CN114946406A - Fruit picking manipulator with adjustable clamping force is perceptibly - Google Patents
Fruit picking manipulator with adjustable clamping force is perceptibly Download PDFInfo
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- CN114946406A CN114946406A CN202210698364.6A CN202210698364A CN114946406A CN 114946406 A CN114946406 A CN 114946406A CN 202210698364 A CN202210698364 A CN 202210698364A CN 114946406 A CN114946406 A CN 114946406A
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- clamping jaw
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- 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
- A01D46/24—Devices for picking apples or like fruit
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- 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
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fruit picking manipulator with an adjustable sensible clamping force, which comprises an arm and a clamping jaw and is characterized by further comprising a rotating seat, the clamping jaw, a pressure sensor, a steel wire rope, a screw rod mechanism and other components, wherein the clamping jaw is connected with the arm through the rotating seat. According to the fruit picking manipulator, through the design of the double-screw rod driving mechanism and the multi-joint clamping jaw, the control of the shape of the clamping jaw and the adjustment of the profile of the clamping jaw can be realized, the driving mode is simple and accurate, and the design of the multi-joint clamping fingers and the combined use of the boss contacts ensure that the clamping fingers can be better attached to the surface of a fruit, the clamping force for firmly clamping the fruit and the clamping jaw can be accurately detected by the pressure sensor, so that the damage probability of the fruit is effectively reduced; meanwhile, the fruit stem is separated from the plant by quickly twisting the clamping jaw, so that the damage to the plant caused by pulling the fruit hard by force is avoided.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a fruit picking manipulator with an adjustable sensible clamping force.
Background
The fruit harvesting work has strong seasonality and technicality and is directly related to the yield and the quality of the fruit. With the development of mechanization and intellectualization in China in various industries, the related technology is continuously perfected, and mechanical equipment applied to fruit picking also gradually appears. To the harvesting of some globular fruits, for example apple, pear, oranges and tangerines, kiwi fruit, little muskmelon, dragon fruit etc. because fruit itself is the sphere of standard, also can have the size not of uniform size, the condition of shape change, current automatic picking equipment though can realize pressing from both sides the clamp of fruit, also can utilize the clamp force of sensor detection clamping jaw, but generally be difficult to accomplish with the laminating of fruit surface, the data of sensor collection probably will have the error under this condition, control improper to the clamp force causes the damage to the fruit easily promptly.
Disclosure of Invention
The invention aims to design an adjustable fruit picking manipulator with sensible clamping force aiming at the defects in the prior art, and the prior art is improved on the premise of having the function of sensible clamping force.
In order to achieve the technical purpose, the technical scheme provided by the invention comprises the following steps:
the first scheme is as follows:
a fruit picking manipulator with an adjustable sensible clamping force comprises an arm and a clamping jaw, and is characterized by further comprising a rotating seat, a clamping jaw, a pressure sensor, a steel wire rope and a screw mechanism, wherein the clamping jaw is connected with the arm through the rotating seat;
the clamping jaw comprises a clamping jaw shell, a plurality of clamping fingers attached to the clamping jaw shell and a plurality of boss contacts attached to the inner surface of each clamping finger;
the clamping jaw shell comprises a cylindrical sleeve and a circular platform positioned at the top end of the sleeve, a screw rod of a screw rod mechanism is arranged in the sleeve, the screw rod is a compound screw rod and consists of a solid shaft screw rod and a hollow shaft screw rod which are sleeved together and are concentric and coaxial, the hollow shaft screw rod is sleeved at the upper part of the solid shaft screw rod, and a solid shaft moving nut and a hollow shaft moving nut are respectively arranged on the lower part of the solid shaft screw rod and the hollow shaft screw rod;
the clamping fingers comprise an upper clamping finger and a lower clamping finger which are connected through a hinge, and a torsional spring for driving the clamping fingers to reset is arranged at the connecting part of the upper clamping finger and the lower clamping finger; the upper clamping finger consists of a finger rod, a swing rod and a support rod, the swing rod is positioned on the inner side of the upper clamping finger, one end of the swing rod is connected with the outer side wall of the clamping jaw shell sleeve through a first hinge support, and the other end of the swing rod is fixedly connected with the top of the upper clamping finger; the supporting rod is positioned at the outer side of the upper finger clamping finger rod and is fixedly connected with the bottom of the upper finger clamping finger rod;
the boss contacts are fixedly arranged on the inner surfaces of the clamping fingers, at least one boss contact is arranged on each of the upper clamping finger and the lower clamping finger, and the pressure sensor is connected with the boss contacts and used for detecting the clamping force of the clamping jaw on the fruit;
corresponding to all clamping fingers, the solid shaft moving nut is provided with a plurality of second hinge supports along the circumference, and the hollow shaft moving nut is fixedly provided with a plurality of first limiting rings along the circumference. Meanwhile, a second limiting ring is arranged at the top of each clamping finger supporting rod, and a third limiting ring is arranged at the bottom of the lower clamping finger;
the sleeve of the clamping jaw shell is provided with an open slot extending along the axial direction at the position corresponding to each clamping finger, the top end of the connecting rod penetrates through the open slot to be connected with a corresponding second hinge seat on the solid shaft moving nut, and the control on the upper clamping finger opening angle is realized under the driving of the solid shaft moving nut; the top end of the steel wire rope is fixed on the first limiting ring, the middle of the steel wire rope penetrates through the open slot and the second limiting ring, the bottom end of the steel wire rope is fixed on the third limiting ring, and the lower clamping finger opening angle is controlled under the driving of the hollow shaft moving nut.
On the basis of the above scheme, a further improved or preferred scheme further comprises:
furthermore, a solid shaft motor for driving the solid shaft screw rod to rotate and a hollow shaft motor for driving the hollow shaft screw rod to rotate are arranged in the rotating seat, the two motors are fixedly arranged on a suspended top plate of the motor support, output shafts of the two motors downwards penetrate through the top plate and are respectively in transmission connection with the end parts of the solid shaft screw rod and the hollow shaft screw rod extending into the rotating seat shell; the motor output shaft of the solid shaft motor is positioned right above the solid shaft screw and is in shaft connection with the solid shaft screw, and a driving gear is arranged on the output shaft of the hollow shaft motor beside the hollow shaft motor and is meshed with a driven gear arranged on the hollow shaft screw; the hollow shaft screw rod is connected with the sleeve of the clamping jaw shell through the first bearing, and when the hollow shaft motor works, the hollow shaft screw rod rotates relative to the clamping jaw shell.
Furthermore, a rotating motor is installed inside the arm, a shaft tube inserted into the rotating base shell is arranged at the lower part of the arm, and the rotating base shell is connected with the shaft tube through a second bearing; a motor output shaft of the rotating motor penetrates through the shaft tube and is fixedly connected with a shaft connecting seat positioned in the rotating seat shell, and the bottom end of the shaft connecting seat is fixedly connected with the round platform of the clamping jaw shell; after the clamping jaws clamp the fruits, the rotating motor drives the clamping jaws to rotate quickly through the shaft connecting seat and the round platform, and the fruit stalks of the fruits are twisted off.
Furthermore, the shaft connecting seat and the motor support are both n-shaped seats, each n-shaped seat comprises a top plate, a left bottom plate and a right bottom plate which are outwards turned, and a supporting plate connected between the top plate and the bottom plate, and the bottom plates are used for connecting the circular platforms of the clamping jaw shells; the driving gear and the driven gear are arranged between a top plate of the motor support and the circular platform, and the motor support, the hollow shaft motor and the solid shaft motor are all arranged between the top plate of the shaft connecting seat and the circular platform.
Furthermore, the boss contact is a cylinder made of rubber material, the bottom surface of the boss contact is fixed on the clamping finger, and the top surface of the boss contact is in contact with the fruit; the pressure sensor is a disk-shaped film force sensor and is fixedly adhered to the top surface of the boss contact or between the boss contact and the clamping finger.
Scheme II:
a fruit picking manipulator with an adjustable sensible clamping force is provided with an arm and a clamping jaw, and is characterized by further comprising a rotating seat, a clamping jaw, a pressure sensor, a steel wire rope and a double-screw rod mechanism, wherein the clamping jaw is connected with the arm through the rotating seat;
the clamping jaw comprises a clamping jaw shell, a plurality of clamping fingers attached to the clamping jaw shell and a plurality of boss contacts attached to the inner surface of each clamping finger;
the clamping jaw shell comprises a cylindrical sleeve, a round platform positioned at the top end of the sleeve and a bottom cover fixed at the bottom end of the sleeve;
the double-screw rod screw mechanism comprises a first solid shaft screw rod arranged inside the clamping jaw shell sleeve and a second solid shaft screw rod arranged outside the clamping jaw shell sleeve, the two solid shaft screw rods are parallel to each other, a concentric and coaxial hollow shaft is further arranged on the periphery of the first solid shaft screw rod, and a hollow shaft sliding block is mounted on the hollow shaft;
the clamping fingers comprise an upper clamping finger and a lower clamping finger which are connected through a hinge, and a torsional spring for driving the clamping jaw to reset is installed at the joint of the upper clamping finger and the lower clamping finger; the upper clamping finger consists of a finger rod, a swing rod and a support rod, the swing rod is positioned on the inner side of the upper clamping finger, one end of the swing rod is connected with the outer side wall of the clamping jaw shell sleeve through a first hinge support, and the other end of the swing rod is fixedly connected with the top of the upper clamping finger; the supporting rod is positioned at the outer side of the upper finger clamping finger rod and is fixedly connected with the bottom of the upper finger clamping finger rod;
the boss contacts are fixedly arranged on the inner surfaces of the clamping fingers, and the upper clamping finger and the lower clamping finger are respectively provided with at least one boss contact; the pressure sensor is connected with the boss contact and used for detecting the clamping force of the clamping jaw on the fruit;
the clamping jaw shell is provided with an open slot extending along the axial direction at the position corresponding to each clamping finger;
the hollow shaft sliding block is fixedly connected with a synchronous lifting connecting support, and the synchronous lifting connecting support penetrates through the open slot to be connected with a second solid shaft moving nut on a second solid shaft screw rod to drive the hollow shaft sliding block to do synchronous axial movement along with the second solid shaft moving nut;
corresponding to all the clamping fingers, a plurality of second hinge supports are arranged on the hollow shaft sliding block along the circumference, a plurality of first limiting rings are fixedly arranged on the first solid shaft moving nut along the circumference, a plurality of second limiting rings are fixedly arranged on the lower surface of the bottom cover, meanwhile, a third limiting ring is arranged at the top of each clamping finger supporting rod, and a fourth limiting ring is arranged at the bottom of the lower clamping finger;
the top end of the connecting rod is connected with a corresponding second hinged support on the hollow shaft sliding block through an open slot, and the upper clamping finger opening angle is controlled under the driving of the hollow shaft sliding block; the top end of the steel wire rope is fixed on the first limiting ring, the clamping jaw shell is extended from the lower side of the steel wire rope, the steel wire rope sequentially penetrates through the second limiting ring and the third limiting ring and is finally fixed on the fourth limiting ring, and the clamping finger angle is controlled under the driving of the first solid shaft moving nut.
On the basis of the scheme, the further improved or preferable scheme also comprises the following steps:
furthermore, a first solid shaft motor for driving the first solid shaft screw and a second solid shaft motor for driving the second solid shaft screw are arranged in the rotating seat, the two motors are fixedly arranged on a suspended top plate of a motor support in parallel, output shafts of the two motors downwards penetrate through the top plate of the motor support and are respectively in transmission connection with the end parts, extending into the rotating seat shell, of the first solid shaft screw and the second solid shaft screw, a bearing seat is arranged on the synchronous lifting connection support, a first bearing is assembled in the bearing seat, and an inner ring of the first bearing is fixed on a moving nut of the second solid shaft.
Furthermore, the lower part of the arm is provided with a shaft tube inserted into the rotary seat shell, and the rotary seat shell is connected with the shaft tube through a second bearing; a rotating motor is arranged in the arm, a motor output shaft of the rotating motor penetrates through the shaft tube and is fixedly connected with a shaft connecting seat in the rotating seat shell, and the bottom end of the shaft connecting seat is fixedly connected with the round platform of the clamping jaw shell; after the clamping jaws clamp the fruits, the connecting shaft seat and the round platform of the rotating motor drive the clamping jaws to rotate quickly, and the fruit stalks of the fruits are twisted off.
Furthermore, the shaft connecting seat is a V-shaped seat, the V-shaped seat comprises a top plate, a left bottom plate, a right bottom plate and a supporting plate, the left bottom plate and the right bottom plate are outwards turned, the supporting plate is connected between the top plate and the bottom plate, the bottom plate is used for connecting a circular platform of the clamping jaw shell, and the motor support, the first solid shaft motor and the second solid shaft motor are all located between the top plate of the shaft connecting seat and the circular platform.
Furthermore, the boss contact is a cylinder made of rubber material, the bottom surface of the boss contact is fixed on the clamping finger, and the top surface of the boss contact is in contact with the fruit; the pressure sensor is a disk-shaped film force sensor and is fixedly adhered to the top surface of the boss contact or between the boss contact and the clamping finger.
Has the advantages that:
1) according to the fruit picking manipulator, through the design of the double-screw rod driving mechanism and the multi-joint clamping jaws, the shape of the clamping jaws can be controlled and the profile of the clamping jaws can be adjusted, the driving mode is simple and accurate, the multi-joint clamping fingers are designed and the boss contacts are combined for use, so that the clamping fingers can be better attached to the surfaces of fruits, and the clamping force for firmly clamping the fruits and the clamping jaws can be accurately detected by the pressure sensor;
2) the fruit picking manipulator disclosed by the invention is easy to realize the purposes of furling and detecting at the same time, so that the fruit is prevented from being damaged while the fruit is firmly clamped, and compared with a pneumatic clamping jaw which is commonly used in the field and is used in one step, the fruit picking manipulator can effectively reduce the probability of damaging the fruit;
3) the fruit picking manipulator provided by the invention has the advantages that the fruit handle is separated from a plant in a mode of quickly twisting the clamping jaw, the damage to the plant caused by pulling hard fruits is avoided, the twisting driving mechanism and the driving mechanism for controlling the fruit clamping are effectively combined together, the structural planning is reasonable, the integration level is high, and the occupied space is small.
Drawings
FIG. 1 is a schematic view of the operation of a fruit picking robot according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of an appearance structure of a fruit picking manipulator according to embodiment 1 of the present invention;
FIG. 3 is a longitudinal sectional view of a fruit picking robot according to embodiment 1 of the present invention;
FIG. 4 is a first schematic view of a partial structure of a clamping jaw;
FIG. 5 is a second view of a partial structure of a clamping jaw;
FIG. 6 is a schematic view of the internal components of the swivel;
FIG. 7 is a schematic view showing the operation of a fruit picking robot according to embodiment 2 of the present invention;
FIG. 8 is a schematic structural diagram of an appearance of a fruit picking manipulator in embodiment 2 of the present invention;
FIG. 9 is a longitudinal sectional view of a fruit picking robot according to embodiment 2 of the present invention;
fig. 10 is a transverse sectional view of the fruit picking manipulator synchronous lifting connecting support in the embodiment 2 of the invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1:
as shown in fig. 1, a fruit picking manipulator with adjustable sensible clamping force comprises an arm, a rotary seat, a clamping jaw, a pressure sensor 110, a steel wire rope 115 and the like.
The clamping jaw mainly comprises a clamping jaw shell 103, a plurality of clamping fingers attached to the clamping jaw shell 103, a plurality of boss contacts 111 attached to the inner surfaces of the clamping fingers and the like. The clamping jaw shell 103 comprises a cylindrical sleeve and a circular platform positioned at the top end of the sleeve, structures such as a screw rod of a screw rod mechanism, a movable nut and the like are arranged in the sleeve, the screw rod mechanism is matched with a steel wire rope 115, and the form (opening or closing and outline row of the clamping jaw) of the clamping jaw is controlled through the axial movement of the movable nut; the circular platform is used for connecting the rotating seat.
The clamping jaw of the fruit picking manipulator is of a three-clamping-finger structure, and the three clamping fingers are distributed at an included angle of 120 degrees in the circumferential direction. Taking any one of the fingers as an example, as shown in fig. 2 and 4, the finger includes an upper finger 108 and a lower finger 109 connected by a hinge, and a torsion spring 112 located inside the finger is installed at a connection position of the upper finger 108 and the lower finger 109, and torsion arms at two ends of the torsion spring 112 are respectively connected with the upper finger 108 and the lower finger 109, and are restrained by the torsion spring 112, in an initial state, in an axial direction away from the arm, the upper finger 108 is opened outwards, the lower finger 109 is closed inwards, and the three fingers form a closed clamping jaw to form a clamping jaw structure suitable for gripping spherical fruits.
In the above jaw structure: the upper clamping finger 108 consists of a finger rod, a swing rod and a support rod, the swing rod is positioned on the inner side of the finger rod of the upper clamping finger 108, one end of the swing rod is connected with the outer side wall of the sleeve of the clamping jaw shell 103 through a first hinge support, and the other end of the swing rod is fixedly connected with the top of the finger rod of the upper clamping finger 108 and is vertical to the finger rod of the upper clamping finger 108; the support rod is located outside the finger rod of the upper clamping finger 108, is fixedly connected with the bottom of the finger rod of the upper clamping finger 108 and is perpendicular to the finger rod of the upper clamping finger 108. The top of the supporting rod and the bottom of the lower clamping finger 109 are both fixedly provided with a sheep eye nail, the sheep eye nail is provided with a circular ring structure and can be used as a limiting structure or a fixing structure of the steel wire rope 115 to control the trend of the steel wire rope, so that the sheep eye nail can be replaced by other parts which can limit the trend and the position of the steel wire rope 115, and the same is applied below.
The boss contacts 111 are fixedly arranged on the inner surfaces of the finger rods of the upper clamping finger 108 and the lower clamping finger 109, and at least one boss contact 111 is arranged on each of the upper clamping finger and the lower clamping finger. The pressure sensor 110 is attached to the boss contact 111 for detecting the clamping force of the jaw on the fruit 3.
In this embodiment, the boss contact 111 is designed as a cylinder, and is preferably made of a rubber material so as to prevent damage to fruits; the pressure sensor 110 is a disk-shaped thin film force sensor, which can generate an electrical signal coupled to a pressure applied thereto, which is known in the art and will not be described herein again. The thin film force sensors are correspondingly fixed at the top ends of the boss contacts 111 one by one, the shape of the sensing area of the thin film force sensors is consistent with the shape of the end face of the top end of the boss contact 111, and the contact part of the boss contact 111 and the fruit 3 is covered, so that the accuracy of the detection result is ensured. As an alternative embodiment, the film force sensor may also be installed between the boss contact 110 and the clamp finger, and the specific operation mode is to uniformly coat glue on the front and back surfaces of the film force sensor, and bond the front and back surfaces with the bottom surface of the boss contact 111 and the surface of the clamp finger respectively, so that the clamping force of the clamping jaw on the fruit can be directly transmitted to the film force sensor, and in this way, the film force sensor is not easily worn.
To further understand the internal structure of the fruit picking manipulator, the picking manipulator is cut as shown in fig. 3.
The screw of the screw rod mechanism is a compound screw rod and consists of a solid shaft screw rod 106 and a hollow shaft screw rod 104 which are sleeved together. The central axes of the solid shaft screw 106 and the hollow shaft screw 104 are in the same straight line, and the hollow shaft screw 104 is sleeved on the upper part of the solid shaft screw 106. The hollow shaft screw 104 and the solid shaft screw 106 are respectively provided with a hollow shaft moving nut 105 and a solid shaft moving nut 107 at the parts extending out of the hollow shaft screw, and the hollow shaft moving nut and the solid shaft moving nut can move up and down along the corresponding screw rod bodies under the driving of a motor. The solid shaft screw 106 and the hollow shaft screw 104 are preferably trapezoidal in thread. At positions corresponding to the three clamping fingers, three sheep eye nails are fixedly mounted on the hollow shaft moving nut 105 along the circumference, three second hinge supports 114 are circumferentially arranged on the solid shaft moving nut 107, and the second hinge seats 114 are positioned right above the first hinge supports. The ring of the sheep eye nail 116 on the hollow shaft moving nut 105 is a first limiting ring, the ring of the sheep eye nail at the top of the upper clamping finger supporting rod is a second limiting ring, the ring of the sheep eye nail at the bottom of the lower clamping finger is a third limiting ring, and three limiting rings corresponding to the same clamping finger are positioned on the same radial direction of the screw rod. The clamping jaw housing 103 is provided with an open slot extending along the axial direction of the screw at a position corresponding to each clamping finger, so that the connecting rod 113 and the steel wire rope 115 can pass through the open slot to enter the clamping jaw housing 103 and be connected with the corresponding second hinge seat 114 and the sheep eye nail, as shown in fig. 5: the top end of the connecting rod 113 is connected with a second hinge seat 114 on the solid shaft moving nut 107, and the opening angle of the upper clamping finger 108 is controlled through the axial movement of the solid shaft moving nut 107; the top end of the steel wire rope 115 is fixed on the first limiting ring, the middle of the steel wire rope passes through the second limiting ring, the bottom end of the steel wire rope is fixed on the third limiting ring, and the opening angle of the lower clamping finger 109 is controlled through the axial motion of the hollow shaft moving nut 105.
The rotary base is provided with a vertically through shell cavity, the top end of the rotary base shell 102 is provided with an annular end cover, and the bottom end of the rotary base shell is provided with an outwardly convex flange structure for connecting with a circular platform of the clamping jaw shell 103. Two motors are installed inside the rotary seat and are respectively used for driving the solid shaft screw 106 and the hollow shaft screw 104 to rotate, as shown in fig. 6, the two motors are fixedly installed on a top plate of a motor support 120 which is elevated and suspended in parallel, and output shafts of the two motors downwards penetrate through the top plate of the motor support and are respectively in transmission connection with the end parts of the solid shaft screw 106 and the hollow shaft screw 104 which extend into the rotary seat shell 102. The drive motor for the solid shaft screw 106 is designated as solid shaft motor 131 and the drive motor for the hollow shaft screw 104 is designated as hollow shaft motor 130. The motor output shaft of the solid shaft motor 131 is positioned right above the solid shaft screw 106 and is directly connected with the solid shaft screw 106 in a shaft mode, the hollow shaft motor 130 is positioned beside the solid motor, a driving gear 129 is installed on the output shaft of the hollow shaft motor, and the driving gear 129 is meshed with a driven gear 123 installed on the hollow shaft screw 104 and transmits power for driving the hollow shaft screw 104 to rotate. The driving gear 129 and the driven gear 123 are respectively installed at the output shaft of the hollow shaft motor and the shaft shoulder of the hollow shaft screw 104, and are respectively fixed through the snap spring 128 and the snap spring 122.
The hollow spindle screw 104 is connected to the sleeve of the jaw housing 103 via a first bearing 125, so that the hollow spindle screw 104 can be rotated relative to the jaw housing 130. The top of the sleeve of the jaw housing 103 is provided with a stepped shaft hole for mounting the first bearing 125. The inner ring of the first bearing 125 is mounted at the other shaft shoulder of the hollow shaft screw 104, the outer ring is tightly attached to the inner wall of the clamping jaw housing 103, and in the axial direction, one end of the inner ring of the first bearing is fixed by the shaft shoulder of the hollow shaft screw 104, and the other end is fixed by the clamp spring 126; the bottom end of the bearing outer ring is fixed by a shell wall at the bottom of the stepped hole, the top end of the bearing outer ring is fixed by a bearing baffle 127, and the bearing baffle 127 is fixed on a circular platform of the clamping jaw shell 103 through screws.
The hollow shaft moving nut 105 and the solid shaft moving nut 107 are cut with first key slots on the same side in the axial direction, the inner wall of the sleeve of the jaw housing 103 is cut with second key slots at corresponding positions, the key 124 is fixed in the second key slots through screws, and the part of the key 124 protruding out of the second key slots is embedded in the first key slots of the two moving nuts, so that the hollow shaft moving nut 105 and the solid shaft moving nut 107 can move axially along the key 124 without rotating.
The motor support 120 is fixed on the circular platform of the clamping jaw housing 103, and is provided with a top plate, a left bottom plate, a right bottom plate and support plates at two sides, wherein the bottom plates are outwards turned over, so that the motor support 120 is in a shape of a Chinese character 'ji'. The two motors are fixedly arranged on the top plate, the motor support 120 is fixedly connected with the circular platform through the bottom plate, and the driving gear and the driven gear are arranged between the top plate and the circular platform. A connecting shaft seat 132 is arranged on the periphery of the motor support 120, the connecting shaft seat 132 is also a n-shaped seat, a bottom plate of the connecting shaft seat 132 is fixed on the round platform, and the two motors and the motor support 120 are both positioned between a top plate of the connecting shaft seat 132 and the round platform.
The lower part of the arm housing 101 is provided with a shaft tube into which the swivel housing 102 is inserted, and the swivel housing 102 is connected to the shaft tube via a second bearing 117, so that the swivel and the arm can rotate relatively. The inner ring of the second bearing 117 is installed at the shaft shoulder of the shaft tube and is tightly fixed by a snap spring 118, the outer ring of the bearing is tightly attached to the inner wall of the rotary seat shell 102, the upper part of the bearing is fixed by the annular end cover, and the lower part of the bearing is fixed by a positioning sleeve 119. The positioning sleeve 119 is a hollow cylinder structure clamped between the outer ring of the second bearing and the circular platform, the outer wall of the positioning sleeve is attached to the inner wall of the rotating seat shell 102, and the n-shaped seat 132, the two motors and the motor support are all arranged in a cylinder cavity of the positioning sleeve 119.
The arm is also provided with a rotating motor 134, and the motor output shaft of the rotating motor 134 is connected with the top plate of the plurality of character seats 132 through a motor key 133. After the clamping jaws clamp the fruits, the rotating motor 134 drives the clamping jaws to rotate rapidly through the n-shaped seat 132 and the round platform, so that the fruit stalks of the fruits can be twisted off to finish the picking of the fruits. The second bearing 117 can effectively bear the axial force and the radial force on the output shaft of the rotating electric machine 134, and damage to the electric machine is avoided.
The working principle is as follows:
the fruit picking manipulator with adjustable sensible clamping force designed by the embodiment can be further connected with the fruit picking robot through the flange end face at the tail end of the arm shell 101. When picking fruits, firstly, the hollow shaft motor 130 and the solid shaft motor 131 are controlled to rotate forwards, the hollow shaft moving nut 105 and the solid shaft moving nut 107 are respectively moved towards the directions close to the motors, the hollow shaft moving nut 105 can pull the lower clamping finger 109 to open outwards through the steel wire rope 115, the solid shaft moving nut 107 drives the upper clamping finger 108 to further open through the connecting rod 113, in the process, the lower clamping finger 109 rotates by taking a hinged shaft of the lower clamping finger 109 and the upper clamping finger 108 as a center, a finger rod of the upper clamping finger 108 rotates by taking the hinged shaft of the upper clamping finger 108 and the connecting rod 113 as a center, and a swing rod of the upper clamping finger 108 rotates by taking the first hinged support as a center. When the fruit 3 is in the enveloping range of the clamping jaws, the hollow shaft motor 130 and the solid shaft motor 131 are controlled to rotate reversely, the hollow shaft moving nut 105 and the solid shaft moving nut 107 are moved towards the direction away from the motors, the upper clamping finger 108 is folded under the driving of the connecting rod 113, the steel wire rope 115 is released, the lower clamping finger 109 is folded under the elastic force of the torsion spring 112, and the lower clamping finger 109 and the lower clamping finger are changed towards the initial folding state, so that the fruit is clamped. In the process of clamping the fruit, the film force sensor on the boss contact 111 detects the clamping force of the clamping jaw in real time and sends the clamping force to the control system, and the clamping force of the clamping jaw on the fruit can be sensed in time through the mode of detecting and drawing at one time. After the fruits are clamped, the rotating motor 134 in the arm is controlled to rotate, so that the clamping jaws are driven to rapidly and repeatedly twist, the stems of the fruits are twisted off, and the fruits are picked. For the fruits with non-standard shapes, the hollow shaft motor 130 and the solid shaft motor 131 can also implement independent control according to detection signals fed back by the pressure sensors so as to adjust the profile of the clamping jaw.
Example 2:
different from the embodiment 1, the form control of the clamping force sensing and adjustable fruit picking manipulator clamping jaw is realized by a screw rod mechanism provided with two parallel solid shaft screw rods.
As shown in fig. 7 to 10, the fruit picking manipulator with adjustable sensible clamping force according to the present embodiment includes an arm, a rotating base, a clamping jaw, a pressure sensor 208, a wire rope 210, and other components.
The clamping jaw mainly comprises a clamping jaw housing 203, a plurality of clamping fingers attached to the clamping jaw housing 203, a plurality of boss contacts 207 attached to the inner surface of each clamping finger, and the like. The jaw housing 207 includes a cylindrical sleeve, a circular platform at the top of the sleeve, and a bottom cap 209 secured to the bottom of the sleeve.
The clamping jaw of the fruit picking manipulator is of a three-clamping-finger structure, and the three clamping fingers are distributed at an included angle of 120 degrees in the circumferential direction. Taking any one of the fingers as an example, the fingers comprise an upper finger 205 and a lower finger 206 connected through a hinge, a torsion spring 211 positioned at the inner side of the finger is installed at the joint of the upper finger 205 and the lower finger 206, the torsion arms at two ends of the torsion spring 211 are respectively connected with the upper finger 205 and the lower finger 206, and are restrained by the torsion spring 211, in the initial state, in the axial direction away from the arms, the upper finger 205 is opened outwards, the lower finger 206 is closed inwards, and the three fingers form a clamping jaw in a closed state to form a clamping jaw structure suitable for grabbing spherical fruits.
In the above jaw structure: the upper clamping finger 205 consists of a finger rod, a swing rod and a supporting rod, the swing rod is positioned on the inner side of the finger rod of the upper clamping finger 205, one end of the swing rod is connected with the outer side wall of the sleeve of the clamping jaw shell 203 through a first hinge support 213, and the other end of the swing rod is fixedly connected with the top of the finger rod of the upper clamping finger 205 and is vertical to the finger rod of the upper clamping finger 205; the support rod is positioned at the outer side of the finger rod of the upper clamping finger 205, is fixedly connected with the bottom of the finger rod of the upper clamping finger 205 and is vertical to the finger rod of the upper clamping finger 205. The top of the supporting rod and the bottom of the lower clamping finger 206 are both fixedly provided with a sheep eye nail, the sheep eye nail is provided with a circular ring structure and can be used as a limiting structure or a fixing structure of the steel wire rope 210 to control the trend of the steel wire rope, so that the sheep eye nail can also be replaced by other parts which can limit the trend and the position of the steel wire rope 210, and the same is applied below.
The boss contacts 207 are fixedly mounted on the inner surfaces of the fingers of the upper clamping finger 205 and the lower clamping finger 206, and at least one boss contact 207 is mounted on each of the upper clamping finger and the lower clamping finger. The pressure sensor 208 is attached to the boss contact 207 for detecting the clamping force of the jaw on the fruit 3. In this embodiment, the boss contact 207 is designed to be cylindrical, and is preferably made of a rubber material so as to prevent damage to fruits; the pressure sensor 208 is a thin film force sensor in the form of a disk. The thin film force sensors are correspondingly fixed at the top ends of the boss contacts 207 one by one, the shape of the sensing area of the thin film force sensors is consistent with the shape of the end face of the top end of the boss contact 207, and the contact part of the boss contact 207 and the fruit 3 is covered, so that the accuracy of the detection result is ensured. As an alternative embodiment, the thin film force sensor may also be installed between the boss contact 207 and the clamping finger, and the specific operation is the same as that of embodiment 1.
To further understand the internal structure of the fruit picking manipulator, the picking manipulator is cut as shown in fig. 9.
One of the two parallel solid shaft screws is located inside the sleeve of the jaw housing 203, the other is located outside the sleeve of the jaw housing 203, a concentric and coaxial hollow shaft 221 is further arranged on the periphery of the first solid shaft screw 220 located inside the sleeve of the jaw housing, and a hollow shaft sliding block 215 is mounted on the hollow shaft 221.
A guide rod 224 is fixed on the bottom cover 209, a limit through hole is arranged on the solid shaft moving nut 222, the upper part of the guide rod 224 passes through the locating through hole and is always parallel to the first solid shaft screw rod 220, so that the solid shaft moving nut 222 can move along the guide rod 224 without rotating. The first solid shaft screw 20 is inserted into the hollow shaft 221, and the upper end surface of the hollow shaft 221 is fixedly connected with the circular platform of the jaw housing 203 through a screw. The hollow shaft 221 is an optical axis, and the hollow shaft slider 215 moves on the hollow shaft 221. The left side and the right side of the hollow shaft sliding block 15 are respectively provided with a first key groove, the inner wall of the sleeve of the clamping jaw shell 203 is provided with two second key grooves at corresponding positions, one key 223 is respectively fixed in the two second key grooves through screws, and the part of the key 223 protruding out of the second key grooves is embedded in the first key grooves. Thus, when the hollow spindle slide 215 moves on the hollow spindle 221, it is blocked from rotation by the key 223.
The clamping jaw shell 103 is provided with an open slot extending along the axial direction of the screw at a position corresponding to each clamping finger, the side surface of the hollow shaft sliding block 215 is fixedly connected with a synchronous lifting connecting support 235, and the synchronous lifting connecting support 235 penetrates through the open slot to be connected with a second solid shaft moving nut on a second solid shaft screw positioned outside the clamping jaw shell sleeve and then moves axially. A bearing seat 225 is installed on the synchronous lifting connection support 235, a first bearing 228 is installed in the bearing seat 225, an inner ring of the first bearing 228 is sleeved and fixed on the second solid shaft moving nut, one end of an outer ring of the first bearing is fixed by a stepped hole of the bearing seat 225, and the other end of the outer ring of the first bearing is fixed by a bearing seat snap spring 229. The inner race of the first bearing 228 is secured at one end by a shoulder of the second solid shaft traveling nut 226 and at the other end by a circlip 227. When the second solid shaft screw 214 rotates, the second solid shaft moving nut 226 moves axially along the second solid shaft moving nut, so that the hollow shaft sliding block 215 is driven to move axially along the hollow shaft 221 synchronously through the first bearing 228 and the synchronous lifting connecting support 235.
The first solid shaft screw 220 and the second solid shaft screw are preferably trapezoidal threads. At the position corresponding to the three clamping fingers, the first solid shaft moving nut 222 is circumferentially and fixedly provided with three sheep eye nails, the hollow shaft sliding block 215 is circumferentially provided with three second hinge supports, and the second hinge supports are positioned right above the first hinge supports 213. The bottom cover 209 is provided with a through hole for the steel wire rope 210 to pass through, and the bottom of the bottom cover 209 is also respectively and fixedly provided with three sheep eye nails corresponding to the three clamping jaws. It is first spacing ring to establish the sheep eye nail ring on first solid axle removal nut 222, and the sheep eye nail ring on the bottom 209 is the spacing ring of second, and the sheep eye nail ring at upper clamp finger bracing piece top is the spacing ring of third, and the sheep eye nail ring of lower clamp finger bottom is the spacing ring of fourth, and four spacing rings that correspond same clamp finger are located the same radial direction of screw rod.
As shown in fig. 8 and 9, the top end of the connecting rod 204 is connected with the second hinged support on the hollow shaft sliding block 215 through an opening slot, and the opening angle of the upper clamping finger is controlled by the movement of the hollow shaft sliding block 215; the top end of the steel wire rope 210 is fixed on the first limit ring, the clamping jaw shell 203 extends from the lower part, sequentially penetrates through the second limit ring and the third limit ring, is finally fixed on the fourth limit ring, and the opening angle of the lower clamping finger is controlled by the movement of the first solid shaft moving nut 222.
The rotary seat is provided with a vertically through shell cavity, the top end of the rotary seat shell 202 is provided with an annular end cover, and the bottom end of the rotary seat shell is provided with an outwardly convex flange structure for connecting with a circular platform of the clamping jaw shell 203. Two motors 231 and 230 are installed inside the rotary base and are respectively used for driving the first solid shaft screw 220 and the second solid shaft screw to rotate, as shown in fig. 9, the two motors are fixedly installed on a top plate raised and suspended by a motor support 219 in parallel, and output shafts of the two motors penetrate through the top plate of the motor support 209 downwards and are respectively in transmission connection with the end portions, extending into the rotary base shell 202, of the first solid shaft screw 220 and the second solid shaft screw.
The motor support 219 is fixed on the circular platform of the clamping jaw housing 203, and is provided with a top plate, a left bottom plate, a right bottom plate and support plates at two sides, wherein the bottom plates are turned outwards, so that the motor support 219 is in a shape like a Chinese character 'ji'. The two motors are fixedly arranged on the top plate, and the motor support 219 is fixedly connected with the circular platform through the bottom plate. A connecting shaft seat 232 is further arranged on the periphery of the motor support 120, the connecting shaft seat 232 is also a n-shaped seat, and a bottom plate of the connecting shaft seat 232 is also fixed on the circular platform. The two motors and the motor support 219 are both arranged between the top plate of the shaft connecting seat 232 and the round platform.
The lower part of the arm casing 201 is provided with an axle tube inserted into the rotary base casing 202, and the rotary base casing 202 is connected with the axle tube through a second bearing 216, so that the rotary base and the arm can rotate relatively. The inner ring of the second bearing 216 is mounted on the shaft shoulder of the shaft tube and is tightly fixed by a snap spring 218, the outer ring of the bearing is tightly attached to the inner wall of the rotating base shell 202, the upper part of the bearing is fixed by the annular end cover, and the lower part of the bearing is fixed by a positioning sleeve 218. The positioning sleeve 218 is a hollow cylinder structure clamped between the outer ring of the second bearing and the circular platform, the outer wall of the positioning sleeve abuts against the inner wall of the rotating base shell 202, and the n-shaped base 232, the two motors and the motor support 219 are all arranged in a cylinder cavity of the positioning sleeve 218.
The arm is also provided with a rotating motor 234, and the motor output shaft of the rotating motor 234 is connected with the top plate of the desk 232 through a motor key 233. After the clamping jaws clamp fruits, the rotating motor 1234 drives the clamping jaws to rotate rapidly through the shaft connecting seat 232 and the round platform, so that fruit stalks of the fruits can be twisted off to finish picking of the fruits. The second bearing 216 can effectively take up axial and radial forces on the output shaft of the rotating electrical machine 234, avoiding damage to the machine.
The working principle is as follows:
the fruit picking manipulator with adjustable sensible clamping force can be further connected with the fruit picking robot through the flange end face at the tail end of the arm shell 201. When picking fruits, firstly, the motor 230 and the motor 231 are controlled to rotate forwards, the hollow shaft sliding block 215 and the first solid shaft moving nut 222 are respectively moved towards the direction close to the motor, the first solid shaft moving nut 222 can pull the lower clamping finger 206 to open outwards through the steel wire rope 210, the hollow shaft sliding block 215 drives the upper clamping finger 205 to further open through the connecting rod 204, in the process, the lower clamping finger 206 rotates by taking a hinged shaft of the lower clamping finger 206 and the upper clamping finger 205 as a center, a finger rod of the upper clamping finger 205 rotates by taking a hinged shaft of the upper clamping finger 205 and the connecting rod 204 as a center, and a swing rod of the upper clamping finger 205 rotates by taking the first hinged support as a center. When the fruit 3 is in the enveloping range of the clamping jaws, the control motor 230 and the motor 231 reversely rotate to move the hollow shaft slide block 215 and the first solid shaft moving nut 222 away from the motor, the upper clamping finger 205 is folded under the driving of the connecting rod 204, the steel wire rope 210 is released, the lower clamping finger 206 is folded under the elastic force of the torsion spring 211, and the upper clamping finger and the lower clamping finger both change to the initial folding state to clamp the fruit. In the process of clamping the fruit, the film force sensor on the boss contact 207 detects the clamping force of the clamping jaw in real time and sends the clamping force to the control system, and the clamping force of the clamping jaw on the fruit can be sensed in time through the mode of detecting and drawing at one side. After the fruit is clamped, the rotating motor 234 in the arm is controlled to rotate, so that the clamping jaw is driven to rapidly and repeatedly twist, the fruit stem of the fruit is twisted off, and the fruit is picked. For the fruits with non-standard shapes, the first and second solid shaft motors 231 and 230 can also implement independent control according to the detection signals fed back by the pressure sensors, so as to adjust the profile of the clamping jaw to adapt to the difference of the shapes of the fruits.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial technical change.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A fruit picking manipulator with an adjustable sensible clamping force comprises an arm and a clamping jaw, and is characterized by further comprising a rotating seat, a clamping jaw, a pressure sensor (110), a steel wire rope (115) and a screw mechanism, wherein the clamping jaw is connected with the arm through the rotating seat;
the clamping jaw comprises a clamping jaw shell (103), a plurality of clamping fingers attached to the clamping jaw shell (103), and a plurality of boss contacts (111) attached to the inner surfaces of the clamping fingers;
the clamping jaw shell (103) comprises a cylindrical sleeve and a circular platform positioned at the top end of the sleeve, a screw rod of a screw rod mechanism is arranged in the sleeve, the screw rod is a compound screw rod and consists of a solid shaft screw rod (106) and a hollow shaft screw rod (104) which are sleeved together and are concentric and coaxial, the hollow shaft screw rod (104) is sleeved on the upper part of the solid shaft screw rod (106), and a solid shaft moving nut (107) and a hollow shaft moving nut (105) are respectively arranged on the lower part of the solid shaft screw rod (106) and the hollow shaft screw rod (104);
the clamping fingers comprise an upper clamping finger (108) and a lower clamping finger (109) which are connected through a hinge, and a torsional spring (112) for driving the clamping fingers to reset is installed at the joint of the upper clamping finger and the lower clamping finger; the upper clamping finger (108) consists of a finger rod, a swing rod and a support rod, the swing rod is positioned on the inner side of the finger rod of the upper clamping finger (108), one end of the swing rod is connected with the outer side wall of the sleeve of the clamping jaw shell (103) through a first hinge support, and the other end of the swing rod is fixedly connected with the top of the finger rod of the upper clamping finger (108); the supporting rod is positioned at the outer side of the finger rod of the upper clamping finger (108) and is fixedly connected with the bottom of the finger rod of the upper clamping finger (108);
the boss contact (111) is fixedly arranged on the inner surface of the clamping finger, the upper clamping finger and the lower clamping finger are respectively provided with at least one boss contact (111), and the pressure sensor (110) is connected with the boss contacts (111) and used for detecting the clamping force of the clamping jaw on the fruit;
corresponding to all the clamping fingers, a plurality of second hinge supports (114) are arranged on the solid shaft moving nut (107) along the circumference, and a plurality of first limiting rings are fixedly arranged on the hollow shaft moving nut (105) along the circumference;
meanwhile, a second limiting ring is arranged at the top of each clamping finger supporting rod, and a third limiting ring is arranged at the bottom of the lower clamping finger;
an open slot extending along the axial direction is respectively arranged at the position of the sleeve of the clamping jaw shell (103) corresponding to each clamping finger, the top end of the connecting rod (113) penetrates through the open slot to be connected with a corresponding second hinge seat (114) on the solid shaft moving nut (107), and the opening angle of the upper clamping finger (108) is controlled under the driving of the solid shaft moving nut (107); the top end of a steel wire rope (115) is fixed on the first limiting ring, the middle of the steel wire rope penetrates through the open slot and the second limiting ring, the bottom end of the steel wire rope is fixed on the third limiting ring, and the opening angle of the lower clamping finger (109) is controlled under the driving of the hollow shaft moving nut (105).
2. The fruit picking manipulator with adjustable sensible clamping force according to claim 1, characterized in that:
a solid shaft motor (131) for driving the solid shaft screw (106) to rotate and a hollow shaft motor (130) for driving the hollow shaft screw (104) to rotate are arranged in the rotary base, the two motors are fixedly arranged on a suspended top plate of the motor support (120), output shafts of the two motors downwards penetrate through the top plate and are respectively in transmission connection with the end parts, extending into the rotary base shell (102), of the solid shaft screw (106) and the hollow shaft screw (104);
a motor output shaft of the solid shaft motor (131) is positioned right above the solid shaft screw (106) and is connected with the solid shaft screw (106) through a shaft, a driving gear (129) is mounted on an output shaft of the hollow shaft motor (130) beside the hollow shaft motor, and the driving gear (129) is meshed with a driven gear (123) mounted on the hollow shaft screw (104); the hollow shaft screw (104) is connected with a sleeve of the clamping jaw housing (103) through a first bearing (125), and when the hollow shaft motor (130) works, the hollow shaft screw (104) rotates relative to the clamping jaw housing (130).
3. A fruit picking manipulator with adjustable sensible clamping force according to claim 2, characterized in that:
a rotating motor (134) is installed inside the arm, an axle tube inserted into the rotary seat shell (102) is arranged at the lower part of the arm, and the rotary seat shell (102) is connected with the axle tube through a second bearing (117); a motor output shaft of the rotating motor (134) penetrates through the shaft tube and is fixedly connected with a shaft connecting seat (132) positioned in the rotating seat shell, and the bottom end of the shaft connecting seat (132) is fixedly connected with the round platform of the clamping jaw shell (103); after the clamping jaws clamp the fruits, the rotating motor (134) drives the clamping jaws to rotate rapidly through the shaft connecting seat (132) and the round platform, and the fruit stalks of the fruits are twisted off.
4. A fruit picking manipulator with adjustable sensible clamping force according to claim 3, characterized in that:
the connecting shaft seat (132) and the motor support (120) are both n-shaped seats, each n-shaped seat comprises a top plate, a left bottom plate, a right bottom plate and a supporting plate, the bottom plates are outwards turned, the supporting plates are connected between the top plates and the bottom plates, and the bottom plates are used for connecting a circular platform of the clamping jaw shell (103); the driving gear and the driven gear are arranged between a top plate of the motor support (120) and the round platform, and the motor support (120), the hollow shaft motor (130) and the solid shaft motor (131) are all arranged between the top plate of the shaft connecting seat (132) and the round platform.
5. A fruit picking manipulator with adjustable sensible clamping force according to any of claims 1-4, characterized in that:
the boss contact (111) is a cylinder made of rubber material, the bottom surface of the boss contact is fixed on the clamping finger, and the top surface of the boss contact is in contact with the fruit; the pressure sensor (110) is a disk-shaped film force sensor and is fixedly adhered to the top surface of the boss contact (111) or between the boss contact (111) and the clamping finger.
6. A fruit picking manipulator with an adjustable sensible clamping force is provided with an arm and a clamping jaw, and is characterized by further comprising a rotating seat, a clamping jaw, a pressure sensor (208), a steel wire rope (210) and a double-screw rod mechanism, wherein the clamping jaw is connected with the arm through the rotating seat;
the clamping jaw comprises a clamping jaw housing (203), a plurality of clamping fingers attached to the clamping jaw housing (203), and a plurality of boss contacts (207) attached to the inner surface of each clamping finger;
the clamping jaw shell (207) comprises a cylindrical sleeve, a round platform positioned at the top end of the sleeve and a bottom cover (209) fixed at the bottom end of the sleeve;
the double-screw rod mechanism comprises a first solid shaft screw rod (220) arranged inside a sleeve of the clamping jaw housing (203) and a second solid shaft screw rod arranged outside the sleeve of the clamping jaw housing (203), the two solid shaft screw rods are parallel to each other, a concentric and coaxial hollow shaft (221) is further arranged on the periphery of the first solid shaft screw rod (220), and a hollow shaft sliding block (215) is mounted on the hollow shaft (221);
the clamping fingers comprise an upper clamping finger (205) and a lower clamping finger (206) which are connected through a hinge, and a torsional spring (211) which drives the clamping jaw to reset is arranged at the joint of the upper clamping finger and the lower clamping finger; the upper clamping finger (205) consists of a finger rod, a swing rod and a support rod, the swing rod is positioned on the inner side of the finger rod of the upper clamping finger (205), one end of the swing rod is connected with the outer side wall of the sleeve of the clamping jaw shell (203) through a first hinge support (213), and the other end of the swing rod is fixedly connected with the top of the finger rod of the upper clamping finger (205); the supporting rod is positioned on the outer side of the finger rod of the upper clamping finger (205) and is fixedly connected with the bottom of the finger rod of the upper clamping finger (205);
the boss contacts (207) are fixedly arranged on the inner surfaces of the clamping fingers, and at least one boss contact (207) is arranged on each of the upper clamping finger and the lower clamping finger; the pressure sensor (208) is connected with the boss contact (207) and is used for detecting the clamping force of the clamping jaw on the fruit;
the clamping jaw shell (203) is provided with an open slot extending along the axial direction thereof at the position corresponding to each clamping finger;
the hollow shaft sliding block (215) is fixedly connected with a synchronous lifting connecting support (235), and the synchronous lifting connecting support (235) penetrates through the open slot to be connected with a second solid shaft moving nut on a second solid shaft screw rod to drive the hollow shaft sliding block (215) to do synchronous axial motion along with the second solid shaft moving nut;
corresponding to all the clamping fingers, a plurality of second hinge supports are arranged on the hollow shaft sliding block (215) along the circumference, a plurality of first limiting rings are fixedly arranged on the first solid shaft moving nut (222) along the circumference, a plurality of second limiting rings are fixedly arranged on the lower surface of the bottom cover (209), meanwhile, a third limiting ring is arranged at the top of each clamping finger supporting rod, and a fourth limiting ring is arranged at the bottom of the lower clamping finger;
the top end of the connecting rod (204) is connected with a corresponding second hinged support on the hollow shaft sliding block (215) through an open slot, and the opening angle of the upper clamping finger (205) is controlled under the driving of the hollow shaft sliding block (215); the top end of a steel wire rope (210) is fixed on the first limiting ring, the clamping jaw shell (203) is extended from the lower side of the steel wire rope, sequentially penetrates through the second limiting ring and the third limiting ring and is finally fixed on the fourth limiting ring, and the opening angle of the lower clamping finger (206) is controlled under the driving of the first solid shaft moving nut (222).
7. The fruit picking manipulator with adjustable sensible clamping force according to claim 6, characterized in that:
a first solid shaft motor (231) for driving the first solid shaft screw (220) and a second solid shaft motor (230) for driving the second solid shaft screw are arranged in the rotating seat, the two motors are fixedly arranged on a suspended top plate of a motor support (219) in parallel, and output shafts of the two motors downwards penetrate through the top plate of the motor support (209) and are respectively in transmission connection with the end parts of the first solid shaft screw (220) and the second solid shaft screw extending into the rotating seat shell (202);
a bearing seat (225) is installed on the synchronous lifting connecting support (235), a first bearing (228) is assembled in the bearing seat (225), and an inner ring of the first bearing (228) is fixed on the second solid shaft moving nut.
8. The fruit picking manipulator with adjustable sensible clamping force according to claim 7, characterized in that:
the lower part of the arm is provided with an axle tube inserted into the rotary seat shell (202), and the rotary seat shell (202) is connected with the axle tube through a second bearing (216); a rotating motor (234) is installed in the arm, a motor output shaft of the rotating motor (234) penetrates through the shaft tube and is fixedly connected with a shaft connecting seat (232) located in the rotating seat shell, and the bottom end of the shaft connecting seat (232) is fixedly connected with a round platform of the clamping jaw shell (203); after the clamping jaws clamp the fruits, the shaft connecting seat (232) and the round platform of the rotating motor (234) drive the clamping jaws to rotate rapidly, and the fruit stalks of the fruits are twisted off.
9. The fruit picking manipulator with adjustable sensible clamping force according to claim 8, characterized in that:
the connecting shaft seat (232) is a square seat, the square seat comprises a top plate, a left bottom plate, a right bottom plate and a supporting plate, the left bottom plate and the right bottom plate are outwards turned, the supporting plate is connected between the top plate and the bottom plate, the bottom plate is used for connecting a circular platform of the clamping jaw shell (203), and the motor support (219), the first solid shaft motor and the second solid shaft motor are all located between the top plate and the circular platform of the connecting shaft seat (232).
10. A fruit picking manipulator with adjustable sensible clamping force according to any of claims 6-9, characterized in that:
the boss contact (207) is a cylinder made of rubber material, the bottom surface of the boss contact is fixed on the clamping finger, and the top surface of the boss contact is in contact with the fruit; the pressure sensor (208) is a disk-shaped film force sensor and is fixedly adhered to the top surface of the boss contact (207) or is fixedly adhered between the boss contact (207) and the clamping finger.
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| CN202210698364.6A CN114946406B (en) | 2022-06-20 | 2022-06-20 | Fruit picking manipulator with adjustable clamping force perception |
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| CN202210698364.6A CN114946406B (en) | 2022-06-20 | 2022-06-20 | Fruit picking manipulator with adjustable clamping force perception |
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| CN115443812A (en) * | 2022-10-27 | 2022-12-09 | 四川农业大学 | Spherical shear type fruit picking end effector and method thereof |
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| CN117530052A (en) * | 2024-01-10 | 2024-02-09 | 赣州职业技术学院 | Combined fruit picking device |
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