CN216982645U

CN216982645U - Fruit picking manipulator with adsorption function

Info

Publication number: CN216982645U
Application number: CN202122895094.1U
Authority: CN
Inventors: 张余岭; 王王; 李鑫
Original assignee: Xinjiang Bosheran Intelligent Agricultural Machinery Co ltd
Current assignee: Xinjiang Bosheran Intelligent Agricultural Machinery Co ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-07-19
Anticipated expiration: 2031-11-24

Abstract

The utility model relates to a fruit picking manipulator with an adsorption function, which comprises a grabbing rod and a gripper, wherein the grabbing rod comprises a fixed rod and a rotary rod, the rotary rod is nested in the fixed rod, a first driving mechanism is arranged on the fixed rod and controls the rotary rod to rotate, the gripper is arranged at the end part, far away from the fixed rod, of the rotary rod, a second driving mechanism is arranged in the rotary rod and controls the gripper to open and close, an adsorption component is arranged at the end part of the rotary rod and comprises a sucker, a vacuum generator and an air pipe, the sucker is arranged in the middle of the gripper, the vacuum generator and the air pipe are arranged in the rotary rod, and the manipulator can pick fruits without damage.

Description

Fruit picking manipulator with adsorption function

[ technical field ] A

The utility model relates to a fruit picking manipulator with an adsorption function, and belongs to the technical field of fruit picking machines.

[ background ] A method for producing a semiconductor device

China is a big fruit production country, the cultivation areas of apples, pears, peaches and the like are in the top of the world, but the mechanization degree of orchards in China is not high, and particularly in the picking link with the operation amount of 40 percent. At present, the fruit picking basically adopts manual picking, the workload is very heavy and the efficiency is low, and a picking robot is urgently needed to replace or assist the picking work of people. At present, a series of picking robots are developed by part of colleges and universities and enterprises aiming at picking links, but the robots have the problems of no obstacle avoidance or poor obstacle avoidance capability, large volume, low efficiency, high cost, difficulty in realizing nondestructive picking and the like. There are generally two ways for an end effector: firstly, the fruits are pulled down from the branches after being gripped, the pulling-down type separation is difficult, and the fruits are easily separated from fruit stalks when being pulled down, so that the flesh at the separation part of the fruit stalks of the fruits is exposed to the outside to influence the storage time of the fruits; secondly, the fruit stalks are separated from the fruit branches through the shearing device, the shearing positions of the shearing type fruit stalks are sharp, and a large number of fruits are easy to scratch when mixed together, so that the appearance and the storage time are influenced; each of these two approaches has its drawbacks and disadvantages and is difficult to apply effectively in (unmanned) mechanized harvesting.

[ Utility model ] content

The utility model aims to provide a fruit picking manipulator with an adsorption function, which can pick fruits without damage.

The technical scheme adopted by the utility model is as follows:

the utility model provides a fruit picking manipulator with adsorb function, includes grabs pole and tongs, it includes dead lever and rotary rod to grab the pole, the rotary rod nestification is in the inside of dead lever, be equipped with first actuating mechanism on the dead lever, first actuating mechanism control the rotary rod rotates, the tongs is installed the tip that the dead lever was kept away from to the rotary rod, the inside second actuating mechanism that is equipped with of rotary rod, second drive control opening and shutting of tongs, the rotary rod tip is equipped with the absorption subassembly, the absorption subassembly includes sucking disc, vacuum generator and trachea, the sucking disc is located in the middle of the tongs, vacuum generator and trachea are in inside the rotary rod.

The beneficial effects of the utility model are as follows:

the gripping rod comprises a fixed rod and a rotary rod, a first driving mechanism is arranged on the fixed rod and controls the rotary rod to rotate, a second driving mechanism is arranged inside the rotary rod and controls the opening and closing of the gripper, a suction assembly is arranged at the end part of the rotary rod and comprises a sucker, a vacuum generator and an air pipe, the sucker is arranged in the middle of the gripper, when the gripping rod is used, the gripping rod is aligned with a fruit to be picked, the vacuum generator is started, the sucker generates a large suction force to enable the fruit to move towards the gripper, the gripping rod sucks the fruit into the gripper, the gripping efficiency and the gripping success rate can be greatly improved, the precision of the gripper can be reduced, then the second driving mechanism is started, and the second driving mechanism controls the closed gripper, the fruit picking device has the advantages that the fruit can be picked by the hand grips, and then the first driving mechanism is started, the first driving mechanism controls the rotary rod to rotate, the rotary rod drives the hand grips to rotate, so that the fruit and the stem are separated, the stem of the tree is separated from the branch of the tree through rotation, the fruit flesh exposure caused by the separation of the fruit and the stem of the tree can be avoided, the nondestructive fruit picking can be realized, and the storage time of the fruit is prolonged.

Preferably, the end part of the fixed rod is far away from the rotary rod, a sliding rod is embedded in the end part of the fixed rod, the second driving mechanism controls the sliding rod to move along the length direction of the rotary rod, the end part of the sliding rod, far away from the fixed rod, is provided with a first fixing seat, a gripper is arranged on the first fixing seat, the gripper comprises a plurality of fingers, the fingers are rotationally connected to the first fixing seat, the end part of the rotary rod, far away from the fixed rod, is provided with a second fixing seat, the second fixing seat is provided with a plurality of connecting rods, and two ends of the connecting rods are respectively hinged to the fingers and the second fixing seat.

Preferably, a second connecting block is arranged inside the rotating rod, the second driving mechanism comprises a second motor, the second motor is fixed to the second connecting block, a second coupler is arranged at the output end of the second motor, a transmission screw rod is arranged on the second coupler, and a nut matched with the transmission screw rod is arranged at the end part, close to the second motor, of the sliding rod.

Preferably, the end part of the transmission screw rod is provided with a limiting block for avoiding the nut from being separated.

Preferably, the tongs include that 3 indicate to grab, 3 indicate to grab along first fixing base circumference evenly distributed, be equipped with 3 connecting rods on the second fixing base, 3 connecting rods with 3 indicate to grab correspondingly, indicate to grab both sides and be equipped with the lag, indicate to grab after folding each other, the lag is closed each other, the surface of connecting rod all is equipped with the blotter, indicate to grab and be circular arc, indicate to grab relative surface and be equipped with the pressure sensor who is used for detecting the tongs dynamics.

Preferably, the suction assembly is mounted on the first fixing seat, the suction cup is located in the middle of the first fixing seat, and the vacuum generator and the air pipe are located inside the sliding rod.

Preferably, a connecting sleeve is arranged between the vacuum generator and the sucker.

As preferred, first actuating mechanism includes first motor, the output of first motor is connected with first shaft coupling, be provided with the rotation axis on the first shaft coupling, rotary rod internally mounted has first connecting block, first connecting block with the inner wall fixed connection of rotary rod, the rotation axis with first connecting block fixed connection.

Preferably, the first motor is mounted on an outer side wall of the fixing rod away from the rotating rod.

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 fixedly connected with the first connecting block through the fixing block.

Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the utility model and the accompanying drawings.

[ description of the drawings ]

The utility model is further described with reference to the accompanying drawings:

FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;

FIG. 2 is a partial cross-sectional view of a fixing lever and a rotating lever according to an embodiment of the present invention;

FIG. 3 is a partial cross-sectional view of a rotating lever and a sliding lever in an embodiment of the present invention;

FIG. 4 is a schematic view of the structure of the sliding rod and the gripper according to the embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a finger grip with a protective cover according to an embodiment of the present invention;

fig. 6 is a side view of a suction assembly in an embodiment of the utility model.

Reference numerals: the device comprises a fixing rod 1, a first motor 11, a first coupler 12, a rotating shaft 13, a first connecting block 14, a fixed block 15, a rotating rod 2, a second motor 21, a second coupler 22, a transmission screw rod 23, a limiting block 231, a second connecting block 24, a sliding rail 25, a second fixing seat 26, a sliding rod 3, a nut 31, a first fixing seat 32, a hand grip 4, a finger grip 41, a pressure sensor 411, a connecting rod 42, a protective sleeve 43, a vacuum generator 51, a suction cup 52, an air pipe 53 and a connecting sleeve 54.

[ detailed description ] embodiments

The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 6, in this embodiment, a mechanical gripper 4 for picking is shown, which includes a gripping rod and a gripper 4, the gripping rod includes a fixing rod 1 and a rotating rod 2, the rotating rod 2 is nested inside the fixing rod 1, a first motor 11 is disposed on the fixing rod 1, the gripping rod is mounted on an outer side wall of the fixing rod 1 far away from the rotating rod 2, a first through hole for an output end of the first motor 11 to pass through is disposed at a joint of the fixing rod 1 and the first motor 11, a first coupler 12 is mounted at an output end of the first motor 11, a rotating shaft 13 is mounted on the first coupler 12, a first connecting block 14 is disposed inside the rotating rod 2, the first connecting block 14 is fixedly connected to an inner wall of the rotating shaft 13, and a through hole for the rotating shaft 13 to pass through is disposed on the first connecting block 14, be equipped with fixed block 15 on the outer wall of rotation axis 13, fixed block 15 with rotation axis 13 fixed connection, fixed block 15 is located in the through-hole of first connecting block 14, fixed block 15 with first connecting block 14 fixed connection, rotation axis 13 passes through fixed block 15 with first connecting block 14 fixed connection, first motor 11 starts the back, and its output drives first shaft coupling 12 and rotates, first shaft coupling 12 drives rotation axis 13 rotates, rotation axis 13 passes through fixed block 15 and first connecting block 14 drive rotary rod 2 rotates.

In this embodiment, a sliding rod 3 is nested in an end portion of the rotating rod 2 far away from the fixing rod 1, a second connecting block 24 is arranged inside the rotating rod 2, the second motor 21 is fixed on the second connecting block 24, a second through hole for an output end of the second motor 21 to pass through is arranged on the second connecting block 24, a second coupler 22 is arranged on the output end, a transmission screw rod 23 is arranged on the second coupler 22, a nut 31 matched with the transmission screw rod 23 is arranged at an end portion of the sliding rod 3 close to the second motor 21, a limiting block 231 for limiting the nut 31 to be separated is arranged at an end portion of the transmission screw rod 23, a first fixing seat 32 is mounted at an end portion of the sliding rod 3 far away from the fixing rod 1, the gripper 4 includes 3 finger grippers 41, and it can be understood that the number of the finger grippers 41 in other embodiments may be 2 or more than 3, the 3 finger grips 41 are uniformly distributed along the circumferential direction of the first fixed seat 32, the finger grips 41 are rotatably connected with the first fixed seat 32, the end of the rotating rod 2 far away from the fixing rod 1 is provided with a second fixing seat 26, the second fixing seat 26 is provided with 3 connecting rods 42, the 3 connecting rods 42 correspond to the 3 finger grips 41, two ends of each connecting rod 42 are respectively hinged with the finger grips 41 and the second fixed seat 26, the second motor 21 is started to control the transmission screw 23 to rotate, after the transmission screw 23 rotates, the nut 31 moves outwards along the transmission screw 23, the sliding rod 3 moves along the sliding rail 25 along with the nut 31, when the sliding rod 3 moves outwards, the finger grips 41 move away from the second fixed seat 26, the finger grips 41 rotate towards the middle under the action of the connecting rod 42, so that the gripping of the hand grip 4 is realized; when the sliding rod 3 moves inwards along the sliding rail 25 along with the nut 31, the finger grips 41 approach the second fixed seat 26, and the finger grips 41 are all spread outwards under the action of the connecting rod 42, so that the fruit is released by the hand grip 4.

In this embodiment install on the first fixing base 31 of slide bar 3 and absorb the subassembly, it includes sucking disc 52, vacuum generator 51 and trachea 53 to absorb the subassembly, sucking disc 52 is installed the middle part of first fixing base 31, sucking disc 52 is equipped with connecting portion, connecting portion 54 stretches into the inside of slide bar 3, vacuum generator 51 with be equipped with adapter sleeve 54 between the connecting portion of sucking disc 52, vacuum generator 51 with sucking disc 52 passes through adapter sleeve 54 realizes connecting.

In this embodiment, the finger grips 41 are arc-shaped, the pressure sensors 411 for detecting the force of the finger grips 4 are arranged on the surfaces of the finger grips 41 opposite to each other, so that a worker can know the force used by the finger grips 4 for gripping fruits in real time through the pressure sensors 411, and can adjust the closing degree of the finger grips 4 according to the detection result, so as to prevent the gripped fruits from being deformed or broken due to the excessive gripping force of the finger grips 4; in addition, in this embodiment, protective sleeves 43 are disposed on two sides of the finger grips 41, when the finger grips 41 are closed, the protective sleeves 43 are closed, and when the finger grips 4 grip a fruit, the fruit is wrapped inside the protective sleeves 43, so that the fruit can be prevented from being scratched by surrounding branches when moving or rotating after being gripped, in this embodiment, the protective sleeves 43 are made of rubber or sponge, but it is understood that in other embodiments, the protective sleeves 43 may also be made of other soft materials.

In this embodiment, when the gripper 4 is aligned with a fruit to be picked, at this time, the vacuum generator 51 is started, the suction cup 52 generates a large suction force to suck the fruit to the gripper 4, in this embodiment, the fruit is sucked into the gripper 4 through the suction cup 52, so that the gripping efficiency and the gripping success rate can be greatly improved, the precision of the mechanical gripper 4 can be reduced, then the second motor 21 is started to control the sliding rod 3 to move outwards along the sliding rail 25, when the finger gripper 41 is far away from the second fixing seat 26, under the action of the connecting rod 42, the finger grippers 41 are close to each other, so that the gripping of the gripper 4 on the fruit is realized, at this time, the first motor 11 is started, the first motor 11 controls the rotating rod 2 to rotate, and the rotating rod 2 drives the gripper 4 to rotate, so that the fruit is separated from the stem of the tree, this embodiment is through rotatory with the stem of a tree and branch separation, can avoid fruit and stem of a tree separation and cause the pulp of fruit to expose, can realize the harmless fruit of plucking, improve the storage time of fruit, the whole volume of 4 of tongs of this embodiment is less in addition, be favorable to going deep into the inside harvesting of fruit tree, and whole harvesting in-process need not to use sharp objects such as blade, even consequently there is a large amount of fruits to mix together, this embodiment also can avoid the damage to other fruits, the integrality and the storage time of fruit after the harvesting have been improved.

While the utility model has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the utility model is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the utility model as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.

Claims

1. The utility model provides a fruit picking manipulator with adsorption efficiency which characterized in that: including grabbing pole and tongs, it includes dead lever and rotary rod to grab the pole, the rotary rod nestification is in the inside of dead lever, be equipped with first actuating mechanism on the dead lever, first actuating mechanism control the rotary rod rotates, the tongs is installed the tip of dead lever is kept away from to the rotary rod, the inside second actuating mechanism that is equipped with of rotary rod, second actuating mechanism control opening and shutting of tongs, the rotary rod tip is equipped with the absorption subassembly, the absorption subassembly includes sucking disc, vacuum generator and trachea, the sucking disc is located in the middle of the tongs, vacuum generator and trachea are in inside the rotary rod.

2. The fruit picking manipulator with the adsorption function as claimed in claim 1, wherein: the utility model discloses a rotary rod, including the dead lever, the tip of dead lever, second actuating mechanism control the dead lever, the rotary rod is kept away from nested in the tip of dead lever has the slide bar, second actuating mechanism control the slide bar is followed the rotary rod length direction removes, the slide bar is kept away from the tip of dead lever is installed first fixing base, the tongs is established on the first fixing base, the tongs includes that a plurality of fingers grab, indicate to grab to rotate to be connected on the first fixing base, the rotary rod is kept away from the tip of dead lever is installed the second fixing base, install a plurality of connecting rods on the second fixing base, the connecting rod both ends respectively with indicate to grab and the second fixing base is articulated.

3. The fruit picking manipulator with the adsorption function as claimed in claim 2, wherein: the inside second connecting block that is equipped with of rotary rod, second actuating mechanism includes the second motor, the second motor is fixed on the second connecting block, the output of second motor is equipped with the second shaft coupling, be equipped with the transmission lead screw on the second shaft coupling, the slide bar is close to the tip of second motor be equipped with transmission lead screw complex nut.

4. The fruit picking manipulator with the adsorption function according to claim 3, characterized in that: the end part of the transmission screw rod is provided with a limiting block for avoiding the separation of the nut.

5. The fruit picking manipulator with the adsorption function as claimed in claim 2, wherein: the tongs include that 3 indicate to grab, 3 indicate to grab along first fixing base circumference evenly distributed, be equipped with 3 connecting rods on the second fixing base, 3 connecting rods with 3 indicate to grab correspondingly, indicate to grab both sides and be equipped with the lag, indicate to grab after folding each other, the lag is closed each other, the surface of connecting rod all is equipped with the blotter, indicate to grab and be convex, indicate to grab relative surface and be equipped with the pressure sensor who is used for detecting the tongs dynamics.

6. The fruit picking manipulator with the adsorption function as claimed in claim 2, wherein: the suction assembly is installed on the first fixing seat, the sucker is located in the middle of the first fixing seat, and the vacuum generator and the air pipe are located inside the sliding rod.

7. The fruit picking manipulator with the adsorption function as claimed in claim 6, wherein: and a connecting sleeve is arranged between the vacuum generator and the sucking disc.

8. The fruit picking manipulator with the adsorption function as claimed in claim 1, wherein: first actuating mechanism includes first motor, the output of first motor is connected with first shaft coupling, be provided with the rotation axis on the first shaft coupling, rotary rod internally mounted has first connecting block, first connecting block with the inner wall fixed connection of rotary rod, the rotation axis with first connecting block fixed connection.

9. The fruit picking manipulator with the adsorption function as claimed in claim 8, wherein: the first motor is installed on the outer side wall of the fixed rod, which is far away from the rotary rod.

10. The fruit picking manipulator with the adsorption function according to claim 8, characterized in that: 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 fixed block, and the rotating shaft is fixedly connected with the first connecting block through the fixed block.