the same time, most of the picking robots in the prior art use six-axis drive. For example, the six-axis harvesting robot used by American farmers has a multi-joint arm as its core, which imitates the flexibility and proficiency of the human arm. Driven by an electric motor, it moves on six axes and can reach, bend, twist and operate with amazing precision, so as to achieve precise recognition and picking of mature fruits and vegetables. It belongs to the prior art and will not be elaborated here.

[0040] At the same time, a camera is also provided on the robot. The camera can help the robot identify the environment and perform visual navigation. Through the image information captured by the camera, the robot can analyze information such as paths and obstacles, so as to autonomously plan the travel route, avoid collisions and improve the picking efficiency. Its model is a combination of Eye-in-Hand vision system and binocular vision system for perception and positioning. It belongs to the prior art and will not be elaborated here.

[0041] The working principle of this utility model is as follows: First, the whole device is installed on the robot through the connecting plate 1, and then the telescopic component, the negative pressure component and the robot control system are connected. When picking tea leaves (usually picking the tender buds of tea leaves), the connecting rod 3 is driven to move through the telescopic component, and the connecting rod 3 drives the picking cylinder 4 to move downward, so that the tender buds enter the interior of the picking cylinder 4. Then, the circular blade 8 is driven by the rotating component to cut the tender buds. At the same time, the circular blade 8 and the opening 6 of the picking cylinder 4 are closed to prevent the tender buds from falling. At the same time, the negative pressure component is started, and the negative pressure component generates suction, so that the tender buds inside the picking cylinder 4 enter the collection box 2 through the connecting hose 5 for collection. Compared with the picking robot in the prior art (clamping the tea leaves with a clamping jaw, then the pneumatic component makes the cutter cut off the tender buds, and then the tender buds enter the negative pressure component for adsorption), this device can not only prevent the tea leaves from falling, but also has a simple structure and low cost.

[0042] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present utility model, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present utility model. The structures, devices, and operation methods not specifically described and explained in the present utility model, unless otherwise specified and limited, are implemented according to the conventional means in this field.

Claims

1. A harvesting robot end effector, comprising a connecting plate (1) connected to the robot, characterized in that: The connecting plate (1) is provided with a telescopic component and a collecting box (2); a connecting rod (3) is installed at the telescopic end of the telescopic component; the bottom of the connecting rod (3) passes through the connecting plate (1) and is installed with a picking tube (4); a negative pressure component is provided on the collecting box (2); a connecting hose (5) is provided on the negative pressure component; and the connecting hose (5) is connected to the picking tube (4); The picking tube (4) is provided with a closed surface at the top and an opening (6) for allowing tea leaves to enter at the bottom. The picking tube (4) is provided with a mounting groove (7), a rotating assembly is provided inside the mounting groove (7), and a circular blade (8) is provided on the rotating assembly and fits the opening (6).

2. The end effector of the picking robot according to claim 1, characterized in that: The negative pressure component comprises a negative pressure fan (9) arranged on the collection box (2).

3. The end effector of the picking robot according to claim 1, characterized in that: The collection box (2) is provided with a sealing door (10).

4. The end effector of the harvesting robot according to claim 1, characterized in that: The collecting box (2) is provided with an exhaust port (11).

5. The end effector of the picking robot according to claim 1, characterized in that: The circular blade (8) is provided with a through hole (12).

6. The end effector of the harvesting robot according to claim 1, characterized in that: The rotating assembly comprises a stepping motor (13) arranged inside the mounting groove (7), and an output end of the stepping motor (13) is connected to the circular blade (8).

7. The end effector of the harvesting robot according to claim 1, characterized in that: A buffer layer is provided on the inner wall of the picking tube (4).

8. The end effector of the harvesting robot according to claim 1, characterized in that: The telescopic assembly comprises an electric telescopic rod (14) arranged on a connecting plate (1).

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