CN208113365U - A kind of clamping cutting mechanism, picking fruit machine hand and robot - Google Patents
A kind of clamping cutting mechanism, picking fruit machine hand and robot Download PDFInfo
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- CN208113365U CN208113365U CN201721916822.XU CN201721916822U CN208113365U CN 208113365 U CN208113365 U CN 208113365U CN 201721916822 U CN201721916822 U CN 201721916822U CN 208113365 U CN208113365 U CN 208113365U
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Abstract
The utility model discloses a kind of clamping cutting mechanism, picking fruit machine hand and robots, including having the shell for executing open cavity, it is provided with clamping Bidirectional-screw and cutting Bidirectional-screw in the same direction executing open cavity wall different height, wherein, being cooperatively connected on clamping Bidirectional-screw, there are two clamp nut, the side end face of two clamping nuts is connect with a pinch roll respectively, and when clamping Bidirectional-screw positive and negative rotation, clamping screw rod can drive two clamping nuts mobile and make close to each other or separate movement；Nut is cut there are two being cooperatively connected on cutting Bidirectional-screw, the side end faces of two cutting nuts are connect with a cutter respectively, and when cutting Bidirectional-screw positive and negative rotation, cutting screw rod can drive two cutting nuts mobile and make close to each other or separate movement；The notch of the cutter, the clamping part of pinch roll extend execution open cavity；It is complicated that the utility model can effectively solve existing fruit picking robot end effector structures, it is more difficult to the problems such as controlling and is universal low.
Description
Technical field
The utility model relates to a kind of clamping cutting mechanism, picking fruit machine hand and robots, belong to agricultural machinery skill
Art field.
Background technique
Mechanization of agriculture and automation are trends of the times, and agricultural robot is mechanization of agriculture and automates critically important
A part.Terminal executor of picking robot is very important a part again for picking robot, and there have at present to be many right
The research of terminal executor of picking robot, end effector can be divided into mechanical, two kinds of laser cutting, machine according to cutting mode
Tool formula is most widely used at present, but laser cutting is also more and more applied because of its unique advantage and held in picking robot end
Row device.
Publication date is 2013-7-17, the patent document of Publication No. CN203057880U discloses a kind of tongs integral type
Terminal executor of picking robot, by single motor transmission system and tongs one finger tip structure composition.Motor is passed by bevel gear
It is dynamic that reverse-flighted screw rotation is driven to make left blade, a left side to drive two swing rods to swing through left-handed nut, right-handed nut and two sliding sleeves
Clamping face and right blade, right clamping face close up.After left clamping face and right clamping face contact carpopodium, two springs are compressed, and are made
The relatively left blade of left clamping face translates backward, while left clamping face and right clamping face clamp carpopodium, left blade and right blade after
The continuous opposite cutting for closing up completion to carpopodium.Only by the driving of single motor, the integrated operation of carpopodium clamping and cutting is realized, protect
The picking and recycling of fruit are demonstrate,proved, structure is simply small and exquisite, greatly reduces control difficulty and enhances practicability.But the structure is cut
Cutting and clamping is integral type, can successfully clamp carpopodium after not can guarantee cutting, has certain limitation.
Publication date is 2012-8-01, the patent document of Publication No. CN102612925A discloses one kind and adopts for fruit
The end effector for plucking robot, is related to technical field of mechanical automation.The end effector includes：Cartridge unit and air bag
Unit；The cartridge unit is the tubular structure of front and back end opening；The inside of the cartridge unit is arranged in the gas bag unit,
The picking to fruit is realized using the inflation/deflation process of itself.The end effector for fruit picking robot, mainly
It is of simple structure and low cost including cartridge unit and gas bag unit, and its own will not both scratch fruit in use
It is real, it will not be scratched by fruit tree, can safely and reliably realize the picking operation to fruit, be with a wide range of applications.But
It is that the end effector versatility is poor.
Publication date is 2017-3-08, the patent document of Publication No. CN106472006A discloses a kind of fruit and vegetable picking
End effector of device people, including grasping system, diced system, sensor-based system, shell etc., grasping system are to utilize five high speeds
Fruit is pulled to actuator inner cavity with huge frictional force in high speed rotation by the rubber cylinder of rotation, realizes the dynamic of crawl fruit
Make；Diced system is the screw rod driving elastic movement of diamond shape frame, pushes electromagnetic mechanism and the elastic movement of saw blade, uses
Driving sawtooth blade cuts branch to electromagnetic mechanism high speed repeatedly；Sensor-based system is by pressure sensor, miniature visual sensing
The composition such as device plays the role of connecting moves and control process during grabbing fruit, cutting carpopodium.Invention control is difficult
Degree and at low cost, can greatly improve the picking rate of intelligent picking robot, can meet the needs of spherical picking robot, to mentioning
High fruit picking robot picking rate and to such humanoid robot functionization and be commercialized it is of great advantage.But the end is held
Row device structure is relative complex, and versatility is not also high.
Utility model content
The technical problems to be solved in the utility model is：A kind of clamping cutting mechanism, picking fruit machine hand and machine are provided
Device people is complicated to solve existing fruit picking robot end effector structures, it is more difficult to the problems such as controlling and is universal low.
The technical solution of the utility model is：A kind of clamping cutting mechanism is being held including having the shell for executing open cavity
Row opening cavity wall different height is provided with clamping Bidirectional-screw and cutting Bidirectional-screw in the same direction, wherein in clamping Bidirectional-screw
Upper mating connection is connect with a pinch roll respectively there are two nut, the side end face of two clamping nuts is clamped, when the two-way silk of clamping
When bar positive and negative rotation, clamping screw rod can drive two clamping nuts mobile and make close to each other or separate movement；In cutting Bidirectional-screw
Upper mating connection is connect with a cutter respectively there are two nut, the side end face of two cutting nuts is cut, when cutting Bidirectional-screw
When positive and negative rotation, cutting screw rod can drive two cutting nuts mobile and make close to each other or separate movement；Notch, the folder of the cutter
The clamping part of tight roller extends execution open cavity.
The clamping Bidirectional-screw is connect with cutting Bidirectional-screw by synchronous belt and synchronizing wheel, and composition moves synchronously.
The screw pitch of the clamping Bidirectional-screw is greater than the screw pitch of cutting Bidirectional-screw.
The clamping Bidirectional-screw or cutting Bidirectional-screw are connect by belt wheel and transmission belt with a driving motor.
The clamping Bidirectional-screw and cutting Bidirectional-screw are connect with a motor respectively.
Position is respectively arranged with a camera shooting above and below the shell in the direction vertical with the cutter, the pinch roll direction of motion
Head.
First camera is hinged in first support by the first rotating turret, and first support connects on the shell, the
One rotating turret is connect with the first rotary electric machine that first support side is arranged in, and passes through adjustable first rotation of the first rotary electric machine
The rotational angle of frame realizes the adjustment of the first camera camera angle；Second camera is hinged on second by the second rotating turret
On bracket, second support is connected on the shell, and the second rotating turret is connect with the second rotary electric machine that second support side is arranged in,
The rotational angle of the second rotating turret is adjusted by the second rotary electric machine, realizes the adjustment of second camera camera angle.
The clamping inner wall of the pinch roll is provided with pressure sensor.
The utility model also provides a kind of picking fruit machine hand for being equipped with above-mentioned clamping cutting mechanism.
The utility model also provides a kind of robot for being equipped with above-mentioned clamping cutting mechanism.
The utility model has the beneficial effects that：Compared with prior art, the utility model has the following advantages that：One：This
It is less that utility model is related to components, and is all simple components, has the characteristics that structure is simple, control is simple.Secondly：This reality
Be fruit carpopodium with novel clamping target, therefore be suitable for most of fruit with hard carpopodium, picking will not be by fruit outside
The influence of shape and color, therefore there is preferable versatility.Thirdly：The utility model can need replacing different machines according to difference
Tool hand, meets different needs, and practicability is preferable.It four：Target can be rapidly completed using binocular vision technology in the utility model
The calculating of three-dimensional coordinate, and the angle of adjustable two cameras realizes the position real-time detection to carpopodium and feeds back to control system
System adjusts actuator position, improves accuracy of identification.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for clamping cutting mechanism；
Fig. 2 is a kind of top view for clamping cutting mechanism；
Fig. 3 is a kind of side view for clamping cutting mechanism；
Fig. 4 is the structural schematic diagram of cutter；
Fig. 5 is the structural schematic diagram of pinch roll；
Fig. 6 is the structural schematic diagram of Bidirectional-screw；
In figure：1, shell, 2, connecting plate, the 3, first rotary electric machine, the 3 ', second rotary electric machine, the 4, first camera, 4 ',
Second camera, the 5, first rotating turret, the 5 ', second rotating turret, 6, first support, 6 ', second support, 7, cutter, 8, pinch roll,
9, pressure sensor, 10, belt wheel, 11, transmission belt, 12, support rod, 13, driving motor, 14, cutting nut, 15, cutting it is two-way
Screw rod, 16, bearing, 17, synchronizing wheel, 18, synchronous belt, 19, clamping nut, 20, clamping Bidirectional-screw, 21, notch, 22, installation
Seat, 23, clamping part, 24, fixing seat, 25, mounting hole.
Specific embodiment
With reference to the accompanying drawing and utility model is described further in specific embodiment：
Referring to figs. 1 to Fig. 6, a kind of clamping cutting mechanism of the utility model embodiment executes the outer of open cavity including having
Shell 1 is equipped with clamping Bidirectional-screw 20 and cutting Bidirectional-screw 15 executing open cavity wall different height in the same direction.
Wherein, being cooperatively connected on clamping Bidirectional-screw 20, there are two clamp nut 19, the side of two clamping nuts 19
Face passes through bolt respectively and connect with a pinch roll 8, and when clamping 20 positive and negative rotation of Bidirectional-screw, clamping screw rod can drive two clamping spiral shells
Mother 19 is mobile and makees close to each other or separate movement.The clamping part 23 of the pinch roll 8 of the cutter 7 extends execution open cavity.
The both ends for clamping Bidirectional-screw 20 are arranged on 1 two sidewalls of shell by bearing 16.Executing open cavity back interior wall setting the
One support rod 12, clamping Bidirectional-screw 20 has fixing seat 24, and the hole in fixing seat 24 covers in first support bar 12, with limit
System clamping Bidirectional-screw 20 and the rotation for clamping nut 19, move left and right it.
Being cooperatively connected on cutting Bidirectional-screw 15, there are two cut nut 14, the side end face difference of two cutting nuts 14
It is connect by bolt with a cutter 7, when cutting 15 positive and negative rotation of Bidirectional-screw, cutting screw rod can drive two cutting nuts 14 mobile
And make close to each other or separate movement；The notch 21 of the cutter 7 extends execution open cavity.Cut the both ends of Bidirectional-screw 15
It is arranged on 1 two sidewalls of shell by bearing 16.Second support bar 12 is set executing open cavity back interior wall, cuts two-way silk
Bar 15 has mounting base 22, and the hole in mounting base 22 covers in second support bar 12, with limitation cutting Bidirectional-screw 15 and cuts
The rotation for cutting nut 14, moves left and right it.
Clamping Bidirectional-screw 20 is connect with the same side end for cutting Bidirectional-screw 15 by synchronous belt 18 and synchronizing wheel 17,
Composition moves synchronously, and with clamping Bidirectional-screw 20 or can cut the end side of Bidirectional-screw 15 at this time by belt wheel 10 and pass
Defeated band 11 is connect, it can be achieved that only clamping Bidirectional-screw 20 and cutting can be driven double with a driving motor 13 with driving motor 13
The function of being performed relative motion to screw rod 15.In order to make the present embodiment mechanism that can clamp carpopodium in advance when in use, cutting is remake
Movement, the screw pitch that can limit Bidirectional-screw are greater than the screw pitch of cutting Bidirectional-screw 15, clamp roller at this time and move faster than cutter 7,
It can be realized the function of first clamping carpopodium.
In addition, the clamping Bidirectional-screw 20 and cutting Bidirectional-screw 15 in the utility model embodiment can be electric with one respectively
Machine connection, is operated by respective motor driven.
The cutter 7 can be set above clamping roller, may also be arranged below clamping roller, according to practical so clamping is cut
Depending on the object cut.
It is provided with pressure sensor 9 in the mounting hole 25 of 23 inner wall of clamping part of the pinch roll 8, to detect pressing force
Size to prevent clamping force excessive, pinch off carpopodium.
One is separately installed at about 1 position of shell in the direction vertical with the cutter 7,8 direction of motion of pinch roll to take the photograph
As head 4 and second camera 4 ', wherein the first camera 4 is hinged in first support 6 by the first rotating turret 5, first support
6 are connected on shell 1, and the first rotating turret 5 is connect with the first rotary electric machine 3 that 6 side of first support is arranged in, and pass through first turn
The rotational angle of the first rotating turret 5 is adjusted in dynamic motor 3, realizes the adjustment of 4 camera angle of the first camera；Second camera 4 '
It is hinged in second support 6 ' by the second rotating turret 5 ', second support 6 ' is connected on shell 1, the second rotating turret 5 ' and setting
The second rotary electric machine 3 ' in 6 ' side of second support connects, and turning for the second rotating turret 5 is adjusted by the second rotary electric machine 3 '
Dynamic angle, realizes the adjustment of 4 ' camera angle of second camera.By the first camera 4 and second camera 4 ' to target three-dimensional
The preliminary acquisition of coordinate, actuator lean on close-target when, control the first 4 angle of camera processed the first rotary electric machine 3 rotation and
Control 4 ' angle of second camera the second rotary electric machine 3 ' rotation, the position of real-time detection carpopodium, adjustment pose make carpopodium into
Enter pinch roll 8, then, the driving motor 13 of pinch roll 8 and cutter 7 rotates, and completes fruit carpopodium successively and clamps and cut.
Above-mentioned clamping cutting mechanism in the utility model embodiment can be applied in picking fruit machine hand, specifically can be
A connecting plate 2 is arranged in 1 rear portion of shell, it is connect with mechanical hand.
Above-mentioned clamping cutting mechanism in the utility model embodiment is alternatively arranged as components and is mounted on institute's progress in need
It clamps and is used in the robot of cutting.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For the ordinary skill of the utility model technical field
For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard
To belong to the protection scope of the utility model.
Claims (10)
1. a kind of clamping cutting mechanism, including having the shell for executing open cavity（1）, it is characterised in that：It is executing in open cavity
Wall different height is provided with clamping Bidirectional-screw in the same direction（20）With cutting Bidirectional-screw（15）, wherein in clamping Bidirectional-screw
（20）There are two clamp nut for upper mating connection（19）, two clamping nuts（19）Side end face respectively with a pinch roll（8）Even
It connects, when clamping Bidirectional-screw（20）When positive and negative rotation, clamping screw rod can drive two clamping nuts（19）Move and make it is close to each other or
Far from movement；In cutting Bidirectional-screw（15）There are two cut nut for upper mating connection（14）, two cutting nuts（14）Side
End face respectively with a cutter（7）Connection, when cutting Bidirectional-screw（15）When positive and negative rotation, cutting screw rod can drive two cutting nuts
（14）It moves and makees close to each other or separate movement；The cutter（7）Notch（21）, pinch roll（8）Clamping part（23）Prolong
It stretches out and executes open cavity.
2. clamping cutting mechanism according to claim 1, it is characterised in that：The clamping Bidirectional-screw（20）It is double with cutting
To screw rod（15）Pass through synchronous belt（18）And synchronizing wheel（17）Connection, composition move synchronously.
3. clamping cutting mechanism according to claim 2, it is characterised in that：The clamping Bidirectional-screw（20）Screw pitch it is big
In cutting Bidirectional-screw（15）Screw pitch.
4. clamping cutting mechanism according to claim 2, it is characterised in that：The clamping Bidirectional-screw（20）Or cutting is double
To screw rod（15）Pass through belt wheel（10）And transmission belt（11）With a driving motor（13）Connection.
5. clamping cutting mechanism according to claim 1, it is characterised in that：The clamping Bidirectional-screw（20）It is double with cutting
To screw rod（15）It is connect respectively with a motor.
6. clamping cutting mechanism according to claim 1, it is characterised in that：With the cutter（7）, pinch roll（8）Fortune
The shell in the vertical direction in dynamic direction（1）Upper and lower position is respectively arranged with the first camera（4）And second camera（4'）.
7. clamping cutting mechanism according to claim 6, it is characterised in that：First camera（4）Pass through first turn
Moving frame（5）It is hinged on first support（6）On, first support（6）It is connected to shell（1）On, the first rotating turret（5）With setting the
One bracket（6）First rotary electric machine of side（3）Connection, passes through the first rotary electric machine（3）Adjustable first rotating turret（5）Turn
Dynamic angle, realizes the first camera（4）The adjustment of camera angle；Second camera（4'）Pass through the second rotating turret（5'）It is hinged on
Second support（6'）On, second support（6'）It is connected to shell（1）On, the second rotating turret（5'）With setting in second support（6'）
Second rotary electric machine of side（3'）Connection, passes through the second rotary electric machine（3'）Adjustable second rotating turret（5'）Angle of rotation
Degree realizes second camera（4'）The adjustment of camera angle.
8. clamping cutting mechanism according to claim 1, it is characterised in that：The pinch roll（8）Clamping inner wall set
It is equipped with pressure sensor（9）.
9. a kind of picking fruit machine hand, it is characterised in that：Any clamping cutting mechanism of claim 1 to 8 is installed.
10. a kind of robot, it is characterised in that：Any clamping cutting mechanism of claim 1 to 8 is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721916822.XU CN208113365U (en) | 2017-12-31 | 2017-12-31 | A kind of clamping cutting mechanism, picking fruit machine hand and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721916822.XU CN208113365U (en) | 2017-12-31 | 2017-12-31 | A kind of clamping cutting mechanism, picking fruit machine hand and robot |
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| Publication Number | Publication Date |
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| CN208113365U true CN208113365U (en) | 2018-11-20 |
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| CN201721916822.XU Active CN208113365U (en) | 2017-12-31 | 2017-12-31 | A kind of clamping cutting mechanism, picking fruit machine hand and robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN109496558A (en) * | 2018-12-28 | 2019-03-22 | 贵州大学 | A kind of Rosa roxburghii Tratt picking transportation system |
| CN110771349A (en) * | 2019-10-10 | 2020-02-11 | 南阳师范学院 | Pomegranate that facilitates use picks apparatus |
| CN111615928A (en) * | 2020-06-29 | 2020-09-04 | 广西师范大学 | Semi-automatic mulberry twig supporting device |
| CN112119791A (en) * | 2020-10-26 | 2020-12-25 | 河北省农林科学院石家庄果树研究所 | Cherry fruit thinning device |
-
2017
- 2017-12-31 CN CN201721916822.XU patent/CN208113365U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108184431A (en) * | 2017-12-31 | 2018-06-22 | 贵州大学 | A kind of fruit picking robot end effector and picking method |
| CN109496558A (en) * | 2018-12-28 | 2019-03-22 | 贵州大学 | A kind of Rosa roxburghii Tratt picking transportation system |
| CN109496558B (en) * | 2018-12-28 | 2022-04-19 | 贵州大学 | Roxburgh rose picking and conveying system |
| CN110771349A (en) * | 2019-10-10 | 2020-02-11 | 南阳师范学院 | Pomegranate that facilitates use picks apparatus |
| CN111615928A (en) * | 2020-06-29 | 2020-09-04 | 广西师范大学 | Semi-automatic mulberry twig supporting device |
| CN112119791A (en) * | 2020-10-26 | 2020-12-25 | 河北省农林科学院石家庄果树研究所 | Cherry fruit thinning device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yan Jianwei Inventor after: Su Xiaodong Inventor after: Long Linbi Inventor before: Yan Jianwei Inventor before: Su Xiaodong Inventor before: Long Linbi |
|
| CB03 | Change of inventor or designer information |