Picking end effector with conveniently replaceable picking head

Abstract

The invention discloses a picking end effector with a conveniently replaceable picking head. The picking end effector comprises a picking head, an end effector main body and various buffer layers, wherein the end effector main body comprises a negative pressure shell and a buffer cavity shell, a buffer cavity is arranged in the buffer cavity shell, a fruit drop opening communicated with the buffercavity is arranged at a bottom of the buffer cavity shell, a concave buffer surface is arranged in the buffer cavity shell at a rear side of the fruit drop opening, and a buffer cavity buffer surfaceis arranged on an inner lower end surface of the buffer cavity shell at a front side of the fruit drop opening; one end of the negative pressure shell is fixedly connected with the buffer cavity shell, the other end of the negative pressure shell is provided with an end effector thread, a picking head thread matched with the end effector thread is sleeved on the picking head, and the picking headand the negative pressure shell are connected through threads. When picking different kinds of fruits with large diameter ranges, the picking end effector not only saves time and labor, but also greatly reduces picking cost by replacing the picking head of the end effector.

Description

technical field [0001] The present invention relates to the field of intelligent picking, and more specifically, relates to a picking end effector whose picking head can be easily replaced. Background technique [0002] At present, most of the domestic fruit picking still needs to be done manually. The manual picking method has low labor efficiency and takes a long time. For fruits with a short picking season, it is often too late to complete the picking of all the fruits by relying on manual picking. And for some fruits that grow in high places, picking workers need to climb the escalator to pick, which has certain dangers. In addition, manual picking requires a lot of labor, but with the transfer of a large number of labor to urban factories and the gradual aging of the population, the available labor force is gradually decreasing, and the price of picking labor is rising year by year, resulting in higher and higher fruit picking costs. Automated fruit picking The demand...

AI Technical Summary

Problems solved by technology

[0006] Although the picking head of the picking end effector of this invention adopts a design that can adaptively adjust the size of the picking opening within a certain range, such an adaptive adjustment range is not large, and it is generally only applicable to the possible existence of the same kind of fruit of the same variety. Size difference, for different types or different varieties of fruit, such an adaptive adjustment range is not enough

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