CN216775528U - A mechanical gripper for picking - Google Patents
A mechanical gripper for picking Download PDFInfo
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- CN216775528U CN216775528U CN202122895095.6U CN202122895095U CN216775528U CN 216775528 U CN216775528 U CN 216775528U CN 202122895095 U CN202122895095 U CN 202122895095U CN 216775528 U CN216775528 U CN 216775528U
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Abstract
本实用新型展示了一种用于采摘的机械抓手,包括抓杆和抓手,所述抓杆包括固定杆和旋转杆,所述旋转杆嵌套在所述固定杆的内部,所述固定杆上设有第一电机,所述第一电机控制所述旋转杆转动,所述旋转杆内嵌套有滑动杆,所述滑动杆的端部安装有第一固定座,所述抓手设在所述第一固定座上,所述抓手包括多个指抓,所述指抓转动连接在所述第一固定座上,所述旋转杆内部设有第二电机和滑轨,所述第二电机控制所述滑动杆沿所述滑轨移动,所述旋转杆远离所述固定杆的端部安装有第二固定座,所述第二固定座上安装有多个连杆,所述连杆两端分别与所述指抓和第二固定座铰接,该机械抓手能够实现无损摘果实。
The utility model shows a mechanical gripper for picking, comprising a gripping rod and a gripping hand, wherein the gripping rod comprises a fixed rod and a rotating rod, the rotating rod is nested inside the fixed rod, and the fixed rod The rod is provided with a first motor, the first motor controls the rotation of the rotating rod, a sliding rod is nested in the rotating rod, the end of the sliding rod is installed with a first fixing seat, and the gripper is provided with On the first fixing seat, the gripper includes a plurality of finger grips, the finger grips are rotatably connected to the first fixing seat, a second motor and a slide rail are arranged inside the rotating rod, and the The second motor controls the sliding rod to move along the sliding rail, the end of the rotating rod away from the fixing rod is installed with a second fixing base, and a plurality of connecting rods are installed on the second fixing base. Both ends of the connecting rod are hinged with the finger grip and the second fixing base respectively, and the mechanical gripper can realize fruit picking without damage.
Description
【技术领域】【Technical field】
本实用新型涉及一种用于采摘的机械抓手,属于自动采摘机械技术领域。The utility model relates to a mechanical gripper for picking, which belongs to the technical field of automatic picking machinery.
【背景技术】【Background technique】
我国是果品生产大国,苹果、梨、桃等栽培面积均居世界首位,但是我国果园机械化程度不高,特别是在作业量占比达40%的采摘环节。目前水果采摘基本采用人工采摘,其工作量十分繁重且效率低下,急需一种采摘机器人来替代或协助人们的采摘工作。目前部分高校及企业针对采摘环节研发了一系列采摘机器人,但其存在诸如无避障或避障能力差、体积庞大、效率低、成本高、难以实现无损摘取等问题。对于末端执行装置则通常有两种方式:一是抓紧后将果实从枝干拽落,拽落式分离较困难且拽落时容易把果实同果梗分离,造成果实果梗分离处的果肉暴露在外影响果实储藏时间;二是通过剪切装置将果梗与果枝分离,剪切式果梗剪切处较锋利,大量果实混在一起时容易划破彼此表面影响外观及储藏时间;这两种方式各有其缺陷和不足,难以在(无人)机械化采摘中得到有效应用。my country is a major producer of fruit products. The cultivation area of apples, pears, and peaches ranks first in the world. However, the degree of mechanization of orchards in my country is not high, especially in the picking link where the workload accounts for 40%. At present, fruit picking is basically done manually, and its workload is very heavy and inefficient. There is an urgent need for a picking robot to replace or assist people in picking. At present, some universities and enterprises have developed a series of picking robots for the picking process, but they have problems such as no obstacle avoidance or poor obstacle avoidance ability, large size, low efficiency, high cost, and difficulty in non-destructive picking. For the end effector, there are usually two ways: one is to pull the fruit from the branch after grasping it tightly. The fruit storage time is affected externally; the second is to separate the fruit stem from the fruit branch by the shearing device. The shearing fruit stem is sharper at the cutting point, and when a large number of fruits are mixed together, it is easy to scratch the surface of each other and affect the appearance and storage time; these two methods Each has its own shortcomings and deficiencies, and it is difficult to be effectively applied in (unmanned) mechanized picking.
【实用新型内容】【Content of utility model】
本实用新型所要解决的技术问题在于提供一种用于采摘的机械抓手,能够实现无损摘果实。The technical problem to be solved by the utility model is to provide a mechanical gripper for picking, which can realize fruit picking without damage.
解决上述技术问题,本实用新型采用如下技术方案:To solve the above-mentioned technical problems, the utility model adopts the following technical solutions:
一种用于采摘的机械抓手,包括抓杆和抓手,所述抓杆包括固定杆和旋转杆,所述旋转杆嵌套在所述固定杆的内部,所述固定杆上设有第一电机,所述第一电机控制所述旋转杆转动,所述旋转杆远离所述固定杆的端部内嵌套有滑动杆,所述滑动杆远离所述固定杆的端部安装有第一固定座,所述抓手设在所述第一固定座上,所述抓手包括多个指抓,所述指抓转动连接在所述第一固定座上,所述旋转杆内部设有第二电机和滑轨,所述第二电机控制所述滑动杆沿所述滑轨移动,所述旋转杆远离所述固定杆的端部安装有第二固定座,所述第二固定座上安装有多个连杆,所述连杆两端分别与所述指抓和第二固定座铰接。A mechanical gripper for picking includes a gripping rod and a gripping hand, the gripping rod includes a fixed rod and a rotating rod, the rotating rod is nested inside the fixed rod, and the fixed rod is provided with a first A motor, the first motor controls the rotation of the rotating rod, a sliding rod is nested in the end of the rotating rod away from the fixed rod, and a first fixed rod is installed at the end of the sliding rod away from the fixed rod The gripper is arranged on the first fixing seat, the gripper includes a plurality of finger grips, the finger grips are rotatably connected to the first fixing seat, and a second fixing seat is arranged inside the rotating rod A motor and a sliding rail, the second motor controls the sliding rod to move along the sliding rail, the end of the rotating rod away from the fixing rod is installed with a second fixing seat, and the second fixing seat is installed with A plurality of connecting rods, two ends of the connecting rods are respectively hinged with the finger grip and the second fixing base.
采用本实用新型的有益效果是:The beneficial effects of adopting the utility model are:
本实用新型中所述抓杆包括固定杆和旋转杆,所述固定杆上设有第一电机,所述第一电机控制所述旋转杆旋转,所述旋转杆内设有第二电机,所述第二电机控制所述滑动杆沿所述滑轨移动,所述抓手安装在所述滑动杆的端部,所述旋转杆的端部设有第二固定座,所述第二固定座上设有连杆,所述连杆两端分别与所述指抓和第二固定座铰接,本实用新型在使用时,将本实用新型对准需要采摘的果实,此时所述第二电机启动,控制所述滑动杆沿所述滑轨向外移动,所述指抓远离所述第二固定座时,在所述连杆的作用,所述指抓相互靠拢,实现了所述抓手对果实的抓取,此时所述第一电机启动,所述第一电机控制所述旋转杆旋转,所示旋转杆带动所述抓手转动,从而实现果实与树梗的分离,本实用新型通过旋转将树梗与树枝分离,可以避免果实与树梗分离而造成果实的果肉暴露,可以实现无损采摘果实,提高果实的储藏时间,另外本实用新型的抓手整体体积较小,有利于深入果树内部进行采摘,并且整个采摘过程中无需使用刀片等锋利物,因此即使有大量果实混在一起,本实用新型也能够避免对其他果实的损伤,提高了采摘后果实的完整性和储藏时间。In the utility model, the grab bar includes a fixed rod and a rotating rod, the fixed rod is provided with a first motor, the first motor controls the rotation of the rotating rod, and the rotating rod is provided with a second motor, so The second motor controls the sliding rod to move along the sliding rail, the gripper is installed on the end of the sliding rod, and the end of the rotating rod is provided with a second fixing seat, the second fixing seat A connecting rod is provided on the connecting rod, and the two ends of the connecting rod are respectively hinged with the finger grip and the second fixed seat. When the utility model is in use, the utility model is aligned with the fruit to be picked. At this time, the second motor Start, control the sliding rod to move outward along the sliding rail, and when the finger grip is far away from the second fixed seat, under the action of the connecting rod, the finger grips move closer to each other, and the grip is realized. For grasping the fruit, the first motor is activated at this time, the first motor controls the rotation of the rotating rod, and the rotating rod drives the gripper to rotate, thereby realizing the separation of the fruit and the stalk. The utility model The stalk and the branch are separated by rotation, which can avoid the fruit pulp being exposed due to the separation of the fruit and the stalk, so that the fruit can be picked without damage, and the storage time of the fruit can be improved. Picking is carried out inside the fruit tree, and sharp objects such as blades are not needed in the whole picking process, so even if a large number of fruits are mixed together, the utility model can avoid damage to other fruits, and improve the integrity and storage time of fruits after picking.
作为优选,所述第一电机的输出端连接有第一联轴器,所述第一联轴器上设置有旋转轴,所述旋转杆内部安装有第一连接块,所述第一连接块与所述旋转杆的内壁固定连接,所述旋转轴与所述第一连接块固定连接。Preferably, the output end of the first motor is connected with a first coupling, the first coupling is provided with a rotating shaft, a first connecting block is installed inside the rotating rod, and the first connecting block It is fixedly connected with the inner wall of the rotating rod, and the rotating shaft is fixedly connected with the first connecting block.
作为优选,所述第一连接块上设有供所述旋转轴穿过的通孔,所述旋转轴外壁上设有固定块,所述旋转轴通过所述固定块与所述第一连接块固定连接。Preferably, the first connecting block is provided with a through hole for the rotating shaft to pass through, the outer wall of the rotating shaft is provided with a fixing block, and the rotating shaft is connected to the first connecting block through the fixing block. Fixed connection.
作为优选,所述旋转杆内部设有第二连接块,所述第二电机固定在所述第二连接块上,所述第二电机的输出端设有第二联轴器,所述第二联轴器上设有传动丝杆,所述滑动杆靠近所述第二电机的端部设有与所述传动丝杆配合的螺母。Preferably, a second connection block is provided inside the rotating rod, the second motor is fixed on the second connection block, and the output end of the second motor is provided with a second coupling. The coupling is provided with a transmission screw rod, and the end of the sliding rod close to the second motor is provided with a nut matched with the transmission screw rod.
作为优选,所述传动丝杆的端部设有避免所述螺母脱离的限位块。Preferably, the end of the drive screw is provided with a limit block to prevent the nut from being disengaged.
作为优选,所述抓手包括3个指抓,所述3个指抓沿所述第一固定座周向均匀分布,所述第二固定座上设有3个连杆,所述3个连杆与所述3个指抓相对应。Preferably, the gripper includes 3 finger grips, the 3 finger grips are evenly distributed along the circumference of the first fixing seat, the second fixing seat is provided with 3 connecting rods, the 3 connecting rods are The rods correspond to the 3 finger grips.
作为优选,所述指抓两侧设有防护套,所述指抓相互合拢后,所述防护套相互闭合。Preferably, protective covers are provided on both sides of the finger grips, and after the finger grips are closed with each other, the protective covers are closed with each other.
作为优选,所述连杆的外表面均设有缓冲垫,所述缓冲垫为海绵或者橡胶条。Preferably, a buffer pad is provided on the outer surface of the connecting rod, and the buffer pad is a sponge or a rubber strip.
作为优选,所述指抓呈圆弧形,所述指抓相对的表面设有用于检测抓手力度的压力传感器。Preferably, the finger grip is in a circular arc shape, and the opposite surface of the finger grip is provided with a pressure sensor for detecting the grip strength.
作为优选,所述第一电机安装在所述固定杆远离所述旋转杆的外侧壁上。Preferably, the first motor is mounted on the outer side wall of the fixed rod away from the rotating rod.
本实用新型的其他特点和优点将会在下面的具体实施方式、附图中详细的揭露。Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings.
【附图说明】【Description of drawings】
下面结合附图对本实用新型做进一步的说明:The utility model will be further described below in conjunction with the accompanying drawings:
图1为本实用新型实施例的整体结构示意图;Fig. 1 is the overall structure schematic diagram of the utility model embodiment;
图2为本实用新型实施例中固定杆和旋转杆的部分剖视图;2 is a partial cross-sectional view of a fixed rod and a rotating rod in an embodiment of the present utility model;
图3为本实用新型实施例中旋转杆和滑动杆的部分剖视图;3 is a partial cross-sectional view of the rotating rod and the sliding rod in the embodiment of the utility model;
图4为本实用新型实施例中滑动杆和抓手的结构示意图;4 is a schematic structural diagram of a sliding rod and a gripper in an embodiment of the present utility model;
图5为本实用新型实施例中指抓加防护套后的结构示意图。FIG. 5 is a schematic structural diagram of a finger grip with a protective cover in an embodiment of the present invention.
附图标记:1固定杆、11第一电机、12第一联轴器、13旋转轴、14第一连接块、15固定块、2旋转杆、21第二电机、22第二联轴器、23传动丝杆、231限位块、24第二连接块、25滑轨、26第二固定座、3滑动杆、31螺母、32第一固定座、4抓手、41指抓、411压力传感器、42连杆、43防护套。Reference numerals: 1 fixed rod, 11 first motor, 12 first coupling, 13 rotating shaft, 14 first connecting block, 15 fixed block, 2 rotating rod, 21 second motor, 22 second coupling, 23 drive screw, 231 limit block, 24 second connection block, 25 slide rail, 26 second fixing seat, 3 sliding rod, 31 nut, 32 first fixing seat, 4 gripper, 41 finger grip, 411 pressure sensor , 42 connecting rods, 43 protective sleeves.
【具体实施方式】【Detailed ways】
下面结合本实用新型实施例的附图对本实用新型实施例的技术方案进行解释和说明,但下述实施例仅为本实用新型的优选实施例,并非全部。基于实施方式中的实施例,本领域技术人员在没有做出创造性劳动的前提下所获得其他实施例,都属于本实用新型的保护范围。The technical solutions of the embodiments of the present utility model will be explained and described below with reference to the accompanying drawings of the embodiments of the present utility model, but the following embodiments are only preferred embodiments of the present utility model, not all. Based on the examples in the implementation manner, other examples obtained by those skilled in the art without creative work, all belong to the protection scope of the present invention.
在本实用新型的描述中,需要理解的是,术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本实用新型和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本实用新型的限制。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", The orientation or positional relationship indicated by "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise", etc. is based on The orientation or positional relationship shown in the accompanying drawings is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood To limit the utility model.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本实用新型的描述中,“多个”的含义是两个或两个以上,除非另有明确的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly defined.
在本实用新型中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本实用新型中的具体含义。In the present utility model, unless otherwise expressly specified and limited, the terms "installation", "connection", "connection", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.
如图1至5所示,本实施例中展示了一种用于采摘的机械抓手4,包括抓杆和抓手4,所述抓杆包括固定杆1和旋转杆2,所述旋转杆2嵌套在所述固定杆1的内部,所述固定杆1上设有第一电机11,所述安装在所述固定杆1远离所述旋转杆2的外侧壁上,所述固定杆1与所述第一电机11的连接处设有供所述第一电机11的输出端穿过的第一穿孔,所述第一电机11的输出端上安装有第一联轴器12,所述第一联轴器12上安装有旋转轴13,所述旋转杆2内部设有第一连接块14,所述第一连接块14与所述旋转轴13的内壁固定连接,所述第一连接块14上设有供所述旋转轴13穿过的通孔,所述旋转轴13的外壁上设有固定块15,所述固定块15与所述旋转轴13固定连接,所述固定块15处于所述第一连接块14的通孔内,所述固定块15与所述第一连接块14固定连接,所述旋转轴13通过所述固定块15与所述第一连接块14固定连接,所述第一电机11启动后,其输出端带动第一联轴器12转动,所述第一联轴器12带动所述旋转轴13转动,所述旋转轴13通过所述固定块15和第一连接块14带动所述旋转杆2转动。As shown in Figures 1 to 5, this embodiment shows a
本实施例中所述旋转杆2远离所述固定杆1的端部内嵌套有滑动杆3,所述旋转杆2内部设有第二连接块24,所述第二电机21固定在所述第二连接块24上,所述第二连接块24上设有供所述第二电机21的输出端穿过的第二穿孔,所述输出端上设有第二联轴器22,所述第二联轴器22上设有传动丝杆23,所述滑动杆3靠近所述第二电机21的端部设有与所述传动丝杆23配合的螺母31,所述传动丝杆23端部设有限制所述螺母31脱离的限位块231,所述滑动杆3远离所述固定杆1的端部安装有第一固定座32,所述抓手4包括3个指抓41,当然可以理解的在其他实施例中所述指抓41的数量也可以是2个或3个以上,所述3个指抓41沿所述第一固定座32周向均匀分布,所述指抓41均与所述第一固定座32转动连接,所述旋转杆2远离所述固定杆1的端部安装有第二固定座26,所述第二固定座26上安装有3个连杆42,所述3个连杆42与所述3个指抓41相对应,所述连杆42两端分别与所述指抓41和第二固定座26铰接,所述第二电机21启动控制所述传动丝杆23转动,所述传动丝杆23转动后所述螺母31沿所述传动丝杆23向外移动,所述滑动杆3随所述螺母31沿滑轨25移动,当所述滑动杆3向外移动时,所述指抓41远离所述第二固定座26,所述指抓41在所述连杆42的作用下均朝向中间转动,从而实现所述抓手4的抓取;当所述滑动杆3随所述螺母31沿滑轨25向内移动时,所述指抓41靠近所述第二固定座26,所述指抓41在所述连杆42的作用下均朝向外侧散开,从而实现所述抓手4对果实的释放。In this embodiment, a
本实施例中所述指抓41呈圆弧形,所述指抓41相对的表面设有用于检测抓手4力度的压力传感器411,工作人员可以通过所述压力传感器411得知所述抓手4抓取果实时所使用的力度,可以根据该检测结果调整所述抓手4的闭合程度,避免所抓取的果实因抓手4抓取的力度过大而导致果实变形或破裂,本实施例可以进一步提高对果实的保护,提高果实的完整性,所述连杆42的外表面均设有缓冲垫,所述缓冲垫为海绵或者橡胶条,当本实施例渗入到果树内部进行采摘时,可以避免所述连杆42的运动而对周围的果实造成损伤;另外本实施例中所述指抓41两侧设有防护套43,所述指抓41相互合拢后,所述防护套43相互闭合,当所述抓手4抓取果实后,所述果实被包裹在所述防护套43内部,可以避免果实被抓取后移动或者旋转时被周围的树枝划伤,本实施例中所述防护套43的材质为橡胶或者海绵,当然可以理解的在其他实施例中所述防护套43也可以由其他软性材料制成。In this embodiment, the
本实施例在使用时,将所述抓手4对准需要采摘的果实,此时所述第二电机21启动,控制所述滑动杆3沿所述滑轨25向外移动,所述指抓41远离所述第二固定座26时,在所述连杆42的作用,所述指抓41相互靠拢,实现了所述抓手4对果实的抓取,此时所述第一电机11启动,所述第一电机11控制所述旋转杆2旋转,所示旋转杆2带动所述抓手4转动,从而实现果实与树梗的分离,本实施例通过旋转将树梗与树枝分离,可以避免果实与树梗分离而造成果实的果肉暴露,可以实现无损采摘果实,提高果实的储藏时间,另外本实施例的抓手4整体体积较小,有利于深入果树内部进行采摘,并且整个采摘过程中无需使用刀片等锋利物,因此即使有大量果实混在一起,本实施例也能够避免对其他果实的损伤,提高了采摘后果实的完整性和储藏时间。When in use in this embodiment, the
以上所述,仅为本实用新型的具体实施方式,但本实用新型的保护范围并不局限于此,熟悉该本领域的技术人员应该明白本实用新型包括但不限于附图和上面具体实施方式中描述的内容。任何不偏离本实用新型的功能和结构原理的修改都将包括在权利要求书的范围中。The above descriptions are only specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that the present utility model includes but is not limited to the accompanying drawings and the above specific embodiments. content described in. Any modifications that do not depart from the functional and structural principles of the present invention are intended to be included in the scope of the claims.
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