CN116638533A

CN116638533A - Flexible manipulator is picked to interval adjustable fruit

Info

Publication number: CN116638533A
Application number: CN202310757116.9A
Authority: CN
Inventors: 彭雄斌; 欧阳俊杰; 史晓文
Original assignee: Shantou University
Current assignee: Shantou University
Priority date: 2023-06-25
Filing date: 2023-06-25
Publication date: 2023-08-25

Abstract

The application discloses a flexible manipulator for picking fruits with adjustable spacing, which comprises the following components: the device comprises a frame, a spacing adjusting module and a clamping module; the interval adjusting module comprises a plurality of sliding seats and an adjusting driving assembly, wherein the sliding seats and the adjusting driving assembly are arranged on the frame in an annular interval manner, and the adjusting driving assembly is used for driving the sliding seats to be adjusted and arranged along the radial direction relative to the frame; the clamping module comprises a clamping driving assembly and a plurality of flexible clamping jaws, wherein the flexible clamping jaws comprise flexible jaw bodies, thin leaf springs and pull ropes which are arranged in the flexible jaw bodies at intervals side by side, one ends of the pull ropes, which are close to the clamping ends, are connected with the end parts of the thin leaf springs, the other ends of the pull ropes penetrate through the connecting ends and then are connected with the clamping driving assembly, the clamping driving assembly is used for pulling the pull ropes, the flexible jaw bodies are flexible members, and the connecting ends are connected with the sliding seats. The corresponding sliding seat is driven by the adjusting driving component to move and adjust along the radial direction relative to the frame according to the sizes and shapes of different fruits, so that the spacing between the plurality of flexible clamping jaws is adjusted.

Description

Flexible manipulator is picked to interval adjustable fruit

Technical Field

The application relates to the technical field of agricultural mechanical equipment, in particular to a flexible fruit picking manipulator with adjustable spacing.

Background

With the development of society, there is an increasing demand for agricultural products. In agricultural production, fruit and vegetable picking is still the most time consuming and labor intensive task, resulting in low production efficiency and limited product competitiveness. This is because picking work is time consuming and laborious, seasonal is strong, and shortage of labor force exacerbates the problem, wasting a great deal of fresh agricultural product. Therefore, the development of the fruit picking machine has wide development prospect and huge economic benefit.

At present, the existing fruit picking manipulator is generally of a rigid structure, and the surface of the fruit is easy to damage in the picking process, so that the integrity of the surface of the fruit in the picking process can be ensured by the flexible manipulator. However, since the existing flexible manipulator is often designed according to specific fruits, the sizes of the fruits which can be clamped by the manipulator are determined, and cannot be adjusted according to the sizes of the fruits, so that the manipulator has low applicability and is difficult to popularize.

Therefore, the design of the flexible manipulator for picking fruits with adjustable spacing and wide application range has practical application significance and also contributes to the development of agriculture in China.

Disclosure of Invention

The application aims to provide a flexible manipulator for picking fruits, which has adjustable spacing, so as to solve one or more technical problems in the prior art, and at least provide a beneficial selection or creation condition.

The technical scheme adopted for solving the technical problems is as follows:

the application provides a flexible manipulator for picking fruits, which has adjustable spacing, and comprises: the device comprises a frame, a spacing adjusting module and a clamping module, wherein the frame is provided with a distribution axis; the interval adjusting module comprises a plurality of sliding seats and an adjusting driving assembly, wherein the sliding seats are arranged on the frame in an annular interval manner by taking the distribution axis as the center, the adjusting driving assembly is in transmission connection with the sliding seats, and the adjusting driving assembly is used for driving the sliding seats to be adjusted and arranged along the radial direction relative to the frame; the clamping module comprises a clamping driving assembly and a plurality of flexible clamping jaws, wherein the flexible clamping jaws comprise flexible claw bodies, thin leaf springs and pull ropes, wherein two ends of each flexible claw body are respectively provided with a clamping end and a connecting end, the thin leaf springs and the pull ropes are arranged in the flexible claw bodies at intervals side by side, the Bao Banhuang and the pull ropes are arranged along the extending direction of the flexible claw bodies, the pull ropes are arranged in a sliding mode relative to the flexible claw bodies, the pull ropes are close to one ends of the clamping ends and are connected with the end portions of the thin leaf springs, the other ends of the pull ropes penetrate through the connecting ends and then are connected with the clamping driving assembly, the clamping driving assembly is used for pulling the pull ropes, the flexible claw bodies are flexible members, and the connecting ends are connected with sliding seats in one-to-one correspondence.

The beneficial effects of the application are as follows: when the fruit picking machine is used, the pull rope is pulled through the clamping driving assembly, the pull rope drives the thin plate spring and the flexible claw body to bend together, one side of the pull rope of the whole flexible clamping jaw is bent firstly to simulate the bending action of fingers, the plurality of flexible clamping jaws are mutually matched to achieve the function of picking fruits, after the clamping driving assembly loosens the pull rope, the flexible clamping jaw is reset under the elastic reset force of the thin plate spring to achieve the loosening of the clamping module, the thin plate spring can provide original rigidity for the flexible clamping jaw and also provide reset elastic force, and the flexible clamping jaw is contacted with the surfaces of fruits through the flexible claw body, so that the damage to the surfaces of the fruits is reduced; in addition, according to the size and shape of different fruits, the corresponding sliding seat is driven by the adjusting driving assembly to move and adjust along the radial direction relative to the frame so as to adjust the spacing between the plurality of flexible clamping jaws.

As a further improvement of the technical scheme, two ends of the thin plate spring are respectively connected with an upper fixing block and a lower fixing block embedded in the flexible claw body, the lower fixing block is connected with the sliding seat, and one end of the pull rope is connected with the upper fixing block.

The sheet spring in this scheme realizes the reinforcement at extending direction with the flexible claw body through last fixed block and lower fixed block, also provides the action point of pulling for the stay cord simultaneously, this scheme just will press from both sides and get end and link and have been limited the direction, set up from top to bottom respectively, the upper end of stay cord and thin leaf spring upper end are fixed in respectively on the fixed block both sides, the stay cord is through last fixed block pulling thin leaf spring to one side bending of stay cord, and the sheet spring is when being pulled and reset, the sheet spring provides effort for the flexible claw body through last fixed block and lower fixed block, and drive flexible claw body bending and reset, the flexible claw body can adopt more flexible material like this.

As a further improvement of the technical scheme, the stay rope and the thin plate spring are arranged side by side along the radial direction, and the flexible claw body is arranged in an outward inclined way from the connecting end to the clamping end.

The flexible claw body in this scheme is snatching the fruit in real time, and it presss from both sides to get the end and is to the inside crooked draw close, and the pulling rope that pulls down when pressing from both sides to get the fruit that is to say, and when loosening the fruit in real time then the elasticity that the sheet spring improves the restoration realizes the flexible claw body and outwards loosen, can adjust the pulling force that presss from both sides to get the drive assembly and provide for the pulling rope like this according to actual demand to improve the stability that the fruit was pressed from both sides and get.

As a further improvement of the technical scheme, one end of the pull rope is connected with a fixed wheel embedded on the upper fixed block, the upper fixed block and the lower fixed block are both provided with preformed holes, and the pull rope penetrates through the preformed holes.

When the flexible clamping jaw in the scheme is manufactured, two ends of the thin plate spring are connected to the upper fixing block and the lower fixing block, the pull rope is bound to the fixing wheel, and then the fixing wheel is embedded into the upper fixing block, so that the pull rope passes through the reserved holes in the upper fixing block and the lower fixing block, and then the flexible clamping jaw body is assembled.

The flexible claw body is formed by injection molding of silica gel, a semi-finished product with the installation step is placed in a designed mold, and then the flexible claw body is poured out by the silica gel.

As a further improvement of the above technical solution, the adjustment drive assembly comprises a plurality of adjustment drive units which are individually in driving connection with the sliding seat.

The sliding seat is driven to move by the plurality of adjusting driving units respectively, so that the position of each flexible clamping jaw is adjusted, and applicability is improved.

As a further improvement of the technical scheme, the sliding seat is slidably mounted on the rack, the adjusting driving unit comprises a rack fixed on the rack, an adjusting motor mounted on the sliding seat and a gear connected with the adjusting motor, and the gear is meshed with the rack.

According to the scheme, the gear is driven to rotate through the adjusting motor, and the sliding seat is driven to move along the radial direction under the engagement of the gear and the rack, so that the radial position of the flexible clamping jaw is adjusted.

As a further improvement of the technical scheme, the clamping driving assembly comprises a connecting seat and a clamping driving unit for driving the connecting seat to linearly move, and the other ends of the pull ropes are simultaneously connected with the connecting seat.

According to the scheme, the connecting seat is driven to move through the clamping driving unit, and meanwhile, the connecting seat pulls a plurality of pull ropes so as to realize clamping actions.

As a further improvement of the technical scheme, the connecting seat is slidably mounted on the frame, the clamping driving unit comprises a screw rod, a lifting motor connected with the screw rod in a transmission manner and a nut seat fixed on the connecting seat, and the screw rod is in threaded transmission fit with the nut seat.

This scheme drives the lead screw through elevator motor and rotates, under lead screw and nut seat screw-thread fit, drives the connecting seat and removes, can improve the precision that the connecting seat removed like this to make the clamp of fruit juice get the power accuracy, avoid damaging the fruit.

As a further improvement of the technical scheme, the frame is provided with a plurality of guiding optical axes, and the connecting seat is in sliding fit with the guiding optical axes through a linear bearing.

According to the scheme, the linear bearing is in sliding fit with the guide optical axis to guide the connecting seat, so that the stability of the movement of the connecting seat is guaranteed.

Drawings

The application is further described below with reference to the drawings and examples;

fig. 1 is a schematic view of a flexible fruit picking manipulator according to an embodiment of the present application;

FIG. 2 is a schematic view of a flexible fruit picking robot according to another embodiment of the present application;

fig. 3 is a cross-sectional view of one embodiment of the flexible jaw provided by the present application.

Detailed Description

Reference will now be made in detail to the present embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present application, but not to limit the scope of the present application.

In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

In the description of the present application, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

Referring to fig. 1 to 3, the flexible fruit picking manipulator with adjustable spacing of the present application performs the following embodiments:

the flexible fruit picking manipulator of this embodiment includes a frame 100, a spacing adjustment module, and a gripping module.

The rack 100 of this embodiment includes an upper mounting seat 120 and a lower mounting seat 130 that are disposed at an upper interval, and a plurality of connection frames 140 that are connected between the upper mounting seat 120 and the lower mounting seat 130, so that a distribution axis that is vertically disposed is formed in the middle of the rack 100, the upper mounting seat 120 and the lower mounting seat 130 are of a disc structure, the disc structure uses the distribution axis as an axis, the plurality of connection frames 140 are disposed at annular intervals, and upper and lower ends of the connection frames 140 are respectively connected with the upper mounting seat 120 and the lower mounting seat 130.

The interval adjustment module of this embodiment includes adjustment drive assembly and a plurality of sliding seat 200, and a plurality of sliding seats 200 are set up on the upper mount pad 120 with the axis of distribution as central annular interval to be equipped with the spout that sets up with sliding seat 200 one-to-one on the upper mount pad 120 of this embodiment, the spout extends along radial setting, sliding seat 200 passes through sliding block and slide rail sliding connection in the spout, adjustment drive assembly just is connected with sliding seat 200 transmission, adjustment drive assembly can drive sliding seat 200 along radial regulation removal relative frame 100.

The clamping module comprises a clamping driving assembly 300 and a plurality of flexible clamping jaws 400, the plurality of flexible clamping jaws 400 are arranged in one-to-one correspondence with the plurality of sliding seats 200, the flexible clamping jaws 400 comprise a flexible jaw body 410, a thin plate spring 420 and a pull rope 430, the flexible jaw body 410 is provided with a clamping end 411 and a connecting end 412, the thin plate spring 420 and the pull rope 430 are arranged in the flexible jaw body 410 side by side at intervals, the thin plate spring 420 and the pull rope 430 are arranged along the extending direction of the flexible jaw body 410, the pull rope 430 is arranged in a sliding mode relative to the flexible jaw body 410, the clamping end 411 and the connecting end 412 are arranged up and down, one end of the pull rope 430 close to the clamping end 411 is connected with the end of the thin plate spring 420, the other end of the pull rope 430 is connected with the clamping driving assembly 300 after passing through the connecting end 412, the connecting end 412 is connected with the sliding seat 200, and the clamping driving assembly 300 in this embodiment is used for pulling the pull rope 430.

Further, the upper and lower ends of the thin plate spring 420 are respectively connected with an upper fixing block 440 and a lower fixing block 450, the upper fixing block 440 and the lower fixing block 450 are embedded in the flexible claw body 410, the flexible claw body 410 is connected with the sliding seat 200 through the lower fixing block 450, and the upper end of the pull rope 430 is connected with the upper fixing block 440.

The thin plate spring 420 is reinforced with the flexible claw body 410 in the extending direction through the upper fixing block 440 and the lower fixing block 450, and simultaneously provides a pulling action point for the pull rope 430.

The pull rope 430 and the thin plate spring 420 of the present embodiment are arranged side by side in the radial direction, the flexible claw body 410 is inclined outwards from the connecting end 412 to the clamping end 411, the clamping end 411 is bent towards the inner side when the flexible claw body 410 is used for gripping fruits, that is to say, the pull rope 430 is pulled downwards when the fruits are clamped, and the thin plate spring 420 improves the reset elasticity to realize the outward loosening of the flexible claw body 410 when the fruits are loosened, so that the pulling force provided by the clamping driving assembly 300 for the pull rope 430 can be adjusted according to the actual requirements, so as to improve the fruit clamping stability.

And the upper end of the pull rope 430 is connected with a fixed wheel 460 embedded on the upper fixed block 440, the upper fixed block 440 and the lower fixed block 450 are provided with a preformed hole 470, and the pull rope 430 passes through the preformed hole 470.

When the flexible clamping jaw 400 is manufactured, two ends of the thin plate spring 420 are connected to the upper fixing block 440 and the lower fixing block 450, the pull rope 430 is bound to the fixing wheel 460, then the fixing wheel 460 is embedded into the upper fixing block 440, so that the pull rope 430 passes through the reserved holes 470 on the upper fixing block 440 and the lower fixing block 450, and then the flexible clamping jaw 410 is mounted.

The flexible claw body 410 is formed by injection molding of silica gel, the semi-finished product with the above-mentioned mounting steps is placed in a designed mold, and then the flexible claw body 410 is poured out of the mold by the silica gel.

Further, the adjusting driving assembly includes a plurality of adjusting driving units 500, the adjusting driving units 500 are in transmission connection with the sliding seat 200 in a one-to-one correspondence, and the plurality of adjusting driving units 500 are adopted to respectively drive the sliding seat 200 to move so as to adjust the position of each flexible clamping jaw 400, thereby improving applicability.

The adjusting driving unit 500 includes a rack 510 fixed at the bottom side of the upper mounting seat 120, an adjusting motor 520 mounted on the sliding seat 200, and a gear 530 in transmission connection with the adjusting motor 520, where the gear 530 is engaged with the rack 510, and the adjusting motor 520 drives the gear 530 to rotate, and the gear 530 is engaged with the rack 510 to drive the sliding seat 200 to move in the radial direction, thereby realizing adjustment of the radial position of the flexible clamping jaw 400.

The clamping driving assembly 300 includes a connecting seat 310 disposed between the upper mounting seat 120 and the lower mounting seat 130, and a clamping driving unit for driving the connecting seat 310 to move up and down, wherein the lower ends of the pull ropes 430 are simultaneously connected with the connecting seat 310, and the connecting seat 310 is driven to move up and down by the clamping driving unit, and the connecting seat 310 simultaneously pulls the pull ropes 430 to realize clamping.

Specifically: the connecting seat 310 is slidably mounted on the frame 100, the clamping driving unit comprises a screw rod 320, a lifting motor 330 in transmission connection with the screw rod 320, and a nut seat 340 fixed on the connecting seat 310, the screw rod 320 is in threaded transmission connection with the nut seat 340, the screw rod 320 is driven to rotate by the lifting motor 330 in this embodiment, the connecting seat 310 is driven to move under the threaded cooperation of the screw rod 320 and the nut seat 340, and thus the moving precision of the connecting seat 310 can be improved, so that the clamping force on fruit juice is accurate, and damage to fruits is avoided.

The frame 100 in this embodiment is provided with a plurality of guiding optical axes 110, the guiding optical axes 110 are disposed between the upper mounting base 120 and the lower mounting base 130 in an extending manner, and the connecting base 310 is slidably matched with the guiding optical axes 110 through a linear bearing 311.

The linear bearing 311 is slidably matched with the guiding optical axis 110 to guide the connecting seat 310, so that the stability of the movement of the connecting seat 310 is ensured.

When the fruit picking machine is used, the pull rope 430 is pulled by clamping the driving assembly 300, the pull rope 430 drives the thin plate spring 420 and the flexible claw body 410 to bend together, one side of the pull rope 430 of the whole flexible clamping jaw 400 is bent to simulate the action of finger bending, the plurality of flexible clamping jaws 400 are mutually matched to realize the function of picking fruits, when the clamping driving assembly 300 is used for loosening the pull rope 430, the flexible clamping jaw 400 is reset under the elastic reset force of the thin plate spring 420 to realize the loosening of the clamping module, the thin plate spring 420 can provide the original rigidity for the flexible clamping jaw 400 and also provide the reset elastic force, and the flexible clamping jaw 400 is contacted with the surface of the fruits through the flexible claw body 410, so that the damage to the surface of the fruits is reduced; in addition, according to the sizes and shapes of different fruits, the corresponding sliding seat 200 can be driven to move and adjust along the radial direction relative to the frame 100 by adjusting the driving assembly, so as to adjust the spacing between the plurality of flexible clamping jaws 400.

While the preferred embodiment of the present application has been described in detail, the application is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.

Claims

1. A flexible manipulator is picked to interval adjustable fruit, its characterized in that: it comprises the following steps:

a frame (100) provided with a distribution axis;

the interval adjusting module comprises a plurality of sliding seats (200) which are arranged on the frame (100) at intervals in an annular mode by taking the distribution axis as the center, and an adjusting driving assembly which is in transmission connection with the sliding seats (200), wherein the adjusting driving assembly is used for driving the sliding seats (200) to be adjusted and arranged along the radial direction relative to the frame (100);

the clamping module comprises a clamping driving assembly (300) and a plurality of flexible clamping jaws (400), wherein the flexible clamping jaws (400) comprise flexible claw bodies (410) with two ends divided into clamping ends (411) and connecting ends (412), bao Banhuang (420) and pull ropes (430) which are arranged in the flexible claw bodies (410) in parallel at intervals, the thin plate springs (420) and the pull ropes (430) are arranged along the extending direction of the flexible claw bodies (410), the pull ropes (430) are arranged in a sliding mode relative to the flexible claw bodies (410), one ends, close to the clamping ends (411), of the pull ropes (430) are connected with the end portions, connected with the thin plate springs (420), of the other ends of the pull ropes (430) penetrate through the connecting ends (412) and then are connected with the clamping driving assembly (300), the clamping driving assembly (300) is used for pulling the pull ropes (430), and the flexible claw bodies (410) are flexible members, and the connecting ends (412) are connected with the sliding seats (200) in a one-to-one correspondence mode.

2. The adjustable-spacing flexible fruit picking manipulator of claim 1, wherein:

the two ends of the thin plate spring (420) are respectively connected with an upper fixing block (440) and a lower fixing block (450) which are embedded in the flexible claw body (410), the lower fixing block (450) is connected with the sliding seat (200), and one end of the pull rope (430) is connected with the upper fixing block (440).

3. The adjustable-spacing flexible fruit picking manipulator of claim 2, wherein:

the stay cord (430) and the thin plate spring (420) are arranged side by side along the radial direction, and the flexible claw body (410) is arranged in an outward inclined way from the connecting end (412) to the clamping end (411).

4. The adjustable-spacing flexible fruit picking manipulator of claim 2, wherein:

one end of the pull rope (430) is connected with a fixed wheel (460) embedded on the upper fixed block (440), the upper fixed block (440) and the lower fixed block (450) are both provided with a reserved hole (470), and the pull rope (430) penetrates through the reserved hole (470).

5. The adjustable-spacing flexible fruit picking manipulator of claim 1, wherein:

the adjustment drive assembly includes a plurality of adjustment drive units (500) that are individually in driving connection with the slide mount (200).

6. The adjustable-spacing flexible fruit picking manipulator of claim 5, wherein:

the sliding seat (200) is slidably mounted on the frame (100), the adjusting driving unit (500) comprises a rack (510) fixed on the frame (100), an adjusting motor (520) mounted on the sliding seat (200), and a gear (530) connected with the adjusting motor (520), and the gear (530) is meshed with the rack (510).

7. The adjustable-spacing flexible fruit picking manipulator of claim 1, wherein:

the clamping driving assembly (300) comprises a connecting seat (310) and a clamping driving unit for driving the connecting seat (310) to move linearly, and the other ends of a plurality of pull ropes (430) are simultaneously connected with the connecting seat (310).

8. The adjustable-spacing fruit picking flexible manipulator of claim 7, wherein:

the connecting seat (310) is slidably mounted on the frame (100), the clamping driving unit comprises a screw rod (320), a lifting motor (330) in transmission connection with the screw rod (320) and a nut seat (340) fixed on the connecting seat (310), and the screw rod (320) is in threaded transmission fit with the nut seat (340).

9. The adjustable-spacing flexible fruit picking manipulator of claim 8, wherein:

the frame (100) is provided with a plurality of guiding optical axes (110), and the connecting seat (310) is in sliding fit with the guiding optical axes (110) through a linear bearing (311).

10. The adjustable-spacing flexible fruit picking manipulator of claim 1, wherein:

the flexible claw body (410) is a silica gel component.