End execution structure of grape picking robot

Abstract

The utility model relates to a terminal execution structure of a grape picking robot, which comprises a mechanical arm, a protective cover hinged to the mechanical arm, a micro motor mounted on the mechanical arm, a sliding groove formed in the protective cover, an I-shaped sliding block arranged in the sliding groove in a sliding manner, a clamping block fixed on the I-shaped sliding block, shearing pieces arranged outside the clamping block in a rotating manner, and a pressure spring arranged between the shearing pieces. A connecting plate is fixed to the protective cover, the shearing piece and the connecting plate are connected with a pull rope, and the protective cover is provided with a driving assembly. A driving motor is started to drive a rotating rod and a half gear to rotate synchronously, when the half gear is meshed with a clamping groove, an I-shaped sliding block and two shearing pieces are driven to move in the opening direction of a protective cover, and in cooperation with pulling limitation of a pull rope on the shearing pieces, knife edges of the two shearing pieces can be closed while the shearing pieces stretch out of the protective cover, so that the shearing effect is achieved. And the protective cover not only can prevent the vine from winding the shearing sheet, but also is convenient for a worker to maintain.

Description

TECHNICAL FIELD

[0001] The utility model belongs to picking automation technical field, and specifically relates to the end execution structure of grape picking robot. BACKGROUND

[0002] In modern agriculture, the planting area of grape is expanding year by year, and the efficiency and quality of manual picking have been difficult to meet the production demand, so grape picking robot emerges as the times require. This picking mode is not only convenient and fast, but also can reduce labor cost.

[0003] The robot picking grape relies on the end execution mechanism of mechanical arm, and the execution mechanism is composed of clamping assembly and shearing assembly. When picking, the clamping assembly first clamps the grapevine above the grape, and then the shearing assembly shears the grapevine, realizing grape picking.

[0004] But most of the current end execution mechanism is exposed type, and in the process of clamping or shearing grapevine, the grapevine is easy to entangle and pull the execution mechanism, leading to the deviation of the execution mechanism, hindering the grape picking work and reducing the picking efficiency of the robot, therefore, we propose the end execution structure of grape picking robot to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing the end execution structure of grape picking robot, and is used to solve the problems in the background art.

[0006] In order to realize the above technical purpose, the utility model adopts the following technical scheme:

[0007] The end execution structure of grape picking robot, including mechanical arm, the upper side of the mechanical arm is hingedly connected with protective cover, one side of the mechanical arm is provided with micro motor, the output shaft of the micro motor is fixedly connected with the hinge point of the protective cover and the mechanical arm, the front end of the protective cover is provided as open type, the inside of the protective cover is equipped with execution assembly;

[0008] The execution assembly includes two shearing pieces, the lower end of the protective cover is provided with sliding slot, the inside of the sliding slot is slidably provided with I-shaped sliding block, the upper end of the I-shaped sliding block is fixedly provided with clamping block, two shearing pieces are crossed and rotated on the outside of the clamping block, the rear side between two shearing pieces is provided with compression spring, the rear wall of the protective cover is fixedly provided with connecting plate, the rear end of two shearing pieces is respectively connected with the left and right ends of the connecting plate through pull rope, the lower side of the protective cover is provided with driving assembly.

[0009] Further limited, the drive assembly includes a drive motor, the protective cover lower end left side is fixed with the mounting frame, the drive motor is installed in the mounting frame inside, the protective cover lower end symmetry is fixed with the mounting block, two the mounting block between rotation is equipped with the rotating rod, and the output shaft of the drive motor is fixedly connected with the rotating rod left end, the I-shaped sliding block lower end is equipped with a plurality of clamping grooves, the rotating rod outside is fixed with the half gear that is interlocked with the clamping groove.

[0010] Further limited, the protective cover front end upper portion is hinged to the cover plate.

[0011] Further limited, two the shearing piece front end is equipped with as arc.

[0012] Further limited, the elastic member is arranged between the front wall of the sliding groove and the I-shaped sliding block.

[0013] Further limited, the protective cover lower end front side symmetry is equipped with the connecting rod, two the connecting rod lower end is equipped with the fruit receiving basket.

[0014] Further limited, the fruit receiving basket is hinged to the lower end of the two connecting rods, the fruit receiving basket is made of iron material, the lower end of the two connecting rods is provided with an electromagnet abutting against the upper end of the fruit receiving basket, and the rear end of the connecting rod is provided with a battery block electrically connected with the electromagnet.

[0015] The utility model discloses the beneficial effect:

[0016] 1. through the cooperation of drive motor, rotating rod, half gear and clamping groove, realize the I-shaped sliding block, clamping block and shearing piece's movement;The two shearing pieces are always crossed initially by compression spring, and the cutting edge of the shearing piece is kept open, and the tendril is between the cutting edge;The pulling rope can make the shearing piece automatically close and realize shearing, and also can prevent the shearing piece from separating from the inside of the protective cover, and prepare for subsequent picking.

[0017] 2. by installing the execution structure in the inside of the protective cover, can prevent when picking grape, grape tendril from winding to the execution structure, causes the execution structure to appear deviation, influences picking grape.

[0018] 3. the shearing piece of the arc head does not cause the grape to be poked when extending the protective cover, reduces the waste to grape, and is favorable to improving the economic benefit of grape picking.

[0019] 4. the fruit receiving basket can receive grape, and the power-on or power-off operation of the electromagnet by the battery block can realize the dumping of grape, prevent the quality of picked grape from being better. DRAWINGS

[0020] The utility model can be further illustrated by the non-limiting embodiment shown in the drawings.

[0021] Figure 1 This is a schematic diagram of the end effector structure of the grape-harvesting robot of this utility model. Figure One ;

[0022] Figure 2 This is a cross-sectional schematic diagram of the end effector structure of the grape harvesting robot of this utility model;

[0023] Figure 3 for Figure 2 Enlarged structural diagram at point A;

[0024] Figure 4 This is a schematic diagram of the end effector structure of the grape-harvesting robot of this utility model. Figure Two ;

[0025] Figure 5 for Figure 4 Enlarged structural diagram at point B;

[0026] Figure 6 This is a schematic diagram of the end effector structure of the grape-harvesting robot of this utility model. Figure Three ;

[0027] The symbols for the main components are explained below:

[0028] Robotic arm 100, protective cover 101, micro motor 102, shearing blade 103, slide rail 104, I-shaped slider 105, locking block 106, compression spring 107, connecting plate 108, pull rope 109, drive motor 200, mounting frame 201, mounting block 202, rotating rod 203, half gear 204, cover plate 205, elastic element 206, connecting rod 300, fruit receiving basket 301, electromagnet 302, battery block 303. Detailed Implementation

[0029] To enable those skilled in the art to better understand this utility model, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] Example 1:

[0031] like Figures 1-5 As shown, the end effector structure of the grape harvesting robot includes a robotic arm 100, a protective cover 101 hinged to the upper end of the robotic arm 100, a micro motor 102 installed on one side of the robotic arm 100, the output shaft of the micro motor 102 is fixedly connected to the hinge point of the protective cover 101 and the robotic arm 100, the front end of the protective cover 101 is set to be open, and the protective cover 101 is provided with an execution component inside.

[0032] The execution assembly comprises two shearing pieces 103, the lower end of the protective cover 101 is provided with a sliding groove 104, a I-shaped sliding block 105 is slidably arranged in the sliding groove 104, a clamping block 106 is fixed to the upper end of the I-shaped sliding block 105, the two shearing pieces 103 are crossly rotatable outside the clamping block 106, a compression spring 107 is arranged between the rear sides of the two shearing pieces 103, a connecting plate 108 is fixed to the middle of the rear wall of the protective cover 101, a pull rope 109 is connected between the rear ends of the two shearing pieces 105 and the left and right ends of the connecting plate 108 respectively, and a driving assembly is arranged on the lower side of the protective cover 101.

[0033] The mechanical arm 100 is one of the basic components of the end execution structure of the grape picking robot; the rotation of the micro motor 102 can drive the protective cover 101 to rotate around the hinge point, so as to adjust the opening direction of the protective cover 101, and then accurately align the grapes, facilitating subsequent operation; the protective cover 101 can protect the execution assembly and prevent the execution assembly from being entangled by grape vines, affecting the picking of grapes;

[0034] The two shearing pieces 103 are key components for performing the action of cutting off grape stems, etc., and they rotate relative to the clamping block 106 as the hinge point, so as to realize the shearing action; the sliding groove 104 limits the movement of the I-shaped sliding block 105; the compression spring 107 is arranged at the rear sides of the two shearing pieces 103, so that the two shearing pieces 103 are initially in a staggered state, and the cutting edges of the two shearing pieces 103 face the opening direction of the protective cover 101 and are open, so that the grape vines can enter the inside of the cutting edges of the two shearing pieces 103 when picking grapes; the arrangement of the connecting plate 108 and the pull rope 109 automatically closes the cutting edges of the two shearing pieces 103 when the driving assembly pushes the shearing pieces 103 to move, so as to realize the cutting off of the grape vines; the driving assembly can make the shearing pieces 103 move towards the opening direction of the protective cover 101, and when the shearing pieces 103 extend out of the opening of the protective cover 101, the grape vines can be cut off.

[0035] The driving assembly comprises a driving motor 200, an installation frame 201 is fixed to the left side of the lower end of the protective cover 101, the driving motor 200 is installed in the installation frame 201, installation blocks 202 are symmetrically fixed to the lower end of the protective cover 101, a rotating rod 203 is rotatably arranged between the two installation blocks 202, the output shaft of the driving motor 200 is fixedly connected with the left end of the rotating rod 203, a plurality of clamping grooves are formed in the lower end of the I-shaped sliding block 105, and half gear wheels 204 are fixed to the outside of the rotating rod 203 and are meshed with the clamping grooves.

[0036] The driving motor 200 is a power source; the mounting frame 201 is an auxiliary structure for mounting the driving motor 200, and is also a protective structure outside the driving motor 200; the clamping groove at the lower end of the I-shaped sliding block 105 and the half gear 204 outside the rotating rod 203 are engaged with each other, indicating that when the rotating rod 203 rotates, the half gear 204 will cooperate with the clamping groove to drive the I-shaped sliding block 105 to slide in the sliding groove 104, thereby indirectly driving the two cutting blades 103 to move, so that the two cutting blades 103 can move out of the opening of the protective cover 101 to achieve the purpose of picking grapes.

[0037] During initial preparation: by controlling the rotation of the micro motor 102, the output shaft drives the protective cover 101 to rotate around the hinge point of the mechanical arm 100, adjusts the opening direction of the protective cover 101, and accurately aligns the opening with the target grape, so as to prepare for the subsequent picking operation; at the same time, the protective cover 101 can protect the internal execution assembly and avoid being entangled by the grapevine to affect picking.

[0038] Initial state of the execution assembly: in the initial state, the two cutting blades 103 are staggered with the clamping block 106 as the hinge point, and the cutting edges are opened towards the opening direction of the protective cover 101 due to the action of the rear spring 107, which facilitates the grapevine to enter the inside of the cutting edges of the two cutting blades 103.

[0039] When the driving assembly is started: the output shaft of the driving motor 200 drives the rotating rod 203 to rotate, and the half gear 204 outside the rotating rod 203 rotates accordingly; since the clamping groove at the lower end of the I-shaped sliding block 105 is engaged with the half gear 204, the half gear 204 cooperates with the clamping groove when it rotates to drive the I-shaped sliding block 105 to slide in the sliding groove 104, and also indirectly drives the two cutting blades 103 to move towards the opening direction of the protective cover 101;

[0040] When the two cutting blades 103 move out of the opening of the protective cover 101, the cutting edges of the two cutting blades 103 will first contact the grapevine; during the process of the driving assembly continuously driving the cutting blades 103 to move, the connecting plate 108 and the pull rope 109 play a role to automatically close the cutting edges of the two cutting blades 103, thereby realizing the cutting of the grapevine and completing the picking action;

[0041] Among them, the sliding groove 104 limits and guides the movement of the I-shaped sliding block 105;

[0042] Among them, the sliding groove 104 and the pull rope 109 can prevent the cutting blades 103 from separating from the inside of the protective cover 101.

[0043] In the embodiment, by starting the driving motor, the rotating rod and the half gear are driven to rotate synchronously, when the half gear meshes with the clamping groove, the I-shaped sliding block and the two cutting pieces are driven to move towards the opening direction of the protective cover, and the pulling of the two cutting pieces by the pulling rope is limited, so that the two cutting pieces can be extended out of the protective cover while the cutting edges of the two cutting pieces are closed, so as to cut the vines, and the protective cover can not only prevent the vines from winding the cutting pieces, but also facilitate the maintenance of the staff.

[0044] Embodiment two:

[0045] As shown in Figures 1-6 the embodiment one, other components on the end execution structure of the grape picking robot are further described, and the cover plate 205 is hinged on the upper part of the front end of the protective cover 101.

[0046] When the picking operation is not performed, the protective cover 101 can protect the internal execution assembly, or play a certain auxiliary role such as shielding part of sundries during the picking process.

[0047] The front end of the two cutting pieces 105 is provided with an arc shape.

[0048] When the picking operation is performed, the front end of the two cutting pieces 105 will be extended out of the opening of the protective cover 101 first, and since the front end of the cutting piece 105 is arc-shaped, the damage to the grape fruits can be reduced.

[0049] The front wall of the sliding groove 104 and the I-shaped sliding block 105 are provided with an elastic member 206.

[0050] The elastic member 206 can make the I-shaped sliding block 105 play a role of buffering and resetting during sliding, so as to ensure that the two cutting pieces 105 can be automatically stored in the protective cover 101 after use, thereby improving the stability and reliability of the entire execution assembly.

[0051] When the half gear 204 meshes with the clamping groove, the half gear 204 can drive the I-shaped sliding block 105, the clamping block 106 and the two cutting pieces 103 to move forward synchronously, at the same time, the two cutting pieces 103 will stretch the two pulling ropes 109, and at the same time, the I-shaped sliding block 105 will compress the elastic member 206, as the two cutting pieces 103 continuously move forward, the two pulling ropes 109 will make the cutting edges of the two cutting pieces 103 close to each other, so that the two cutting pieces 103 can realize the cutting of the grape vines.

[0052] When the half gear 204 does not mesh with the clamping groove, the compressed elastic member 206 will recover to its original state, thereby pushing the I-shaped sliding block 105, the clamping block 106 and the two cutting pieces 103 to move backward, so as to prepare for the next picking of the grapes.

[0053] The front side of the lower end of the protective cover 101 is symmetrically provided with connecting rods 300, and the lower ends of the two connecting rods 300 are provided with fruit receiving baskets 301.

[0054] The fruit receiving basket 301 is a component for receiving picked grapes, and is connected to the protective cover 101 through the connecting rod 300.

[0055] The fruit receiving basket 301 is hingedly connected to the lower ends of the two connecting rods 300, and is made of iron material. The lower ends of the two connecting rods 300 are each provided with an electromagnet 302 abutting against the upper end of the fruit receiving basket 301, and the rear end of the connecting rod 300 is provided with a battery block 303 electrically connected to the electromagnet 302.

[0056] The hingedly connected fruit receiving basket 301 to the lower ends of the connecting rods 300 means that the fruit receiving basket 301 can rotate around the hinge point, and can be conveniently emptied of picked grapes. The electromagnet 302 can generate magnetism after being powered by the battery block 303, so as to attract the iron fruit receiving basket 301.

[0057] When the electromagnet 302 is powered, the electromagnet 302 attracts the fruit receiving basket 301, and can receive picked grapes.

[0058] When the electromagnet 302 is powered off, the electromagnet 302 has no magnetism, and the fruit receiving basket 301 rotates around the hinge point under the influence of the gravity of the grapes, so that the grapes directly fall into the device for storing grapes.

[0059] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. The end effector of a grape-harvesting robot, comprising a robotic arm, characterized in that: The upper end of the robotic arm is hinged with a protective cover, and a micro motor is installed on one side of the robotic arm. The output shaft of the micro motor is fixedly connected to the hinge point of the protective cover and the robotic arm. The front end of the protective cover is set to be open, and an execution component is provided inside the protective cover. The execution component includes two shear blades. A groove is provided at the lower end of the protective cover. An I-shaped slider is slidably arranged inside the groove. A locking block is fixed at the upper end of the I-shaped slider. The two shear blades rotate intersectingly outside the locking block. A compression spring is provided between the rear sides of the two shear blades. A connecting plate is fixed in the middle of the rear wall of the protective cover. Pull ropes are connected to the left and right ends of the connecting plate at the rear ends of the two shear blades respectively. A drive component is provided on the lower side of the protective cover.

2. The end effector structure of the grape-harvesting robot according to claim 1, characterized in that: The drive assembly includes a drive motor, a mounting frame is fixed to the lower left side of the protective cover, the drive motor is installed inside the mounting frame, mounting blocks are symmetrically fixed to the lower end of the protective cover, a rotating rod is rotatably provided between the two mounting blocks, and the output shaft of the drive motor is fixedly connected to the left end of the rotating rod. Several slots are opened at the lower end of the I-shaped slider, and a half-gear that meshes with the slots is fixed to the outside of the rotating rod.

3. The end effector structure of the grape-harvesting robot according to claim 1, characterized in that: The protective cover has a hinged upper front end plate.

4. The end effector structure of the grape-harvesting robot according to claim 1, characterized in that: The two shearing blades have an arc-shaped front end.

5. The end effector structure of the grape harvesting robot according to claim 1, characterized in that: An elastic element is provided between the front wall of the slide groove and the I-shaped slider.

6. The end effector structure of the grape-harvesting robot according to claim 1, characterized in that: The protective cover is provided with symmetrical connecting rods at the lower front side, and the lower ends of the two connecting rods are provided with fruit receiving baskets.

7. The end effector structure of the grape harvesting robot according to claim 6, characterized in that: The fruit-receiving basket is hinged to the lower ends of the two connecting rods. The fruit-receiving basket is made of iron. Each of the two connecting rods has an electromagnet at its lower end that abuts against the upper end of the fruit-receiving basket. A battery block electrically connected to the electromagnet is installed at the rear end of the connecting rod.

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