CN114161436A - Mechanical gripper for picking fruits without damage - Google Patents
Mechanical gripper for picking fruits without damage Download PDFInfo
- Publication number
- CN114161436A CN114161436A CN202111398540.6A CN202111398540A CN114161436A CN 114161436 A CN114161436 A CN 114161436A CN 202111398540 A CN202111398540 A CN 202111398540A CN 114161436 A CN114161436 A CN 114161436A
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- China
- Prior art keywords
- rod
- motor
- fixed
- rotary rod
- picking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 65
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 5
- 230000001066 destructive effect Effects 0.000 claims 6
- 238000003860 storage Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 244000144730 Amygdalus persica Species 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a mechanical gripper for picking fruits without damage, which comprises a gripping rod and a gripper, wherein the gripping rod comprises a fixed rod and a rotary rod, the rotary rod is nested in the fixed rod, the fixed rod is provided with a first motor which controls the rotary rod to rotate, a sliding rod is nested in the rotary rod, the end part of the sliding rod is provided with a first fixed seat, the gripper is arranged on the first fixed seat, the gripper comprises a plurality of finger grippers, the finger grippers are rotationally connected on the first fixed seat, a second motor and a sliding rail are arranged in the rotary rod, the second motor controls the sliding rod to move along the sliding rail, the end part of the rotary rod, far away from the fixed rod, is provided with a second fixed seat, the second fixed seat is provided with a plurality of connecting rods, and the two ends of the connecting rods are respectively hinged with the finger grippers and the second fixed seat, the mechanical gripper can realize nondestructive fruit picking.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to a mechanical gripper for picking fruits without damage, and belongs to the technical field of automatic picking machines.
[ background of the invention ]
China is a big fruit production country, the cultivation areas of apples, pears, peaches and the like are in the top of the world, but the mechanization degree of orchards in China is not high, and particularly in the picking link with the operation amount of 40 percent. At present, the fruit picking basically adopts manual picking, the workload is very heavy and the efficiency is low, and a picking robot is urgently needed to replace or assist the picking work of people. At present, a series of picking robots are developed by some colleges and enterprises aiming at picking links, but the picking robots have the problems of no obstacle avoidance or poor obstacle avoidance capability, large volume, low efficiency, high cost, difficulty in realizing nondestructive picking and the like. There are generally two ways for an end effector: firstly, the fruits are pulled down from the branches after being gripped, the pulling-down type separation is difficult, and the fruits are easily separated from the fruit stems during pulling down, so that the fruit storage time is influenced because the pulp at the separation part of the fruit stems of the fruits is exposed; secondly, the fruit stalks and the fruit branches are separated through the shearing device, the shearing positions of the shearing type fruit stalks are sharp, and a large number of fruits are easily scratched to each other when mixed together, so that the appearance and the storage time are influenced; each of these two approaches has its drawbacks and disadvantages and is difficult to apply effectively in (unmanned) mechanized harvesting.
[ summary of the invention ]
The invention aims to provide a mechanical gripper for picking fruits without damage, which can realize the fruit picking without damage.
The technical scheme adopted by the invention is as follows:
a mechanical gripper for picking fruits without damage comprises a gripping rod and a gripper, wherein the gripping rod comprises a fixed rod and a rotary rod, the rotary rod is nested in the fixed rod, a first motor is arranged on the fixed rod and controls the rotary rod to rotate, a sliding rod is nested in the end part, far away from the fixed rod, of the rotary rod, a first fixed seat is mounted at the end part, far away from the fixed rod, of the sliding rod, the gripper is arranged on the first fixed seat, the gripper comprises a plurality of finger grippers, the finger grippers are rotatably connected to the first fixed seat, protective sleeves are arranged on two sides of the finger grippers, after the finger grippers are mutually folded, the protective sleeves are mutually closed, the finger grippers are arc-shaped, a pressure sensor for detecting the force of the gripper is arranged on the surface, opposite to the finger grippers, a second motor and a sliding rail are arranged in the rotary rod, the second motor control the slide bar is followed the slide rail removes, the rotary rod is kept away from the second fixing base is installed to the tip of dead lever, install a plurality of connecting rods on the second fixing base, the connecting rod both ends respectively with indicate to grab and the second fixing base is articulated, the surface of connecting rod all is equipped with the blotter, the blotter is sponge or rubber strip.
The beneficial effects of the invention are as follows:
the grabbing bar comprises a fixed bar and a rotary bar, a first motor is arranged on the fixed bar and controls the rotary bar to rotate, a second motor is arranged in the rotary bar and controls the sliding bar to move along the sliding rail, the grabbing hand is arranged at the end part of the sliding bar, a second fixed seat is arranged at the end part of the rotary bar, a connecting rod is arranged on the second fixed seat, and two ends of the connecting rod are respectively hinged with the finger grab and the second fixed seat. The rotating rod drives the hand grip to rotate, so that the separation of fruits and tree stems is realized, the tree stems are separated from branches through rotation, the fruit and the tree stems can be prevented from being separated to cause fruit pulp exposure, the nondestructive fruit picking can be realized, the storage time of the fruits is prolonged, in addition, the whole volume of the hand grip is small, the hand grip is favorable for deep picking inside fruit trees, and in addition, sharp objects such as blades and the like are not needed in the whole picking process, so that the hand grip can also prevent other fruits from being damaged even if a large number of fruits are mixed together, and the integrity and the storage time of the picked fruits are prolonged.
In addition, the working personnel can know the force used by the gripping effect of the gripper in real time through the pressure sensor, the closing degree of the hand grips can be adjusted according to the detection result, the fruit deformation or breakage of the gripped fruit caused by the overlarge gripping force of the hand grips can be avoided, the protection on the fruit can be further improved, the integrity of the fruit can be improved, secondly, the outer surfaces of the connecting rods are provided with cushions which are sponges or rubber strips, when the invention infiltrates into the fruit tree for picking, the damage to the surrounding fruits caused by the movement of the connecting rod can be avoided, in addition, protective sleeves are arranged on two sides of the finger grips, the protective sleeves are mutually closed after the finger grips are mutually folded, after the fruit is grabbed by the grabber, the fruit is wrapped inside the protective sleeve, so that the fruit can be prevented from being scratched by surrounding branches when the fruit is grabbed and moved or rotated.
As preferred, the output of first motor is connected with first shaft coupling, be provided with the rotation axis on the first shaft coupling, rotary rod internally mounted has first connecting block, first connecting block with the inner wall fixed connection of rotary rod, the rotation axis with first connecting block fixed connection.
Preferably, the first connecting block is provided with a through hole for the rotating shaft to pass through, the outer wall of the rotating shaft is provided with a fixing block, and the rotating shaft is fixedly connected with the first connecting block through the fixing block.
Preferably, a second connecting block is arranged inside the rotating rod, the second motor is fixed to the second connecting block, a second coupler is arranged at the output end of the second motor, a transmission screw rod is arranged on the second coupler, and a nut matched with the transmission screw rod is arranged at the end, close to the second motor, of the sliding rod.
Preferably, the end part of the transmission screw rod is provided with a limiting block for avoiding the nut from being separated.
Preferably, the tongs include 3 and indicate to grab, 3 indicate grab along first fixing base circumference evenly distributed, be equipped with 3 connecting rods on the second fixing base, 3 connecting rods with 3 indicate to grab correspondingly.
Preferably, the first motor is mounted on an outer side wall of the fixing rod away from the rotating rod.
Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the invention and the accompanying drawings.
[ description of the drawings ]
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a partial cross-sectional view of a fixing lever and a rotating lever according to an embodiment of the present invention;
FIG. 3 is a partial cross-sectional view of a rotating lever and a sliding lever in an embodiment of the present invention;
FIG. 4 is a schematic view of the structure of the slide bar and the hand grip according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a finger grip with a protective sleeve in the embodiment of the invention.
Reference numerals: the device comprises a fixing rod 1, a first motor 11, a first coupler 12, a rotating shaft 13, a first connecting block 14, a fixed block 15, a rotating rod 2, a second motor 21, a second coupler 22, a transmission screw rod 23, a limiting block 231, a second connecting block 24, a sliding rail 25, a second fixing seat 26, a sliding rod 3, a nut 31, a first fixing seat 32, a hand grip 4, a finger grip 41, a pressure sensor 411, a connecting rod 42 and a protecting sleeve 43.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 5, the present embodiment shows a mechanical gripper 4 for picking fruits without damage, which includes a gripping rod and a gripper 4, the gripping rod includes a fixing rod 1 and a rotating rod 2, the rotating rod 2 is nested inside the fixing rod 1, a first motor 11 is disposed on the fixing rod 1, the gripping rod is mounted on an outer side wall of the fixing rod 1 far away from the rotating rod 2, a first through hole for passing an output end of the first motor 11 is disposed at a joint of the fixing rod 1 and the first motor 11, a first coupler 12 is mounted at an output end of the first motor 11, a rotating shaft 13 is mounted on the first coupler 12, a first connecting block 14 is disposed inside the rotating rod 2, the first connecting block 14 is fixedly connected to an inner wall of the rotating shaft 13, and a through hole for passing the rotating shaft 13 is disposed on the first connecting block 14, be equipped with fixed block 15 on the outer wall of rotation axis 13, fixed block 15 with rotation axis 13 fixed connection, fixed block 15 is located in the through-hole of first connecting block 14, fixed block 15 with first connecting block 14 fixed connection, rotation axis 13 passes through fixed block 15 with first connecting block 14 fixed connection, after first motor 11 starts, its output drives first shaft coupling 12 and rotates, first shaft coupling 12 drives rotation axis 13 rotates, rotation axis 13 passes through fixed block 15 and first connecting block 14 drive rotary rod 2 rotates.
In this embodiment, a sliding rod 3 is nested in an end portion of the rotating rod 2 far away from the fixing rod 1, a second connecting block 24 is arranged inside the rotating rod 2, the second motor 21 is fixed on the second connecting block 24, a second through hole for an output end of the second motor 21 to pass through is arranged on the second connecting block 24, a second coupler 22 is arranged on the output end, a transmission screw rod 23 is arranged on the second coupler 22, a nut 31 matched with the transmission screw rod 23 is arranged at an end portion of the sliding rod 3 close to the second motor 21, a limiting block 231 for limiting the nut 31 to be separated is arranged at an end portion of the transmission screw rod 23, a first fixing seat 32 is mounted at an end portion of the sliding rod 3 far away from the fixing rod 1, the gripper 4 includes 3 finger grippers 41, and it can be understood that the number of the finger grippers 41 in other embodiments may be 2 or more than 3, the 3 finger grips 41 are uniformly distributed along the circumferential direction of the first fixed seat 32, the finger grips 41 are rotatably connected with the first fixed seat 32, the end of the rotating rod 2 far away from the fixing rod 1 is provided with a second fixing seat 26, the second fixing seat 26 is provided with 3 connecting rods 42, the 3 connecting rods 42 correspond to the 3 finger grips 41, two ends of each connecting rod 42 are respectively hinged with the finger grips 41 and the second fixed seat 26, the second motor 21 is started to control the transmission screw 23 to rotate, after the transmission screw 23 rotates, the nut 31 moves outwards along the transmission screw 23, the sliding rod 3 moves along the sliding rail 25 along with the nut 31, when the sliding rod 3 moves outwards, the finger grips 41 move away from the second fixed base 26, the finger grips 41 rotate towards the middle under the action of the connecting rod 42, so that the gripping of the hand grip 4 is realized; when the sliding rod 3 moves inwards along the sliding rail 25 along with the nut 31, the finger grips 41 approach the second fixed base 26, and the finger grips 41 are all spread outwards under the action of the connecting rod 42, so that the fruit is released by the hand grip 4.
In this embodiment, the finger grips 41 are arc-shaped, the pressure sensors 411 for detecting the force of the finger grips 4 are arranged on the surfaces of the finger grips 41 opposite to each other, so that a worker can know the force used by the finger grips 4 for gripping fruits in real time through the pressure sensors 411, and can adjust the closing degree of the finger grips 4 according to the detection result, so as to prevent the gripped fruits from being deformed or broken due to the excessive gripping force of the finger grips 4; in addition, in this embodiment, protective sleeves 43 are arranged on two sides of the finger grips 41, after the finger grips 41 are folded, the protective sleeves 43 are closed, after the finger grips 4 grip a fruit, the fruit is wrapped inside the protective sleeves 43, so that the fruit can be prevented from being scratched by surrounding branches when the fruit is gripped, moves or rotates, in this embodiment, the protective sleeves 43 are made of rubber or sponge, but it is understood that in other embodiments, the protective sleeves 43 may also be made of other soft materials.
In this embodiment, when the hand grip 4 is aligned with a fruit to be picked, at this time, the second motor 21 is started to control the sliding rod 3 to move outwards along the sliding rail 25, when the finger grip 41 is far away from the second fixing seat 26, under the action of the connecting rod 42, the finger grips 41 are close to each other to grip the fruit by the hand grip 4, at this time, the first motor 11 is started, the first motor 11 controls the rotating rod 2 to rotate, the rotating rod 2 drives the hand grip 4 to rotate, so as to separate the fruit from the tree stalk, in this embodiment, the tree stalk is separated from the branch by rotation, so that fruit pulp exposure caused by separation of the fruit from the tree stalk can be avoided, fruit picking can be realized, the lossless time of the fruit is improved, in addition, the whole volume of the hand grip 4 of this embodiment is small, which is beneficial to deep inside the fruit tree for picking, and sharp objects such as blades and the like are not needed in the whole picking process, so that even if a large number of fruits are mixed together, the embodiment can also avoid the damage to other fruits, and the integrity and the storage time of the picked fruits are improved.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (7)
1. The utility model provides a can't harm mechanical tongs of picking fruit which characterized in that: the finger grabbing device comprises a grabbing rod and a grabbing hand, wherein the grabbing rod comprises a fixed rod and a rotary rod, the rotary rod is nested inside the fixed rod, a first motor is arranged on the fixed rod, the first motor controls the rotary rod to rotate, a sliding rod is nested in the end portion, far away from the fixed rod, of the rotary rod, a first fixing seat is mounted at the end portion, far away from the fixed rod, of the sliding rod, the grabbing hand is arranged on the first fixing seat, the grabbing hand comprises a plurality of finger grabs which are rotatably connected to the first fixing seat, protective sleeves are arranged on two sides of the finger grabs, the protective sleeves are closed after the finger grabs are mutually folded, the finger grabs are arc-shaped, a pressure sensor used for detecting the force of the grabbing hand is arranged on the opposite surface of the finger grabs, a second motor and a sliding rail are arranged inside the rotary rod, and the second motor controls the sliding rod to move along the sliding rail, the rotary rod is kept away from the tip of dead lever installs the second fixing base, install a plurality of connecting rods on the second fixing base, the connecting rod both ends respectively with indicate to grab and the second fixing base is articulated, the surface of connecting rod all is equipped with the blotter, the blotter is sponge or rubber strip.
2. The mechanical gripper for non-destructive picking of fruit according to claim 1, wherein: the output of first motor is connected with first shaft coupling, be provided with the rotation axis on the first shaft coupling, rotary rod internally mounted has first connecting block, first connecting block with the inner wall fixed connection of rotary rod, the rotation axis with first connecting block fixed connection.
3. The mechanical gripper for non-destructive picking of fruit according to claim 2, wherein: the first connecting block is provided with a through hole for the rotating shaft to pass through, the outer wall of the rotating shaft is provided with a fixed block, and the rotating shaft is fixedly connected with the first connecting block through the fixed block.
4. The mechanical gripper for non-destructive picking of fruit according to claim 1, wherein: the inside second connecting block that is equipped with of rotary rod, the second motor is fixed on the second connecting block, the output of second motor is equipped with the second shaft coupling, be equipped with the transmission lead screw on the second shaft coupling, the slide bar is close to the tip of second motor be equipped with transmission lead screw complex nut.
5. The mechanical gripper for non-destructive picking of fruit according to claim 4, wherein: the end part of the transmission screw rod is provided with a limiting block for avoiding the separation of the nut.
6. The mechanical gripper for non-destructive picking of fruit according to claim 1, wherein: the tongs include that 3 indicate to grab, 3 indicate to grab along first fixing base circumference evenly distributed, be equipped with 3 connecting rods on the second fixing base, 3 connecting rods with 3 indicate to grab correspondingly.
7. The mechanical gripper for non-destructive picking of fruit according to claim 1, wherein: the first motor is installed on the outer side wall of the fixed rod, which is far away from the rotary rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111398540.6A CN114161436A (en) | 2021-11-24 | 2021-11-24 | Mechanical gripper for picking fruits without damage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111398540.6A CN114161436A (en) | 2021-11-24 | 2021-11-24 | Mechanical gripper for picking fruits without damage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114161436A true CN114161436A (en) | 2022-03-11 |
Family
ID=80480569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111398540.6A Pending CN114161436A (en) | 2021-11-24 | 2021-11-24 | Mechanical gripper for picking fruits without damage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114161436A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115191223A (en) * | 2022-07-15 | 2022-10-18 | 江苏大学 | Cluster-shaped tomato powder fruit picking mechanical arm and picking method thereof |
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| CN115191223B (en) * | 2022-07-15 | 2024-04-09 | 江苏大学 | Cluster-shaped tomato powder fruit picking manipulator and picking method thereof |
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