End picking actuator of picking robot

Abstract

The utility model provides an end picking executive mechanism of picking robot, including first clamping jaw and second clamping jaw, first clamping jaw connects first rotation axis, second clamping jaw connects second rotation axis, first rotation axis and second rotation axis are connected rotation drive assembly respectively, rotation drive assembly sets up on mounting seat, mounting seat is connected end mounting plate through first connecting rod and second connecting rod, end mounting plate is used for connecting with the mechanical arm end of picking robot. Through the end picking executive mechanism of picking robot of the utility model, can avoid the demand of large -scale action and big activity space, effectively avoid the damage to surrounding fruit and branch and improve practicality.

Description

Technical Field

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

[0002] Existing harvesting robots typically require an end effector to be mounted on the robotic arm to perform harvesting operations. Common harvesting methods include suction and twisting. Suction harvesting uses a suction cup to first attach the fruit to be harvested, pull it away from the fruit bunch, then clamp the fruit and rotate it to separate the stem. During the rotation process, the end effector inevitably comes into contact with surrounding fruit, causing damage to adjacent harvested fruit. Twisting harvesting uses a corresponding mechanism to clamp the fruit, and then uses the rotation of the wrist joint in two vertical directions to simulate the action of a human hand twisting the stem to complete the harvest. This method generates significant vibration during the "twisting" process, which can easily affect adjacent harvested fruit. Utility Model Content

[0003] This utility model is proposed in view of the above-mentioned technical problems, and provides an end-effector for a harvesting robot. It has a simple structure, small operating space, and can stably clamp the harvested object without affecting the surrounding fruit during the harvesting process, thus improving its practicality.

[0004] According to a first aspect of the present invention, an end-effector for a harvesting robot is provided, comprising a first gripper and a second gripper, the first gripper being connected to a first rotating shaft, the second gripper being connected to a second rotating shaft, the first rotating shaft and the second rotating shaft being respectively connected to a rotation drive assembly, the rotation drive assembly being disposed on a mounting base, the mounting base being connected to an end-effector mounting plate via a first connecting rod and a second connecting rod, the end-effector mounting plate being used to connect to the end of the robotic arm of the harvesting robot.

[0005] According to a second aspect of the present invention, an end-effector harvesting mechanism for a harvesting robot as described in the first aspect is provided, wherein the rotation drive assembly includes a drive motor, the output shaft of the drive motor passes through the bottom wall of the mounting base and is connected to a first gear, the first gear meshes with a second gear, the second gear meshes with a third gear, the second gear is connected to a first rotating shaft, and the third gear is connected to a second rotating shaft.

[0006] According to a third aspect of the present invention, an end-effector of a picking robot as described in the second aspect is provided, wherein the first gripper is semi-cylindrical and has a first plane; and the second gripper is semi-cylindrical and has a second plane.

[0007] According to a fourth aspect of the present invention, an end-effector harvesting mechanism for a harvesting robot as described in the third aspect is provided, wherein a first shearing blade is provided on a first plane of a first gripper and a second shearing blade is provided on a second plane of a second gripper.

[0008] According to a fifth aspect of the present invention, an end-effector of a harvesting robot as described in the fourth aspect is provided, wherein a miniature photoelectric sensor is further provided in the mounting base, the miniature photoelectric sensor being used to provide feedback on the rotation angle of the drive gear of the drive motor.

[0009] The beneficial effects of this utility model are as follows: by using the rotation drive component to drive the first and second grippers to rotate within the original spatial range to achieve opening and closing so as to clamp the picking object for picking operations, it can effectively avoid damage to the surrounding fruits and branches.

[0010] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be adopted.

[0011] It should be understood that the embodiments of this utility model are not limited thereto. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0012] The accompanying drawings, which form part of the specification, are provided to further understand the present invention and illustrate preferred embodiments of the present invention. Together with the text description, they serve to explain the principles of the present invention, wherein the same reference numerals are used to denote the same elements throughout.

[0013] In the attached diagram:

[0014] Figure 1 This is a state diagram of the end-effector of the harvesting robot before it performs the harvesting operation;

[0015] Figure 2 This is a diagram showing the state of the end-effector of the harvesting robot after it has performed a harvesting operation.

[0016] Figure 3 This is an exploded view of the end-effector of the harvesting robot of this utility model;

[0017] Figure 4 This is a partial enlarged view of the gripper part of the end-effector of the harvesting robot of this utility model. Detailed Implementation

[0018] Referring to the accompanying drawings, the foregoing and other features of this utility model will become apparent from the following description. Specific embodiments of this utility model are specifically disclosed in the description and drawings, illustrating some implementations in which the principles of this utility model can be adopted. It should be understood that this utility model is not limited to the described embodiments.

[0019] This utility model provides an end effector for a harvesting robot. Figure 1 This is a state diagram of the end-effector of the harvesting robot before it performs the harvesting operation. Figure 2 This is a diagram showing the state of the end effector of the harvesting robot after it has performed the harvesting operation. Figure 3 This is an exploded view of the end-effector of the harvesting robot of this utility model. Figure 4 This is a magnified view of a portion of its gripper. For example... Figure 1-4 As shown, the end effector of the harvesting robot includes gripper 1 and gripper 2. Gripper 1 is connected to a rotating shaft 3, and gripper 2 is connected to a rotating shaft 4. Rotating shafts 3 and 4 are respectively connected to a rotary drive assembly 01, which is mounted on a mounting base 5. The mounting base 5 is connected to an end mounting plate 8 via connecting rods 6 and 7. The end mounting plate 8 is used to connect to the end of the robotic arm of the harvesting robot. By driving rotating shafts 3 and 4 to rotate through the rotary drive assembly 01, grippers 1 and 2 are rotated within their original working space, allowing them to open and close within this space to perform harvesting operations, effectively avoiding large movements and the need for a large working space.

[0020] See Figure 3 According to a preferred embodiment of the present invention, the rotary drive assembly 01 includes a drive motor 011. The output shaft of the drive motor 011 passes through the bottom wall of the mounting base 5 and connects to a gear 012. Gear 012 meshes with gear 013, and gear 013 meshes with gear 014. Gear 014 is connected to the rotary shaft 3, and gear 012 is connected to the rotary shaft 4. Thus, the drive motor 011, through the transmission of each gear, drives the rotary shaft 3 and the rotary shaft 4 to rotate, thereby causing the grippers connected to each rotary shaft to rotate.

[0021] like Figure 4 As shown, according to a preferred embodiment of the present invention, gripper 1 is semi-cylindrical in shape, having a plane 11 and an arc surface 12; gripper 2 is semi-cylindrical in shape, having a plane 21 and an arc surface 22. Thus, before picking, the two planes of gripper 1 and gripper 2 are opposite each other (e.g., Figure 1 (As shown), so that the gap between the two planes allows the fruit stalk of the fruit to be picked 001 to enter; when performing the picking action, the rotary drive assembly 01 drives the gripper 1 and gripper 2 to rotate until they are as shown. Figure 2In the shown configuration, the two sides of grippers 1 and 2 are brought close together to firmly hold the fruit stalk of the fruit 001 to be harvested. Preferably, see [reference needed]. Figure 2-4 The plane 11 of the gripper 1 is provided with a cutting blade 13, and the plane 21 of the gripper 2 is provided with a cutting blade 23. When the gripper 1 and the gripper 2 rotate to their sides and approach each other, the blades of the cutting blade 13 and the cutting blade 23 gradually approach each other so as to cut the fruit stem and firmly clamp the harvested fruit by the double grippers so as to place it in the designated place later.

[0022] See Figure 3 According to a preferred embodiment of the present invention, a miniature photoelectric sensor 9 is also provided in the mounting base 5. The miniature photoelectric sensor 9 is used to provide feedback on the rotation angle of the drive gear of the drive motor 011 so as to control the optimal opening and closing distance between the gripper 1 and the gripper 2.

[0023] Preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and many features and advantages of these embodiments become apparent from this detailed description. Furthermore, since many modifications and alterations will readily occur to those skilled in the art, the embodiments of the present invention are not intended to be limited to the precise structures and operations illustrated and described, but rather to encompass all suitable modifications and equivalents.

Claims

1. An end-effector harvesting mechanism for a harvesting robot, characterized in that, The end-effector of the harvesting robot includes a first gripper and a second gripper. The first gripper is connected to a first rotating shaft, and the second gripper is connected to a second rotating shaft. The first rotating shaft and the second rotating shaft are respectively connected to a rotation drive assembly. The rotation drive assembly is mounted on a mounting base. The mounting base is connected to an end-effector mounting plate via a first connecting rod and a second connecting rod. The end-effector mounting plate is used to connect to the end of the robotic arm of the harvesting robot.

2. The end-effector of the harvesting robot according to claim 1, characterized in that, The rotary drive assembly includes a drive motor, the output shaft of which passes through the bottom wall of the mounting base and is connected to a first gear. The first gear meshes with a second gear, the second gear meshes with a third gear, the third gear is connected to a first rotating shaft, and the second gear is connected to a second rotating shaft.

3. The end-effector of the harvesting robot according to claim 2, characterized in that, The first gripper is semi-cylindrical in shape and has a first plane; the second gripper is semi-cylindrical in shape and has a second plane.

4. The end-effector of the harvesting robot according to claim 3, characterized in that, The first plane of the first gripper is provided with a first shearing blade, and the second plane of the second gripper is provided with a second shearing blade.

5. The end-effector of the harvesting robot according to claim 4, characterized in that, The mounting base is also equipped with a miniature photoelectric sensor, which is used to provide feedback on the rotation angle of the drive motor's drive gear.

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