CN214628215U

CN214628215U - Robot picking device

Info

Publication number: CN214628215U
Application number: CN202120773873.1U
Authority: CN
Inventors: 张侃谕; 朱歆仪
Original assignee: Shanghai Bangbo Modern Agriscience Co ltd
Current assignee: Shanghai Bangbo Modern Agriscience Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-11-09
Anticipated expiration: 2031-04-15

Abstract

The utility model relates to an agricultural is picked technical field, specifically is device is picked to robot, the outside of main part pipe is located one end position department and is provided with the three clamping jaw device that is the circumference and arranges and the structure is the same, clamping jaw device is including being fixed in the drive casing in the main part outside of tubes, the inboard of drive casing is located both ends position department symmetry rotation and is connected with two connecting rod pivots. The utility model discloses, through centre gripping actuating mechanism and clamping jaw device, can realize the centre gripping and the harvesting of fruit, response speed is fast, the operation is reliable and stable, through centre gripping jettison device, can launch the fruit of centre gripping into the inboard of main part pipe, then carry to the fruit collecting box inboard through fruit conveying hose, it removes the fruit to the fruit collecting box to need not robot arm drive arrangement, the removal step of robot arm has been reduced, picking efficiency has not only been improved, and the wearing and tearing and the power consumption of robot arm can be reduced.

Description

Robot picking device

Technical Field

The utility model relates to an agricultural picking technical field specifically is device is picked to robot.

Background

The industrial robot is a multi-joint manipulator or multi-freedom-degree machine device oriented to the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, can receive human commands, can run according to a pre-programmed program, and can also perform a compendium action according to a principle formulated by an artificial intelligence technology. With the continuous development of industrial camera technology, machine vision is widely applied to automation. Machine vision is a branch of artificial intelligence developing rapidly, in brief, machine vision is to use a machine to replace human eyes for measurement and judgment, a machine vision system converts a shot target into an image signal through a machine vision product (namely, an image shooting device, which is divided into a CMOS (complementary metal oxide semiconductor) product and a CCD (charge coupled device) product), transmits the image signal to a special image processing system to obtain form information of the shot target, converts the form information into a digital signal according to information such as pixel distribution, brightness, color and the like, and the image system performs various operations on the signals to extract characteristics of the target, thereby controlling the on-site equipment action according to a judgment result. The robot vision technology is matched with an industrial robot for use, namely the robot is provided with eyes, and the robot can control the tail end of an arm to move to a specified position.

In the agricultural field of picking, need pick ripe fruit, use the robot of installing machine vision system additional and can replace artifical fruit of picking well, improve picking efficiency by a wide margin, reduce the cost of labor, in order to pick centre gripping fruit, need pick the device in the terminal ring flange position installation of industrial robot arm.

However, the existing picking device for robot usually uses a clamping jaw mechanism to clamp and pick fruits, firstly, the fruits are clamped, then a robot arm drives the clamping jaw mechanism and the fruits to move towards a fruit collecting box, then the clamping jaw mechanism is opened, and the fruits are placed in the collecting box, and in this way, the robot arm is required to repeat a plurality of complex actions, so that not only is the picking efficiency reduced, but also the abrasion of the robot and the power consumption of the robot are increased. Accordingly, a robot picking apparatus is provided by those skilled in the art to solve the problems set forth in the background art described above.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a device is picked to robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the robot picking device comprises a main body pipe, wherein three clamping jaw devices which are arranged in a circumferential manner and have the same structure are arranged at one end of the outer side of the main body pipe, a clamping driving mechanism is arranged between the three clamping jaw devices and the main body pipe, and the other end of the main body pipe is connected with a fruit conveying hose;

clamping jaw device is including being fixed in the drive casing in the main part pipe outside, the inboard of drive casing is located both ends position department symmetry and rotates and is connected with two connecting rod pivots, two one side of connecting rod pivot is located both ends position department equal symmetry and is fixed with two dwangs, and the outside of one of them connecting rod pivot is located middle section position department and is fixed with the worm wheel, four it is connected with the supporting rod to be located one end position department rotation between the dwang, the end of supporting rod is provided with fruit centre gripping jettison device, the inboard one end of drive casing is located worm wheel below position department and rotates and is connected with the worm, mesh mutually between worm and the worm wheel.

As a further aspect of the present invention: the clamping driving mechanism comprises three synchronous belt pulleys and a clamping driving motor, wherein one end of each of the three worm is fixed to one end of each of the three worm, the three synchronous belt pulleys are located at the outer side of the driving shell, the clamping driving motor is installed on one side of the outer portion of the main body pipe and corresponds to one of the worm positions, the synchronous belt pulleys are rotatably sleeved on the outer side of each of the synchronous belt pulleys, and the output end of the clamping driving motor is fixed to one end of one of the worms.

As a further aspect of the present invention: the centre gripping jettison device is including being fixed in the terminal U-shaped connecting rod of supporting rod, the inboard of U-shaped connecting rod is located both ends position department symmetry and rotates and be connected with two roller bearings, two the outside of roller bearing is rotated the cover and is equipped with the conveyer belt, outside one side of U-shaped connecting rod is located one end position department and installs the conveying motor, the output of conveying motor is fixed mutually with the one end of one of them roller bearing.

As a further aspect of the present invention: the connecting device is characterized in that a connecting casing is fixed to the other end of the outer side of the main body pipe, a connecting block is arranged on the inner side of the connecting casing in a sliding insertion mode, a flange fixing plate is fixed to the upper end of the connecting block, a flange is fixed to the upper end of the flange fixing plate, and two locking mechanisms are symmetrically arranged between the connecting casing and the connecting block.

As a further aspect of the present invention: locking mechanism is including being fixed in the internal thread sleeve of connecting shell one end, seting up the dovetail groove that corresponds internal thread sleeve position department in connecting block one side, seting up the spout that corresponds dovetail groove position department in the connecting shell inboard, the telescopic inboard of internal thread is rotated through the screw thread and is connected with the screw rod, the inboard sliding connection of spout has the intermediate lamella, one side of intermediate lamella is fixed with the trapezoidal latch segment with trapezoidal groove looks adaptation, and the opposite side of intermediate lamella rotates with the one end of screw rod and is connected.

As a further aspect of the present invention: the other end of the outer side of the three worm is rotatably sleeved with a supporting plate, and one end of the supporting plate is fixed to one side of the inside of the three driving shell respectively.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the fruit picking device has the advantages that the fruit can be clamped and picked through the clamping driving mechanism and the clamping jaw device, the response speed is high, and the operation is stable and reliable;

2. the clamped fruits can be ejected into the inner side of the main body pipe through the clamping ejection device and then are conveyed to the inner side of the fruit collecting box through the fruit conveying hose, the fruits do not need to be moved to the fruit collecting box by the robot arm driving device, moving steps of the robot arm are reduced, picking efficiency is improved, and abrasion and power consumption of the robot arm can be reduced; 3. through locking mechanism, can dismantle the device under the condition of not dismantling the ring flange, conveniently maintain the maintenance.

Drawings

FIG. 1 is a schematic structural view of a robotic picking apparatus;

FIG. 2 is a rear view of the robotic picking apparatus;

FIG. 3 is a schematic cross-sectional structural view of a robotic picking apparatus;

FIG. 4 is an enlarged schematic view of the picking apparatus of the robot at A in FIG. 1;

fig. 5 is a schematic structural diagram of a locking mechanism in the robot picking device.

In the figure: 1. a main body tube; 2. a drive housing; 3. a connecting rod rotating shaft; 4. rotating the rod; 5. a worm gear; 6. a clamping rod; 7. a worm; 8. a synchronous pulley; 9. a clamping drive motor; 10. a synchronous belt; 11. a U-shaped connecting rod; 12. a roller; 13. a conveyor belt; 14. a transfer motor; 15. a connecting casing; 16. connecting blocks; 17. a flange plate fixing plate; 18. a flange plate; 19. an internally threaded sleeve; 20. a screw; 21. a middle plate; 22. a trapezoidal locking block; 23. fruit conveying hose.

Detailed Description

Referring to fig. 1-5, in the embodiment of the present invention, a robot picking device comprises a main body tube 1, three clamping jaw devices arranged in a circumferential manner and having the same structure are disposed at one end of the outer side of the main body tube 1, the clamping jaw devices include a driving housing 2 fixed at the outer side of the main body tube 1, two connecting rod shafts 3 are symmetrically and rotatably connected at two ends of the inner side of the driving housing 2, two rotating rods 4 are symmetrically fixed at two ends of one side of each connecting rod shaft 3, a worm wheel 5 is fixed at a middle position of the outer side of one of the connecting rod shafts 3, a clamping rod 6 is rotatably connected at one end of each of the four rotating rods 4, a fruit clamping ejection device is disposed at the end of the clamping rod 6, a worm 7 is rotatably connected at a position below the worm wheel 5 at one end of the inner side of the driving housing 2, and the worm 7 is engaged with the worm wheel 5, a clamping driving mechanism is arranged between the three clamping jaw devices and the main body pipe 1, and the other end of the main body pipe 1 is connected with a fruit conveying hose 23.

In fig. 3: the centre gripping actuating mechanism is including being fixed in three synchronous pulley 8 that three worm 7 one end is located 2 outside positions department of drive housing and installing in the centre gripping driving motor 9 that 1 outside one side of main part pipe corresponds 7 positions department of one of them worm, the outside of three synchronous pulley 8 is rotated the cover and is equipped with synchronous belt 10, the output of centre gripping driving motor 9 is fixed mutually with the one end of one of them worm 7, centre gripping driving motor 9 rotates, centre gripping driving motor 9 drives one of them worm 7 and rotates, this worm 7 drives a synchronous pulley 8 in its outside and rotates, this synchronous pulley 8 drives two other synchronous pulley 8 synchronous rotations through synchronous belt 10, thereby make three worm 7 synchronous rotations.

In fig. 4: the centre gripping jettison device is including being fixed in the terminal U-shaped connecting rod 11 of supporting rod 6, the inboard of U-shaped connecting rod 11 is located both ends position department symmetry and rotates and is connected with two roller bearings 12, the outside of two roller bearings 12 is rotated the cover and is equipped with conveyer belt 13, outside one side of U-shaped connecting rod 11 is located one end position department and installs conveyer motor 14, the output of conveyer motor 14 is fixed mutually with the one end of one of them roller bearing 12, centre gripping jettison device, can launch the inboard of main part pipe 1 with the fruit of centre gripping, then carry to the fruit collecting box inboard through fruit conveying hose 23, it removes the fruit to the fruit collecting box to need not robot arm drive arrangement, robot arm's removal step has been reduced, picking efficiency has not only been improved, and robot arm's wearing and tearing and power consumption can be reduced.

In fig. 1 and 5: the other end of the outer side of the main body pipe 1 is fixed with a connecting casing 15, the inner side of the connecting casing 15 is slidably inserted with a connecting block 16, the upper end of the connecting block 16 is fixed with a flange fixing plate 17, the upper end of the flange fixing plate 17 is fixed with a flange 18, two locking mechanisms are symmetrically arranged between the connecting casing 15 and the connecting block 16, and the connecting casing 15 and the connecting block 16 play a role in connecting the whole device with a robot flange.

In fig. 5: locking mechanism is including being fixed in the internal thread sleeve 19 of connecting shell 15 one end, set up the dovetail groove that corresponds 19 position departments of internal thread sleeve in 16 one sides of connecting block, set up the spout that corresponds dovetail groove position departments in connecting shell 15 inboard, internal thread sleeve 19's inboard is rotated through the screw thread and is connected with screw rod 20, the inboard sliding connection of spout has intermediate lamella 21, one side of intermediate lamella 21 is fixed with trapezoidal latch segment 22 with trapezoidal groove looks adaptation, and the opposite side of intermediate lamella 21 is rotated with screw rod 20's one end and is connected, locking mechanism, can dismantle the device under the condition of not dismantling the ring flange, the maintenance is conveniently maintained.

In fig. 3: the cover is all rotated to the outside other end of three worm 7 and is equipped with the backup pad, and the one end of three backup pad is fixed mutually with inside one side of three drive housing 2 respectively, and the backup pad is used for supporting worm 7, improves its stability.

The utility model discloses a theory of operation is: the flange plate 18 is fixed with the flange plate of the robot, so that the device is integrally arranged at the tail end of the robot, then one end of a fruit conveying hose 23 is communicated with the inner side of the fruit collecting box, the robot controls a clamping driving motor 9 to rotate, the clamping driving motor 9 drives one of the worms 7 to rotate, the worm 7 drives one of the synchronous belt pulleys 8 on the outer side of the worm 7 to rotate, the synchronous belt pulley 8 drives the other two synchronous belt pulleys 8 to synchronously rotate through a synchronous belt 10, so that the three worms 7 synchronously rotate, the three worms 7 respectively drive three worm wheels 5 to synchronously rotate through meshing, the three worm wheels 5 respectively drive three connecting rod rotating shafts 3 of the three clamping jaw devices to rotate, the connecting rod rotating shafts 3 can drive rotating rods 4 to rotate, and the three clamping rods 6 of the three clamping jaw devices can be driven to move through the principle of a parallelogram connecting rod mechanism, the three clamping rods 6 are folded towards the middle to clamp the outer side of the fruit, the fruit can be picked, the fruit is positioned between the three clamping ejection devices, then the robot controls the three conveying motors 14 to start simultaneously, the three conveying motors 14 drive the three rollers 12 to rotate, the three rollers 12 drive the three conveying belts 13 and the other three rollers 12 to rotate, the three conveying belts 13 rotate to give an initial speed to the fruit through friction, the fruit is ejected into the inner side of the main body pipe 1 and then conveyed to the inner side of the fruit collecting box through the fruit conveying hose 23, the device can be quickly disassembled and replaced under the condition that the flange plate 18 is not removed through the locking mechanism, the screw 20 is rotated, the screw 20 drives the middle plate 21 to slide on the inner side of the chute through threaded engagement, the middle plate 21 drives the trapezoidal locking block 22 to move, one side inclined plane of the trapezoidal locking block 22 is abutted against one side inclined plane of the trapezoidal groove, the connecting block 16 can be pressed towards the bottom end of the inner side of the connecting shell 15, and the trapezoidal locking block 22 can be separated from the trapezoidal groove by reversing the screw rod 20, so that the connecting block 16 can be detached.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. The robot picking device comprises a main body pipe (1), and is characterized in that three clamping jaw devices which are arranged in a circumferential manner and have the same structure are arranged at one end of the outer side of the main body pipe (1), a clamping driving mechanism is arranged between the three clamping jaw devices and the main body pipe (1), and the other end of the main body pipe (1) is connected with a fruit conveying hose (23);

clamping jaw device is including being fixed in drive casing (2) in the main part pipe (1) outside, the inboard of drive casing (2) is located both ends position department symmetry and rotates and is connected with two connecting rod pivot (3), two one side of connecting rod pivot (3) is located both ends position department equal symmetry and is fixed with two dwang (4), and the outside of one of them connecting rod pivot (3) is located middle section position department and is fixed with worm wheel (5), four it locates to rotate to be connected with supporting rod (6) to lie in one end position between dwang (4), the end of supporting rod (6) is provided with fruit centre gripping jettison device, the inboard one end of drive casing (2) is located worm wheel (5) below position department and rotates and is connected with worm (7), mesh mutually between worm (7) and worm wheel (5).

2. The robotic picking device according to claim 1, characterized in that the gripping driving mechanism includes three timing pulleys (8) fixed at one end of three worms (7) located at the outer side of the driving housing (2) and a gripping driving motor (9) mounted at one side of the outer portion of the main tube (1) corresponding to one of the worms (7), a timing belt (10) is rotatably sleeved on the outer side of the three timing pulleys (8), and the output end of the gripping driving motor (9) is fixed with one end of one of the worms (7).

3. The robot picking device according to claim 1, characterized in that the clamping ejection device comprises a U-shaped connecting rod (11) fixed at the end of the clamping rod (6), two rollers (12) are symmetrically and rotatably connected to the inner side of the U-shaped connecting rod (11) at two ends, a conveyor belt (13) is rotatably sleeved on the outer sides of the two rollers (12), a conveyor motor (14) is installed at one end of the outer side of the U-shaped connecting rod (11), and the output end of the conveyor motor (14) is fixed with one end of one of the rollers (12).

4. The robotic picking device according to claim 1, wherein a connecting casing (15) is fixed to the other end of the outer side of the main tube (1), a connecting block (16) is slidably inserted into the inner side of the connecting casing (15), a flange fixing plate (17) is fixed to the upper end of the connecting block (16), a flange (18) is fixed to the upper end of the flange fixing plate (17), and two locking mechanisms are symmetrically arranged between the connecting casing (15) and the connecting block (16).

5. The robotic picking device according to claim 4, wherein the locking mechanism includes an internally threaded sleeve (19) fixed to one end of the connecting housing (15), a trapezoidal groove formed at a position corresponding to the internally threaded sleeve (19) on one side of the connecting block (16), and a sliding groove formed at a position corresponding to the trapezoidal groove on the inner side of the connecting housing (15), the inner side of the internally threaded sleeve (19) is rotatably connected with a screw (20) through threads, the inner side of the sliding groove is slidably connected with an intermediate plate (21), a trapezoidal locking block (22) adapted to the trapezoidal groove is fixed to one side of the intermediate plate (21), and the other side of the intermediate plate (21) is rotatably connected with one end of the screw (20).

6. The robotic picking device of claim 1, wherein the other ends of the outer sides of the three worms (7) are rotatably sleeved with support plates, and one ends of the three support plates are respectively fixed with one side of the inner parts of the three driving housings (2).