CN220935723U - Picking manipulator and robot - Google Patents
Picking manipulator and robot Download PDFInfo
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- CN220935723U CN220935723U CN202322547698.6U CN202322547698U CN220935723U CN 220935723 U CN220935723 U CN 220935723U CN 202322547698 U CN202322547698 U CN 202322547698U CN 220935723 U CN220935723 U CN 220935723U
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- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 50
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000001154 acute effect Effects 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 241001465382 Physalis alkekengi Species 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 244000144730 Amygdalus persica Species 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
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Abstract
The utility model discloses a picking manipulator and a robot, which relate to the technical field of agricultural machinery and comprise a clamping jaw mechanism, a lifting mechanism, a conveying pipeline and an electric control assembly, wherein the clamping jaw mechanism is connected to the top of the lifting mechanism, the clamping jaw mechanism is connected with the lifting mechanism at an obtuse angle, clamping jaws on the clamping jaw mechanism are made of flexible materials, the conveying pipeline is fixedly connected to one side of the clamping jaw mechanism, the conveying pipeline is used for conveying picked fruits to a collecting device, and the clamping jaw mechanism and the lifting mechanism are electrically connected with the electric control assembly so as to facilitate automatic control. The clamping jaw is made of flexible materials, so that the damage-free fruit grabbing can be realized, the clamping jaw mechanism is connected with the lifting mechanism at an obtuse angle, the lifting mechanism can conveniently penetrate through staggered branches to realize mechanical picking, and finally the clamping jaw can be mounted on an external mechanical arm, so that the intelligent unmanned picking function can be realized.
Description
Technical Field
The utility model relates to the technical field of agricultural machinery, in particular to a picking manipulator and a robot.
Background
Robots are now going deep into various industries and machines have made great progress in the agricultural field. In recent years, the agricultural picking process is gradually moving from the traditional manual picking mode to an automated, intelligent machining mode.
Apples, pears, peaches, etc. are well known as one of the main fruit categories that we eat in our daily lives. At present, the main planting mode of fruits is centralized planting management in an orchard, the picking time is about 8 months to 10 months, and the fruits are generally picked manually. When picking up fruits, the fruits are held by two hands, the front parts of the fruits are lifted upwards, and then the fruits are picked up, so that the fruit stalks are separated from the fruit trees. Because the fruit tree is generally higher, a ladder is required to be prepared when the fruit is picked, but sometimes, because the branches are staggered, the direct upward picking can be blocked by the branches, and the situation that the epidermis of the fruit cannot be damaged is also required to be paid attention at any time, otherwise, the fruit is damaged to be blackened or rotten. The manual picking is limited by the working time and the hot environment, the ladder is required to climb, the epidermis of the fruits is also required to be carefully protected at any time, the picking cost is increased, and the risk that the manual picking is scratched or falls off by branches exists.
Disclosure of utility model
The utility model aims to provide a picking manipulator and a robot, which are used for solving the problems in the prior art, so that the fruit picking is realized by mechanical picking without manual ascending, and the cost and the danger of manual picking are reduced.
In order to achieve the above object, the present utility model provides the following solutions:
The utility model provides a picking manipulator which comprises a clamping jaw mechanism, a lifting mechanism, a conveying pipeline and an electric control assembly, wherein the clamping jaw mechanism is connected to the top of the lifting mechanism, the clamping jaw mechanism is connected with the lifting mechanism at an obtuse angle, clamping jaws on the clamping jaw mechanism are made of flexible materials, the conveying pipeline is fixedly connected to one side of the clamping jaw mechanism, the conveying pipeline is used for conveying picked fruits to a collecting device, and the clamping jaw mechanism and the lifting mechanism are electrically connected with the electric control assembly.
Preferably, the clamping jaw mechanism comprises an electric parallel clamping jaw, wherein the clamping jaw of the electric parallel clamping jaw is replaced by a flexible clamping jaw, and the two flexible clamping jaws are oppositely arranged on a pair of parallel guide rails of the electric parallel clamping jaw.
Preferably, the cross section of the flexible clamping jaw is triangular with a small upper part and a large lower part, the clamping surface is an arc surface, and transverse supports are arranged in the flexible clamping jaw at equal intervals and are hollow.
Preferably, one of the parallel guide rails is detachably connected with a blanking plate, the blanking plate comprises a backboard and a bottom plate which are integrally arranged, the backboard and the vertical surface are arranged in an inclined manner at an acute angle, the bottom plate and the horizontal surface are arranged in an inclined manner at an acute angle downwards, and an included angle between the backboard and the bottom plate is an obtuse angle.
Preferably, the bottom plate is connected to the parallel guide rail through a bolt, a notch is formed in the bottom plate in parallel along the movement direction of the cylinder rod, a flexible clamping jaw on the other parallel guide rail can move in the notch, and the bottom plate extends to the top edge of the conveying pipeline.
Preferably, a pair of patch-type pressure sensors are arranged on the clamping surface of the flexible clamping jaw, and the electric parallel clamping jaw and the pressure sensors are respectively and electrically connected with the electric control assembly.
Preferably, the lifting mechanism is connected to the bottom of the clamping jaw mechanism through an elbow flange, and the radian of the elbow flange is 30-70 degrees.
Preferably, a pressure sensor is arranged at the lower end of the elbow flange, and the pressure sensor is electrically connected with the electric control assembly.
Preferably, the lifting mechanism comprises a servo electric cylinder, an angle sensor is arranged on a shell of the servo electric cylinder in parallel along the movement direction of the cylinder rod, the servo electric cylinder and the angle sensor are respectively and electrically connected with the electric control assembly, and a connecting seat is arranged at the bottom of the servo electric cylinder and used for being connected with a mechanical arm of the picking robot.
The utility model also discloses a picking robot which comprises the picking manipulator and the picking robot with the motion chassis, wherein the manipulator of the picking robot is connected with the lifting mechanism, a lamp, an environment camera and a perception radar are arranged on the picking robot in parallel along the motion direction of the cylinder rod, and the electric control assembly, the lamp, the environment camera and the perception radar are all in communication connection with a control center of the picking robot.
Compared with the prior art, the utility model has the following technical effects:
The clamping jaw is made of flexible materials, so that the damage-free fruit grabbing can be realized, the clamping jaw mechanism is connected with the lifting mechanism at an obtuse angle, the lifting mechanism can conveniently penetrate through staggered branches to realize mechanical inclined picking, and finally the mechanical inclined picking can be mounted on an external mechanical arm, so that the unmanned picking function can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a picking manipulator according to an embodiment of the present utility model;
FIG. 2 is a schematic diagram of a connection structure of a conveying pipeline according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a jaw mechanism according to an embodiment of the present utility model;
wherein: the device comprises a 1-electric parallel clamping jaw, a 2-flexible clamping jaw, a 3-conveying pipeline, a 4-servo electric cylinder, a 5-angle sensor, a 6-elbow flange, a 7-pressure sensor, an 8-blanking plate and a 9-connecting seat.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by a person skilled in the art based on the embodiments of the utility model without any inventive effort, are intended to fall within the scope of the utility model.
The utility model aims to provide a picking manipulator and a robot, which are used for solving the problems in the prior art, so that mechanical picking of fruits is realized without manual ascending, and the cost and the danger of manual picking are reduced.
In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1 to 3: the embodiment provides a picking manipulator, including clamping jaw mechanism, lifting mechanism, pipeline 3 and automatically controlled subassembly, clamping jaw mechanism connects in lifting mechanism's top, and clamping jaw mechanism is the obtuse angle with lifting mechanism and is connected, clamping jaw on the clamping jaw mechanism is flexible material, pipeline 3 fixed connection in one side of clamping jaw mechanism, pipeline 3 is used for carrying the fruit of plucking to collection device, clamping jaw mechanism, lifting mechanism all are connected with automatically controlled subassembly electricity.
Preferably, the clamping jaw mechanism in the embodiment comprises an electric parallel clamping jaw 1, wherein the clamping jaw of the electric parallel clamping jaw 1 is replaced by a flexible clamping jaw 2, and the two flexible clamping jaws 2 are oppositely arranged on a pair of parallel guide rails of the electric parallel clamping jaw 1. The cross section of the flexible clamping jaw 2 is a triangle (preferably a right triangle) with a small upper part and a large lower part, the clamping surface (right-angle side) is an arc surface, so that the fruits are wrapped and clamped conveniently, and the inner part of the flexible clamping jaw 2 is provided with transverse supports at equal intervals and is hollow, so that the fruits are prevented from being clamped and injured due to overlarge force application and no buffering. Wherein the movement distance of the two flexible clamping jaws 2 is 50mm-140mm; the flexible jaw 2 may be of materials eSUN and TPU95A. The electric parallel clamping jaw 1 is an industrial electric parallel clamping jaw of Shenzhen large atlanto robot science and technology Co., ltd, and the model is DH-ROBOTSS-TDI140-80.
As the preference, can dismantle on one of them parallel guide rail and be connected with blanking plate 8 in this embodiment, blanking plate 8 is including backplate and the bottom plate of an organic whole setting, and the backplate is in the slope of acute angle with vertical plane setting, and the backplate is located flexible clamping jaw 2 moving trajectory's the outside, forms a flaring baffle, is convenient for accept the fruit, and the bottom plate is in the slope of acute angle with the level plane setting downwards, and the fruit of being convenient for is gliding, and the contained angle between backplate and the bottom plate is the obtuse angle, preferably 120, the fruit of being convenient for slides smoothly to the port of pipeline 3. The bottom plate passes through bolted connection on parallel guide, and is provided with a breach along jar pole direction of motion parallel arrangement on the bottom plate, and flexible clamping jaw 2 on another parallel guide can remove in the breach, when flexible clamping jaw 2 is closed, can reduce the minimum interval of flexible clamping jaw 2 on the parallel guide through this breach, can obtain less centre gripping interval, if this structure does not have, when flexible clamping jaw 2 contacts with the slope, then can hinder flexible clamping jaw 2 to continue to close, and the main part length of bottom plate is 87mm, and breach part length is 40mm. The bottom plate extends to the top opening edge of the conveying pipeline 3, prevents to produce the drop or the higher condition of pipeline from taking place, and the top of conveying pipeline 3 is provided with the flaring, is convenient for drop the fruit.
As a preferred mode, a pair of patch-type pressure sensors 7 are arranged on the clamping surface of the flexible clamping jaw 2 of the electric parallel clamping jaw 1 in the embodiment, the electric parallel clamping jaw 1 and the pressure sensors 7 are respectively electrically connected with the electric control assembly, and the patch-type pressure sensors 7 are arranged on the inner side of the flexible clamping jaw 2, so that clamping force on the flexible clamping jaw 2 along the movement direction of the cylinder rod can be measured conveniently in the fruit clamping process, and the fruit clamping is avoided. In this embodiment, a current sensor is integrated on the servo motor of the electric parallel clamping jaw 1, and the clamping pressure on the flexible clamping jaw 2 can be further tested by detecting the torsion change on the rotating shaft of the servo motor, if the pressure does not reach the critical value, the flexible clamping jaw 2 continues to move until reaching the critical value, and then the flexible clamping jaw 2 stops closing movement to pick fruits.
Preferably, in this embodiment, the lifting mechanism is connected to the bottom of the clamping jaw mechanism through an elbow flange 6, the radian of the elbow flange 6 is 30 ° -70 °, preferably 45 °, so as to avoid direct upward extension, and the lifting mechanism can encounter branch shielding, so that the lifting mechanism can pass through the electric control assembly. The lower end of the elbow flange 6 is provided with a pressure sensor 7, and the pressure sensor 7 is electrically connected with the electric control assembly. The pressure sensor 7 can monitor the force exerted on the part above the elbow flange 6, when picking, when the push rod of the lifting mechanism continues to stretch, the flexible clamping jaw 2 moves obliquely upwards, the fruit handle can give the flexible clamping jaw 2a force for resisting picking, the pressure sensor 7 on the flexible clamping jaw 2 can detect the pressure of the flexible clamping jaw 2 on fruits at the moment, and accordingly, whether the clamping action of the flexible clamping jaw 2 is abnormal or not is judged: if the pressure is unchanged or changes little, it is likely that the flexible jaw 2 is empty; if the pressure changes too much, it is likely that the branch is caught or the fruit is not fully ripe, and the fruit handle does not become fragile. Once the pressure anomaly is detected, a re-pinching operation of the fruit is required.
As an preference, in this embodiment, the lifting mechanism includes a servo electric cylinder 4, and an angle sensor 5 is disposed on a housing of the servo electric cylinder 4 in parallel along a cylinder rod movement direction, so that the clamping jaw mechanism keeps a vertical state, the servo electric cylinder 4 and the angle sensor 5 are respectively electrically connected with the electric control assembly, a connecting seat 9 is disposed at a bottom of the servo electric cylinder 4, and the connecting seat 9 is used for being connected with a mechanical arm of the picking robot. The angle sensor 5 can detect the rotation angle of the angle sensor relative to the gravity direction, and the gravity direction always points to the earth, so that the angle between the servo electric cylinder and the vertical direction can be finally obtained. The angle sensor 5 can monitor the angle condition of the servo cylinder 4 in each time period and then transmit the angle condition back to the electric control assembly for adjusting the state of the flexible clamping jaw 2, and the central position of the flexible clamping jaw 2 is required to point to the bottom movement of fruits.
Example two
The embodiment discloses a picking robot, including picking manipulator and the picking robot of taking motion chassis in embodiment one, picking robot's arm is connected with lifting mechanism, is provided with lamps and lanterns, environment camera and perception radar along jar pole direction of motion parallel on the picking robot, and electrical control assembly, lamps and lanterns, environment camera and perception radar all are connected with picking robot's control center communication.
The specific motion process of the picking robot of this embodiment may be as follows:
S1: the picking robot is moved to a proper position under the fruit tree, the lifting mechanism is placed under the fruit to be picked by the stretching mechanical arm, and the mechanical arm is moved again so that the two flexible clamping jaws 2 are respectively positioned on two sides of the fruit.
S2: the electric parallel clamping jaw 1 is started to drive the flexible clamping jaw 2 to move in opposite directions to clamp fruits gradually, and when the pressure sensor 7 detects that the pressure of the flexible clamping jaw 2 on the fruits reaches a set critical value, the flexible clamping jaw 2 stops moving and keeps a clamping state.
S3: the servo electric cylinder 4 is started to push the push rod obliquely upwards, the flexible clamping jaw 2 clamps fruits and moves along with the push rod, and the fruits are stressed to separate the fruit stalks from the branches.
S4: the servo electric cylinder 4 runs reversely, the push rod retracts reversely, the electric parallel clamping jaw 1 drives the two flexible clamping jaws 2 to open, fruits fall onto a slope and roll into a pipeline, and picking and collecting processes of the fruits are completed.
The picking robot of this embodiment can realize three processes of snatching, picking and putting fruit through four processes of S1, S2, S3 and S4, greatly improves the efficiency of picking fruits automatically and can effectively protect fruits from damage.
The principles and embodiments of the present utility model have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present utility model and its core ideas; also, it is within the scope of the present utility model to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the utility model.
Claims (10)
1. A picking manipulator, its characterized in that: including clamping jaw mechanism, lifting mechanism, pipeline and automatically controlled subassembly, clamping jaw mechanism connect in lifting mechanism's top, just clamping jaw mechanism with lifting mechanism is the obtuse angle and is connected, clamping jaw on the clamping jaw mechanism is flexible material, pipeline fixed connection in one side of clamping jaw mechanism, pipeline is used for carrying and plucks fruit to collection device, clamping jaw mechanism lifting mechanism all with automatically controlled subassembly electricity is connected.
2. The picking manipulator of claim 1, wherein: the clamping jaw mechanism comprises electric parallel clamping jaws, wherein the clamping jaws of the electric parallel clamping jaws are replaced by flexible clamping jaws, and the two flexible clamping jaws are oppositely arranged on a pair of parallel guide rails of the electric parallel clamping jaws.
3. The picking manipulator of claim 2, wherein: the cross section of the flexible clamping jaw is triangular with a small upper part and a large lower part, the clamping surface is an arc surface, and transverse supports are arranged in the flexible clamping jaw at equal intervals and are hollow.
4. The picking manipulator of claim 2, wherein: one of them can dismantle on the parallel guide rail and be connected with the flitch down, the flitch is including backplate and the bottom plate of integrative setting, the backplate is personally submitted the acute angle slope with vertical and is set up, the bottom plate is personally submitted the acute angle slope with the level and is set up downwards, the backplate with contained angle between the bottom plate is the obtuse angle.
5. The picking manipulator of claim 4, wherein: the bottom plate is connected to the parallel guide rail through a bolt, a notch is formed in the bottom plate in parallel along the movement direction of the cylinder rod, the flexible clamping jaw on the other parallel guide rail can move in the notch, and the bottom plate extends to the top edge of the conveying pipeline.
6. The picking manipulator of claim 2, wherein: a pair of patch-type pressure sensors are arranged on the clamping surface of the flexible clamping jaw, and the electric parallel clamping jaw and the pressure sensors are respectively and electrically connected with the electric control assembly.
7. The picking manipulator of claim 1, wherein: the lifting mechanism is connected to the bottom of the clamping jaw mechanism through an elbow flange, and the radian of the elbow flange is 30-70 degrees.
8. The picking manipulator of claim 7, wherein: the lower end of the elbow flange is provided with a pressure sensor, and the pressure sensor is electrically connected with the electric control assembly.
9. The picking manipulator of claim 1, wherein: the lifting mechanism comprises a servo electric cylinder, an angle sensor is arranged on a shell of the servo electric cylinder in parallel along the movement direction of a cylinder rod, the servo electric cylinder and the angle sensor are respectively electrically connected with the electric control assembly, a connecting seat is arranged at the bottom of the servo electric cylinder, and the connecting seat is used for being connected with a mechanical arm of the picking robot.
10. A picking robot, characterized in that: the picking robot comprises the picking manipulator and the picking robot with a motion chassis, wherein the manipulator of the picking robot is connected with the lifting mechanism, a lamp, an environment camera and a perception radar are arranged on the picking robot in parallel along the motion direction of a cylinder rod, and the electric control assembly, the lamp, the environment camera and the perception radar are all in communication connection with a control center of the picking robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322547698.6U CN220935723U (en) | 2023-09-20 | 2023-09-20 | Picking manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322547698.6U CN220935723U (en) | 2023-09-20 | 2023-09-20 | Picking manipulator and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220935723U true CN220935723U (en) | 2024-05-14 |
Family
ID=91019495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322547698.6U Active CN220935723U (en) | 2023-09-20 | 2023-09-20 | Picking manipulator and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220935723U (en) |
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2023
- 2023-09-20 CN CN202322547698.6U patent/CN220935723U/en active Active
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