CN219445098U - Visual automatic picking manipulator mechanism - Google Patents
Visual automatic picking manipulator mechanism Download PDFInfo
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- CN219445098U CN219445098U CN202320611873.0U CN202320611873U CN219445098U CN 219445098 U CN219445098 U CN 219445098U CN 202320611873 U CN202320611873 U CN 202320611873U CN 219445098 U CN219445098 U CN 219445098U
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- clamping jaw
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Abstract
The utility model relates to a visual automatic picking manipulator mechanism which comprises a base, a radar and a mechanical arm, wherein the radar and the mechanical arm are arranged on the base; the shearing assembly comprises a shearing support, a shearing body, a shearing driving frame and a shearing driving device, and the clamping jaw assembly comprises a flexible finger, a finger rotating block, a finger connecting plate, a rotating connecting rod, a finger driving plate and a clamping driving device; the scheme adopts a combination mode of radar and a mechanical arm, can be arranged on a walking mechanism, and can automatically navigate and pick up fruits and vegetables; the picking mechanism can accurately identify the position of the fruit to be picked, effectively pick and pick off the fruit, improve the automatic picking efficiency, and avoid the conditions of missing picking, damaging the plant fruit and the like; meanwhile, the specific structures of the shearing assembly and the clamping jaw assembly are optimized, and stable, accurate and reliable picking action is ensured.
Description
Technical Field
The utility model relates to a visual automatic picking manipulator mechanism, and belongs to the technical field of automatic picking devices.
Background
Because the manual picking of fruits and vegetables can not completely meet the market demand, the production and market of fruits and vegetables in the harvest season are extremely challenged. Therefore, the development of automatic picking equipment becomes the main development direction of picking fruits and vegetables in the future, some equipment capable of realizing automatic picking is available on the market at present, and the problems of labor shortage, excessive labor intensity and the like can be effectively solved, but most of the equipment is too simple, and the problems that fruits cannot be effectively picked up after picking up the fruits cannot be effectively picked up and the like exist.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides a visual automatic picking manipulator mechanism.
In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides an automatic manipulator mechanism of picking of vision, contains the base and sets up radar and the arm on the base, is provided with the linking bridge on the arm and sets up visual detection subassembly, shearing subassembly and the clamping jaw subassembly on the linking bridge.
The shearing assembly comprises a scissor bracket, a scissor body, a shearing driving frame and a shearing driving device, wherein the scissor bracket is fixedly arranged on the connecting bracket, the scissor body is hinged on the scissor bracket, a wing plate is arranged at the rear end of the scissor body, and a guide groove is arranged on the wing plate; the shearing driving frame is provided with a guide support, the guide support is provided with a guide pillar, the shearing driving device drives the shearing driving frame to move back and forth, the guide pillar is matched with a guide groove on the wing plate, and the shearing driving device drives the shear body to do shearing action.
The clamping jaw assembly comprises a flexible finger, a finger rotating block, a finger connecting plate, a rotating connecting rod, a finger driving plate and a clamping driving device; the finger connecting plate is fixedly connected with the connecting bracket, the flexible finger is arranged on the finger rotating block, one side of the finger rotating block is hinged on the finger connecting plate, the other side of the finger rotating block is hinged with one end of the rotating connecting rod, and the other end of the rotating connecting rod is hinged on the finger driving plate; the clamping driving device drives the finger driving plate to move back and forth, and then the finger rotating block and the flexible finger are driven to rotate on the finger connecting plate through the rotating connecting rod.
Preferably, the shearing driving device and the clamping driving device are the same driving air cylinder, and the driving air cylinder synchronously drives the shearing driving frame and the finger driving plate to move forwards and backwards.
Preferably, the clamping jaw assembly further comprises a clamping jaw fixing plate, wherein the clamping jaw fixing plate is fixedly arranged on the connecting bracket, and the finger connecting plate is fixedly connected with the clamping jaw fixing plate through a supporting connecting rod; the finger driving plate moves between the clamping jaw fixing plate and the finger connecting plate, the supporting connecting rod penetrates through the finger driving plate, the supporting connecting rod is provided with a bending limiting structure, and the supporting connecting rod limits the stroke of the finger driving plate through the bending limiting structure.
Preferably, the base is of a double-layer support structure, the radar is located at the lower layer of the base, and the mechanical arm is located at the upper layer of the base.
Due to the application of the technical scheme, compared with the prior art, the utility model has the following advantages:
the vision automatic picking manipulator mechanism adopts a combination mode of a radar and a mechanical arm, can be installed on a travelling mechanism as a unit, and can automatically navigate and pick fruits and vegetables; the picking mechanism adopts a mode of matching the visual detection assembly, the shearing assembly and the clamping jaw assembly, so that the position of the fruit to be picked can be accurately identified, the fruit can be effectively picked and picked, the automatic picking efficiency is improved, and the conditions of missing picking, damaging the plant fruit and the like are avoided; meanwhile, the specific structures of the shearing assembly and the clamping jaw assembly are optimized, and stable, accurate and reliable picking action is ensured.
Drawings
The technical scheme of the utility model is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic perspective view of a visual automatic picking manipulator mechanism according to the present utility model;
FIG. 2 is a schematic view of the combined structure of the shearing assembly and the jaw assembly according to the present utility model;
FIG. 3 is a schematic view of a portion of the structure of a shear assembly according to the present utility model;
fig. 4 is a schematic view of a part of the structure of the jaw assembly according to the present utility model.
Detailed Description
The utility model will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in figures 1-4, the visual automatic picking manipulator mechanism comprises a base 1, and a radar 2 and a manipulator 3 which are arranged on the base 1, wherein the base 1 can be of a double-layer support structure and is used for being integrally arranged on a travelling mechanism, such as a robot electric control trolley and other equipment, the radar 2 is positioned on the lower layer of the base 1, the travelling robot can navigate, and the manipulator 3 is positioned on the upper layer of the base 1, so that picking is facilitated.
Referring to fig. 2, the mechanical arm 3 is provided with a connecting bracket 4, and a visual detection assembly 5, a shearing assembly 6 and a clamping jaw assembly 7 which are arranged on the connecting bracket 4, wherein the visual detection assembly 5 is used for positioning objects to be picked, such as melons and fruits, through image recognition.
Referring to fig. 3, the shear assembly 6 comprises a shear support 11, a shear body 12, a shear driving frame 13 and a shear driving device, wherein the shear support 11 is fixedly arranged on the connecting support 4, the shear body 12 is divided into two parts, the two shear bodies 12 are hinged on the shear support 11, wing plates 14 are arranged at the rear ends of the two shear bodies 12, and guide grooves are arranged on the wing plates 14; the shear driving frame 13 is provided with a guide support 15, the guide support 15 is provided with a guide pillar 16, the shear driving device drives the shear driving frame 13 to move back and forth, so that the guide pillar 16 is matched with the guide groove on the wing plate 14, and the shear body 12 is driven to perform shearing action.
Referring to fig. 4, the jaw assembly 7 comprises a flexible finger 21, a finger rotating block 22, a finger connecting plate 23, a rotating connecting rod 24, a finger driving plate 25 and a gripping driving device; the finger connecting plates 23 are fixedly connected with the connecting support 4, a plurality of finger rotating blocks 22 are arranged, and each finger rotating block 22 is provided with a flexible finger 21; one side of the finger rotating block 22 is hinged on the finger connecting plate 23, the other side of the finger rotating block 22 is hinged with one end of the rotating connecting rod 24, and the other end of the rotating connecting rod 24 is hinged on the finger driving plate 25; the gripping driving device drives the finger driving plate 25 to move back and forth, and further drives the finger rotating block 22 and the flexible finger 21 to rotate on the finger connecting plate 23 through the rotating connecting rod 24.
As an alternative, the clamping jaw assembly 7 further comprises a clamping jaw fixing plate 26, the clamping jaw fixing plate 26 is fixedly arranged on the connecting bracket 4, and the finger connecting plate 23 is fixedly connected with the clamping jaw fixing plate 26 through a supporting connecting rod 27; the clamping driving device is arranged on the finger connecting plate 23, the clamping driving device drives the finger driving plate 25 to move between the clamping jaw fixing plate 26 and the finger connecting plate 23, the supporting connecting rod 27 penetrates through the finger driving plate 25, the supporting connecting rod 27 is provided with a bending limiting structure, and the stroke of the finger driving plate 25 can be limited through the bending limiting structure; the above structure provides a stable and compact finger-driven structure.
As a preferable mode, the shearing driving device and the clamping driving device adopt the same driving air cylinder 8, the shearing driving frame 13 and the finger driving plate 25 are connected and fixed, and the shearing driving frame 13 and the finger driving plate 25 can be synchronously driven to move back and forth through the driving air cylinder 8, so that the grabbing and shearing actions can be synchronously performed.
The flexible fingers 21 in the embodiment are divided into two groups of four, and the two groups of flexible fingers are arranged in parallel along the vertical direction and can be used for clamping long-strip melons and fruits, such as cucumbers; of course, the layout of the flexible fingers is not limited to the state of the embodiment, and the flexible fingers can also be used for grabbing other types of fruits and vegetables by adjusting positions, angles and the like.
The above is only a specific application example of the present utility model, and does not limit the scope of the present utility model; all technical schemes formed by equivalent transformation or equivalent substitution fall within the protection scope of the utility model.
Claims (4)
1. The utility model provides a manipulator mechanism is got in vision automation which characterized in that: comprises a base (1), a radar (2) and a mechanical arm (3) which are arranged on the base (1), wherein a connecting bracket (4) and a visual detection component (5), a shearing component (6) and a clamping jaw component (7) which are arranged on the connecting bracket (4) are arranged on the mechanical arm (3);
the shearing assembly (6) comprises a scissor bracket (11), a scissor body (12), a shearing driving frame (13) and a shearing driving device, wherein the scissor bracket (11) is fixedly arranged on the connecting bracket (4), the scissor body (12) is hinged on the scissor bracket (11), a wing plate (14) is arranged at the rear end of the scissor body (12), and a guide groove is formed in the wing plate (14); a guide support (15) is arranged on the shearing driving frame (13), a guide pillar (16) is arranged on the guide support (15), the shearing driving device drives the shearing driving frame (13) to move forwards and backwards, the guide pillar (16) is matched with a guide groove on the wing plate (14), and the shearing body (12) is driven to do shearing action;
the clamping jaw assembly (7) comprises a flexible finger (21), a finger rotating block (22), a finger connecting plate (23), a rotating connecting rod (24), a finger driving plate (25) and a clamping driving device; the finger connecting plate (23) is fixedly connected with the connecting bracket (4), the flexible finger (21) is arranged on the finger rotating block (22), one side of the finger rotating block (22) is hinged on the finger connecting plate (23), the other side of the finger rotating block (22) is hinged with one end of the rotating connecting rod (24), and the other end of the rotating connecting rod (24) is hinged on the finger driving plate (25); the clamping driving device drives the finger driving plate (25) to move forwards and backwards, and further drives the finger rotating block (22) and the flexible finger (21) to rotate on the finger connecting plate (23) through the rotating connecting rod (24).
2. The vision automatic picking manipulator mechanism of claim 1, wherein: the shearing driving device and the clamping driving device are the same driving air cylinder (8), and the driving air cylinder (8) synchronously drives the shearing driving frame (13) and the finger driving plate (25) to move forwards and backwards.
3. The vision automatic picking manipulator mechanism of claim 1, wherein: the clamping jaw assembly (7) further comprises a clamping jaw fixing plate (26), the clamping jaw fixing plate (26) is fixedly arranged on the connecting bracket (4), and the finger connecting plate (23) is fixedly connected with the clamping jaw fixing plate (26) through a supporting connecting rod (27); the finger driving plate (25) moves between the clamping jaw fixing plate (26) and the finger connecting plate (23), the supporting connecting rod (27) penetrates through the finger driving plate (25), the supporting connecting rod (27) is provided with a bending limiting structure, and the supporting connecting rod (27) limits the stroke of the finger driving plate (25) through the bending limiting structure.
4. The vision automatic picking manipulator mechanism of claim 1, wherein: the base (1) is of a double-layer support structure, the radar (2) is located at the lower layer of the base (1), and the mechanical arm (3) is located at the upper layer of the base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320611873.0U CN219445098U (en) | 2023-03-24 | 2023-03-24 | Visual automatic picking manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320611873.0U CN219445098U (en) | 2023-03-24 | 2023-03-24 | Visual automatic picking manipulator mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219445098U true CN219445098U (en) | 2023-08-01 |
Family
ID=87422386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320611873.0U Active CN219445098U (en) | 2023-03-24 | 2023-03-24 | Visual automatic picking manipulator mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219445098U (en) |
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2023
- 2023-03-24 CN CN202320611873.0U patent/CN219445098U/en active Active
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