CN214961172U - Grabbing manipulator based on visual sensing - Google Patents
Grabbing manipulator based on visual sensing Download PDFInfo
- Publication number
- CN214961172U CN214961172U CN202121050785.5U CN202121050785U CN214961172U CN 214961172 U CN214961172 U CN 214961172U CN 202121050785 U CN202121050785 U CN 202121050785U CN 214961172 U CN214961172 U CN 214961172U
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- grabbing
- top plate
- claw
- plate
- cutting knife
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Abstract
The utility model discloses a grabbing manipulator based on visual sensing, which comprises a frame body, a clamping jaw, a claw, a telescopic cylinder and a cutting knife, wherein the frame body comprises a type support and a side plate connected with one side of the type support, the type support is provided with a mounting groove, the clamping jaw is fixedly arranged in the mounting groove and is provided with two sliding parts which are symmetrically arranged and can move oppositely or relatively, the claw is arranged at the outer side edge of the sliding part, the opposite inner wall of the claw is provided with a grabbing part, the telescopic cylinder is arranged on the inner wall of the side plate, the free end of the telescopic rod of the telescopic cylinder is provided with a connecting plate, the cutting knife comprises a top plate and a cutting blade which is vertically arranged with the top plate, the top plate is detachably connected with the connecting plate, the cutting blade is parallel to the claw, the grabbing manipulator based on visual sensing drives the clamping jaw to fast move the cutting knife to cut off fruits and vegetables from branches, the branches are prevented from being dragged or the knobs are prevented from being broken in the fruit and vegetable picking process, and the fruit and vegetable harvesting yield is improved.
Description
Technical Field
The utility model relates to a pick equipment technical field, specifically be a snatch manipulator based on vision sensing.
Background
The gradual expansion of the planting scale of fruits and vegetables, the continuous improvement of labor cost, the gradual increase of the aging phenomenon in rural areas and the work of a large number of young people going out all cause obstacles to the development of agriculture, and the use of picking robots instead of manual picking of fruits and vegetables has become a necessary trend.
With the continuous development of image acquisition technology, most of the current fruit and vegetable picking equipment firstly uses a visual device to distinguish colors. Red and green promptly, then through carrying out three-dimensional simulation to work area, find the position of fruit, the arm drive of picking robot snatchs the position that the manipulator reachd the fruit vegetables and correspond after that, the manipulator is plucked at last, but present manipulator is when plucking the fruit vegetables, snatch the fruit vegetables earlier through the manipulator mostly, then drag the fruit vegetables, make fruit vegetables and branch separation, or snatch the fruit vegetables earlier through the manipulator, then rotatory fruit vegetables, rely on knob power to make fruit vegetables and branch separate, all can make the branch receive the power through dragging or the knob, all lead to the branch fracture easily, influence immature fruit vegetables growth on the branch, lead to output to descend.
SUMMERY OF THE UTILITY MODEL
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the invention.
In view of the above and/or the problems existing in the existing fruit and vegetable picking, the utility model is provided.
Therefore, the utility model aims at providing a snatch manipulator based on visual sense avoids the in-process branch fracture of fruit vegetables harvesting, increase of production.
For solving the technical problem, according to the utility model discloses an aspect, the utility model provides a following technical scheme:
a grabbing manipulator based on visual sensing, comprising:
the rack body comprises a profile bracket and a side plate connected with one side edge of the profile bracket, and the profile bracket is provided with an installation groove;
the clamping jaw is fixedly arranged in the mounting groove and is provided with two sliding parts which are symmetrically arranged and can move oppositely or relatively;
the claw is arranged on the outer side edge of the sliding part and is provided with a grabbing part relative to the inner wall;
the telescopic cylinder is arranged on the inner wall of the side plate, and the free end of a telescopic rod of the telescopic cylinder is provided with a connecting plate;
the cutting knife comprises a top plate and a cutting blade vertically arranged on the top plate, the top plate is detachably connected with the connecting plate, and the cutting blade is parallel to the claw.
As a preferred scheme of grabbing manipulator based on vision sensing, wherein, the medial surface of the portion of snatching is concave profile, and the cross-section of the portion of snatching is the arc type.
As a preferred embodiment of the grabbing manipulator based on visual sensing of the present invention, a clamping groove is formed at the bottom of the connecting plate;
the top of the top plate of the cutting knife is provided with a convex column, the convex column is clamped into the clamping groove, and the top plate is in contact with the bottom of the connecting plate.
As an optimal selection scheme of snatching manipulator based on vision sensing, wherein, the sled groove of lining up to the top is seted up to the side of roof.
As a preferred scheme of the grabbing manipulator based on visual sensing of the utility model, the grabbing manipulator further comprises an image acquisition assembly;
the image acquisition assembly comprises:
the mounting rack is detachably mounted on the other side edge of the profile bracket;
and the image acquisition component is arranged on the mounting rack and used for acquiring images in front of the grabbing manipulator.
Compared with the prior art, the utility model discloses the beneficial effect who has is: this kind of snatch manipulator based on visual sensing through setting up telescopic cylinder and cutting knife, snatchs the fruit vegetables back at clamping jaw drive claw hand, and telescopic cylinder drive cutting knife fast travel cuts off fruit vegetables and branch, avoids the in-process branch of fruit vegetables harvesting owing to drag or the knob breaks off, improves the results output of fruit vegetables.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor. Wherein:
fig. 1 is a schematic view of the overall structure of the grabbing manipulator based on visual sensing in one direction according to the present invention;
fig. 2 is a schematic view of the overall structure of the grabbing manipulator based on visual sensing in another direction;
fig. 3 is the utility model relates to a snatch overall structure explosion chart of manipulator based on vision sensing.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Next, the present invention will be described in detail with reference to the schematic drawings, and in the detailed description of the embodiments of the present invention, for convenience of explanation, the sectional view showing the device structure will not be enlarged partially according to the general scale, and the schematic drawings are only examples, and should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The utility model provides a snatch manipulator based on visual sense avoids the in-process branch fracture of fruit vegetables harvesting, increase of production.
Fig. 1 to 3 show a schematic structural diagram of an embodiment of a grabbing manipulator based on visual sensing of the present invention, please refer to fig. 1 to 3, and a main body of the grabbing manipulator based on visual sensing of the present embodiment includes a frame body 100, a clamping jaw 200, a claw 300, a telescopic cylinder 400 and a cutting knife 500.
The rack body 100 is used for being connected with a mechanical arm of a robot, the mechanical arm drives the grabbing manipulator based on visual sensing to move, and the rack body 100 is also used for installing the clamping jaw 200, the telescopic cylinder 400 and other components.
The clamping jaw 200 is fixedly installed in the installation groove 110a, and has two sliding portions 210 which are symmetrically arranged and can move oppositely or relatively, and are used for installing the claw 300, and the clamping jaw 200 drives the sliding portions 210 to slide, so as to drive the claw 300 to move, and then the vegetable and fruit are grabbed. Preferably, in the present embodiment, the jaw 200 is a motorized jaw.
The gripper 300 is installed at the outer side of the sliding part 210, and the inner wall thereof is provided with a grabbing part 310 for clamping the fruits and vegetables, in this embodiment, in order to increase the contact area between the grabbing part 310 and the fruits and vegetables and further increase the grabbing force to the fruits and vegetables, in this embodiment, the inner side surface of the grabbing part 310 is a concave surface, and the cross section of the grabbing part 310 is arc-shaped.
The telescopic cylinder 400 is installed on the inner wall of the side plate 120, and the free end of the telescopic rod of the telescopic cylinder 400 is provided with a connecting plate 410 for installing the cutting knife 500.
With reference to fig. 1 to fig. 3, the grabbing manipulator based on visual sensing of the present embodiment specifically uses the following process: drive slide part 210 at clamping jaw 200 and remove, slide part 210 drives cleft hand 300 and removes in opposite directions, snatchs fruit vegetables after, telescopic cylinder 400 action, drives its telescopic link extension, drives cutting knife 500 and removes, and the cutting blade of cutting knife removes to the bottom direction of cleft hand 300, cuts off fruit vegetables and branch, and then makes fruit vegetables and branch separation.
Also in this embodiment, the image capturing assembly 600 is further included, and the image capturing assembly 600 includes: the mounting bracket 610 and the image acquisition part 620, the mounting bracket 610 is detachably installed at the other side of the L-shaped bracket 110, and the image acquisition part 620 is installed on the mounting bracket 610 and is used for acquiring the image in front of the grabbing manipulator.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, as long as there is no structural conflict, the various features of the disclosed embodiments of the present invention can be used in any combination with each other, and the non-exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (5)
1. The utility model provides a snatch manipulator based on vision sensing which characterized in that includes:
the rack body (100) comprises an L-shaped support (110) and a side plate (120) connected with one side of the L-shaped support (110), wherein the L-shaped support (110) is provided with a mounting groove (110 a);
the clamping jaw (200) is fixedly arranged in the mounting groove (110 a) and is provided with two sliding parts (210) which are symmetrically arranged and can move oppositely or relatively;
a claw (300) which is mounted on the outer side of the sliding part (210) and has a grabbing part (310) on the opposite inner wall;
the telescopic cylinder (400) is installed on the inner wall of the side plate (120), and the free end of a telescopic rod of the telescopic cylinder (400) is provided with a connecting plate (410);
the cutting knife (500) comprises a top plate and a cutting blade vertically arranged on the top plate, the top plate is detachably connected with the connecting plate (410), and the cutting blade is parallel to the claw (300).
2. The vision sensing-based grabbing manipulator of claim 1, wherein the inner side surface of the grabbing part (310) is a concave surface, and the cross section of the grabbing part (310) is arc-shaped.
3. The vision sensing-based grabbing manipulator of claim 1, characterized in that the bottom of the connecting plate (410) is provided with a clamping groove (410 a);
the top of the top plate of the cutting knife (500) is provided with a convex column (510), the convex column (510) is clamped into the clamping groove (410 a), and the top plate is contacted with the bottom of the connecting plate (410).
4. The vision sensing-based grabbing manipulator of claim 3, wherein the side of the top plate is provided with a prying groove (520) penetrating to the top.
5. The vision sensing-based grasping robot according to claim 1, further comprising an image acquisition assembly (600);
the image acquisition assembly (600) comprises:
the mounting rack (610) is detachably mounted on the other side edge of the L-shaped bracket (110);
and the image acquisition part (620) is arranged on the mounting rack (610) and is used for acquiring an image in front of the grabbing manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121050785.5U CN214961172U (en) | 2021-05-17 | 2021-05-17 | Grabbing manipulator based on visual sensing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121050785.5U CN214961172U (en) | 2021-05-17 | 2021-05-17 | Grabbing manipulator based on visual sensing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214961172U true CN214961172U (en) | 2021-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121050785.5U Expired - Fee Related CN214961172U (en) | 2021-05-17 | 2021-05-17 | Grabbing manipulator based on visual sensing |
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| Country | Link |
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| CN (1) | CN214961172U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114486448A (en) * | 2022-02-17 | 2022-05-13 | 南京工程学院 | Method for manufacturing multi-angle V or U-shaped cracks of stretched soil sample |
| CN115871012A (en) * | 2023-03-03 | 2023-03-31 | 苏州锦晨智能科技有限公司 | Feeding clamping jaw and feeding robot |
-
2021
- 2021-05-17 CN CN202121050785.5U patent/CN214961172U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114486448A (en) * | 2022-02-17 | 2022-05-13 | 南京工程学院 | Method for manufacturing multi-angle V or U-shaped cracks of stretched soil sample |
| CN114486448B (en) * | 2022-02-17 | 2024-04-12 | 南京工程学院 | Manufacturing method of stretching soil sample multi-angle V or U-shaped crack |
| CN115871012A (en) * | 2023-03-03 | 2023-03-31 | 苏州锦晨智能科技有限公司 | Feeding clamping jaw and feeding robot |
| CN115871012B (en) * | 2023-03-03 | 2023-05-09 | 苏州锦晨智能科技有限公司 | Feeding clamping jaw and feeding robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211203 |
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| CF01 | Termination of patent right due to non-payment of annual fee |