End execution mechanism of picking robot

Abstract

The utility model relates to the technical field of agricultural picking, and discloses an end actuating mechanism of a picking robot, which comprises a mounting frame, a clamping and picking mechanism is arranged on the inner wall of the mounting frame, the clamping and picking mechanism comprises a servo motor, and the bottom of the servo motor is fixedly connected with the top of the mounting frame. The output end of the servo motor movably penetrates through the top of the inner wall of the mounting frame, a lead screw is fixedly mounted at the output end of the servo motor, and the bottom of the lead screw is movably connected with the bottom of the inner wall of the mounting frame. According to the crop picking device, the movable block moves in the vertical direction under the combined action of the lead screw and the limiting guide rod, then the first clamping jaw assembly, the second clamping jaw assembly and the third clamping jaw assembly are driven to move synchronously, accurate clamping and picking of crops of different heights are achieved, and the picking efficiency and precision are greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural harvesting technology, and in particular to an end effector of a harvesting robot. Background Technology

[0002] Modern agriculture places higher demands on automated equipment. Manually harvesting fruit from branches leads to a significant decrease in efficiency. Therefore, harvesting robots for picking spherical fruits have emerged in the current technology. These robots typically have an end effector at the end of their arm to perform the harvesting operation.

[0003] Existing end effectors typically use pneumatic fingers to grip spherical fruits during harvesting. This method suffers from structural complexity and instability during the harvesting process, reducing the efficiency and accuracy of fruit harvesting.

[0004] Therefore, we propose an end effector for a harvesting robot. Utility Model Content

[0005] The present invention aims to solve the technical problems existing in the prior art and provide an end effector for a harvesting robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an end effector for a harvesting robot, comprising a mounting frame, wherein a clamping and picking mechanism is provided on the inner wall of the mounting frame, the clamping and picking mechanism includes a servo motor, the bottom of which is fixedly connected to the top of the mounting frame, the output end of the servo motor movably penetrates through the top of the inner wall of the mounting frame, a lead screw is fixedly mounted on the output end of the servo motor, and the bottom of the lead screw is movably connected to the bottom of the inner wall of the mounting frame, a moving block is threadedly connected to the outer wall of the lead screw, a limit guide rod is movably mounted on the inner wall of the moving block, the top of the limit guide rod is fixedly connected to the top of the inner wall of the mounting frame, and the bottom of the limit guide rod is fixedly connected to the bottom of the inner wall of the mounting frame, a first gripper assembly is provided on the right side wall of the moving block, a second gripper assembly is provided on the left side wall of the moving block, and the structure of the second gripper assembly is the same as that of the first gripper assembly, and a third gripper assembly is provided on the front of the moving block, and the structure of the third gripper assembly is the same as that of the first gripper assembly.

[0007] Preferably, the first gripper assembly includes a mounting block, and the left side wall of the mounting block is fixedly connected to the right side wall of the moving block.

[0008] Preferably, a connecting sleeve is movably mounted on the right side of the outer wall of the mounting block via a pivot.

[0009] Preferably, a clamping arm is movably mounted on the inner wall of the connecting sleeve away from the mounting block via a pivot.

[0010] Preferably, a first connecting bolt is movably installed on the left side of the inner wall of the clamping arm, and the outer wall of the first connecting bolt is fixedly connected to the inner wall of the mounting bracket.

[0011] Preferably, the gripper body is movably mounted on the right side of the outer wall of the gripping arm via a pivot.

[0012] Preferably, the inner wall of the gripper body is connected to a connecting rod via a pivot at the lower end of the gripping arm.

[0013] Preferably, a second connecting bolt is movably installed on the left side of the inner wall of the connecting rod.

[0014] Preferably, the outer wall of the second connecting bolt is fixedly connected to the inner wall of the mounting bracket.

[0015] This utility model provides an end effector for a harvesting robot. It has the following beneficial effects:

[0016] 1. The end effector of this harvesting robot is equipped with a gripping and picking mechanism. A servo motor drives the lead screw to rotate, causing the moving block to move vertically under the combined action of the lead screw and the limit guide rod. This, in turn, drives the first gripper assembly, the second gripper assembly, and the third gripper assembly to move synchronously, thereby achieving precise gripping and picking of crops at different heights, greatly improving the efficiency and accuracy of harvesting.

[0017] 2. The end effector of this harvesting robot is equipped with a lead screw, which has a self-locking characteristic. This allows the entire clamping and harvesting mechanism to maintain a stable clamping force even when the power is off, preventing crops from falling or being damaged due to power failure. This improves the stability and reliability of harvesting. At the same time, the threaded connection design between the lead screw and the moving block makes the movement of the moving block smoother, further improving the accuracy and efficiency of harvesting.

[0018] 3. The end effector of this harvesting robot can achieve all-round clamping of crops through the synchronous movement of the first gripper assembly, the second gripper assembly and the third gripper assembly, ensuring that the crops are not damaged during the harvesting process and improving the harvesting quality. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall front structure of this utility model;

[0020] Figure 2 This is a front view of the clamping and picking mechanism of this utility model.

[0021] Figure 3 This is a front view of the first gripper assembly of this utility model.

[0022] Legend: 10. Mounting bracket; 11. Clamping and picking mechanism; 12. Servo motor; 13. Lead screw; 14. Moving block; 15. Limiting guide rod; 16. First gripper assembly; 17. Second gripper assembly; 18. Third gripper assembly; 19. Mounting block; 20. Connecting sleeve; 21. Clamping arm; 22. First connecting bolt; 23. Gripper body; 24. Connecting rod; 25. Second connecting bolt. Detailed Implementation

[0023] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0024] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of the embodiments of this utility model, it should be noted that the terms "center," "upper," "lower," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Example 1: An end effector for a harvesting robot, such as Figures 1-2 As shown, the device includes a mounting frame 10, and a clamping and picking mechanism 11 is provided on the inner wall of the mounting frame 10. The clamping and picking mechanism 11 includes a servo motor 12, and the bottom of the servo motor 12 is fixedly connected to the top of the mounting frame 10. The output end of the servo motor 12 movably passes through the top of the inner wall of the mounting frame 10. A lead screw 13 is fixedly installed on the output end of the servo motor 12, and the bottom of the lead screw 13 is movably connected to the bottom of the inner wall of the mounting frame 10. By setting up the clamping and picking mechanism 11, the lead screw 13 is driven to rotate by the servo motor 12, so that the moving block 14 moves vertically under the combined action of the lead screw 13 and the limiting guide rod 15. This drives the first gripper assembly 16, the second gripper assembly 17 and the third gripper assembly 18 to move synchronously, so as to achieve precise clamping and picking of crops at different heights, which greatly improves the efficiency and accuracy of picking.

[0030] Example 2: Based on Example 1, as follows Figure 2As shown, a movable block 14 is threadedly connected to the outer wall of the lead screw 13. A limiting guide rod 15 is movably mounted on the inner wall of the movable block 14. The top of the limiting guide rod 15 is fixedly connected to the top of the inner wall of the mounting bracket 10, and the bottom of the limiting guide rod 15 is fixedly connected to the bottom of the inner wall of the mounting bracket 10. A first gripper assembly 16 is provided on the right side wall of the movable block 14, and a second gripper assembly 17 is provided on the left side wall of the movable block 14. The structure of the second gripper assembly 17 is the same as that of the first gripper assembly 16. The front of the movable block 14... The third gripper assembly 18 is provided, and the structure of the third gripper assembly 18 is the same as that of the first gripper assembly 16. By providing a lead screw 13, which has a self-locking characteristic, the entire gripping and picking mechanism 11 can still maintain a stable gripping force in the event of a power failure, thus avoiding the falling or damage of crops due to power failure and improving the stability and reliability of picking. At the same time, the threaded connection design between the lead screw 13 and the moving block 14 makes the movement of the moving block 14 more stable, further improving the accuracy and efficiency of picking.

[0031] Example 3: Based on Examples 1 and 2, as follows... Figure 3 As shown, the first gripper assembly 16 includes a mounting block 19, and the left side wall of the mounting block 19 is fixedly connected to the right side wall of the movable block 14. A connecting sleeve 20 is movably mounted on the right side of the outer wall of the mounting block 19 via a pivot. A gripping arm 21 is movably mounted on the inner wall of the connecting sleeve 20 away from the mounting block 19 via a pivot. A first connecting bolt 22 is movably mounted on the left side of the inner wall of the gripping arm 21, and the outer wall of the first connecting bolt 22 is fixedly connected to the inner wall of the mounting bracket 10. The right side of the outer wall of the gripping arm 21 is movably mounted via a pivot. A gripper body 23 is movably mounted on the shaft. The inner wall of the gripper body 23 is located at the lower end of the gripping arm 21 and a connecting rod 24 is movably mounted on the shaft. A second connecting bolt 25 is movably mounted on the left side of the inner wall of the connecting rod 24, and the outer wall of the second connecting bolt 25 is fixedly connected to the inner wall of the mounting frame 10. Through the synchronous movement of the first gripper assembly 16, the second gripper assembly 17 and the third gripper assembly 18, the crops can be gripped in all directions, ensuring that the crops are not damaged during the harvesting process and improving the harvesting quality.

[0032] The working principle of this utility model is as follows: During use, the servo motor 12 is started by an external controller. The output end of the servo motor 12 drives the lead screw 13 to rotate. Since the outer wall of the lead screw 13 is threaded with a moving block 14, the lead screw 13, during its rotation, drives the moving block 14 to move up and down. Because a limit guide rod 15 is movably installed on the inner wall of the moving block 14, it can limit and guide the movement trajectory of the moving block 14, ensuring its stability. During the movement of the moving block 14, it drives the first gripper assembly 16, the second gripper assembly 17, and the third gripper assembly 18 to move synchronously. When it is necessary to harvest the fruit, the first gripper assembly 16, the second gripper assembly 17, and the third gripper assembly... The gripper 18 clamps the fruit. At this time, the gripping arm 21 rotates around the first connecting bolt 22, and the gripper body 23 rotates around the connecting rod 24, so that fruits of different sizes can be clamped, improving the applicability of harvesting. After clamping, the servo motor 12 is reversed by the external controller, which drives the moving block 14 to move upward, thereby picking the fruit. This end effector of the harvesting robot has a simple structure and reasonable design. Through the set gripping and picking mechanism 11, fruits can be picked conveniently. At the same time, through the set first gripper assembly 16, second gripper assembly 17 and third gripper assembly 18, fruits of different sizes can be clamped, improving the applicability of harvesting.

[0033] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An end effector for a harvesting robot, comprising a mounting frame (10), characterized in that: The inner wall of the mounting bracket (10) is provided with a clamping and removing mechanism (11), which includes a servo motor (12). The bottom of the servo motor (12) is fixedly connected to the top of the mounting bracket (10). The output end of the servo motor (12) movably passes through the top of the inner wall of the mounting bracket (10). A lead screw (13) is fixedly installed on the output end of the servo motor (12), and the bottom of the lead screw (13) is movably connected to the bottom of the inner wall of the mounting bracket (10). A moving block (14) is threadedly connected to the outer wall of the lead screw (13), and a limit guide is movably installed on the inner wall of the moving block (14). The rod (15) is fixedly connected to the top of the inner wall of the mounting bracket (10) at the top and the bottom of the limit guide rod (15) is fixedly connected to the bottom of the inner wall of the mounting bracket (10). A first gripper assembly (16) is provided on the right side wall of the moving block (14), a second gripper assembly (17) is provided on the left side wall of the moving block (14), and the structure of the second gripper assembly (17) is the same as that of the first gripper assembly (16). A third gripper assembly (18) is provided on the front of the moving block (14), and the structure of the third gripper assembly (18) is the same as that of the first gripper assembly (16).

2. The end effector of the harvesting robot according to claim 1, characterized in that: The first gripper assembly (16) includes a mounting block (19), and the left side wall of the mounting block (19) is fixedly connected to the right side wall of the moving block (14).

3. The end effector of the harvesting robot according to claim 2, characterized in that: A connecting sleeve (20) is movably mounted on the right side of the outer wall of the mounting block (19) via a pivot.

4. The end effector of the harvesting robot according to claim 3, characterized in that: The end of the inner wall of the connecting sleeve (20) away from the mounting block (19) is movably mounted with a clamping arm (21) via a pivot.

5. The end effector of the harvesting robot according to claim 4, characterized in that: The first connecting bolt (22) is movably installed on the left side of the inner wall of the clamping arm (21), and the outer wall of the first connecting bolt (22) is fixedly connected to the inner wall of the mounting bracket (10).

6. The end effector of the harvesting robot according to claim 4, characterized in that: The gripper body (23) is movably mounted on the right side of the outer wall of the gripping arm (21) via a pivot.

7. The end effector of the harvesting robot according to claim 6, characterized in that: The inner wall of the gripper body (23) is located at the lower end of the gripping arm (21) and a connecting rod (24) is movably mounted on it via a pivot.

8. The end effector of the harvesting robot according to claim 7, characterized in that: The second connecting bolt (25) is movably installed on the left side of the inner wall of the connecting rod (24).

9. The end effector of the harvesting robot according to claim 8, characterized in that: The outer wall of the second connecting bolt (25) is fixedly connected to the inner wall of the mounting bracket (10).

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