KR102289933B1 - Continuous picking and transfer gripper - Google Patents

Abstract

SUMMARY OF THE INVENTION It is an object of the present invention to provide a continuous picking and transfer gripper in which an object gripping operation and a transporting operation are continuously performed without movement of the entire robot arm. Continuous harvesting and transfer gripper of crops according to an embodiment of the present invention includes a gripper mounted on one side of a frame to grip a crop attached to a crop stem with tongs, a crop mounted on one side of the gripper and gripped by the tongs a cutting unit for cutting with a cutter provided on the side of the tongs, and a conveying belt connected to the holding unit to transport the crops cut by the cutter by a distance set in the holding unit mounted on the other side of the frame It includes a transfer unit.

Description

CONTINUOUS PICKING AND TRANSFER GRIPPER

The present invention relates to a continuous picking and transfer gripper, and more particularly, to the holding and transporting of parts for inspection of parts produced in factories, and to agricultural fields such as sesame leaves, red peppers, green peppers, eggplants, cucumbers, pumpkins, tomatoes, etc. It relates to a continuous picking and transfer gripper that continuously performs repetitive tasks of gripping and transferring crops for harvesting leafy vegetables and fruit and vegetables crops.

As is known, with the proliferation of automation technology, robots are performing difficult and repetitive tasks instead of humans. This is notably increasing in factories and agriculture.

In the factory, for the inspection of the manufactured parts, the part holding and transport operation is performed at once by a robot arm equipped with a camera, so that it can be processed more efficiently and accurately than the human part holding and transport operation.

In the agricultural sector, the available labor force in rural areas is decreasing due to the aging of the rural workforce and a decrease in the number of residents. Among these, there are many difficulties in harvesting crops. For example, there is a greater difficulty in harvesting crops such as sesame leaves, red peppers, green peppers, cucumbers, pumpkins, and leafy vegetables and fruits such as tomatoes.

Harvesting of these crops requires repeatedly performing the same movement and maintaining the same posture continuously. Because of this, agricultural workers are exposed to very high physical fatigue. In recent years, repetitive tasks of holding and transporting crops for harvesting are being replaced by robots.

As such, the importance of a gripper attached to the end of a robot arm performing a task of picking and transporting an object (parts of a factory, crops) is increasing.

Currently, in the case of a robot widely used in the manufacturing industry, five steps of operations are sequentially performed in order to grip and transfer an object to a collection box. That is, in the first step, the robot arm moves near the target object. The second step is calibration for the camera to recognize the object and the object is recognized. In the third step, the gripper grips the object. In the fourth stage, the robot arm moves to the collection box. The fifth step is to align the object with the gripper.

The robot transfers the grasped objects (eg parts, crops) to the storage box (collection box), and the entire robot arm, which is about 10 times the weight of the object, must move for each object (eg crops). Therefore, in order to move the entire robot arm, a lot of energy is required because the entire mass of the robot arm is transferred.

In addition, since the transport time is long and the positions of the cognitive systems (eg, cameras) attached to the robot arm are constantly changing, calibration is required every time for the next operation after one operation.
As a prior art document, Gonggo Utility Model No. 1992-0001437 (1992.03.05.) discloses a small grass harvester.

An object of the present invention is to grasp and transport parts for inspection of parts produced in factories, and to harvest various crops of leafy vegetables and fruits such as sesame leaves, red peppers, green peppers, eggplants, cucumbers, pumpkins and tomatoes in the agricultural field. It is to provide a continuous picking and transfer gripper that continuously handles repetitive operations of gripping and transferring of

Another object of the present invention is to provide a continuous picking and transfer gripper in which an object gripping operation and a transfer operation are continuously performed without moving the entire robot arm.

The continuous picking and transfer gripper according to an embodiment of the present invention includes a gripper mounted on one side of a frame to grip a crop attached to a crop stem with tongs, and a gripper mounted on one side of the gripper to hold the crops gripped by the tongs. A cutting unit for cutting with a cutter provided on the side of the tongs, and a conveying unit mounted on the other side of the frame and connected to a conveying belt connected to the holding unit to transport the crop cut by the cutter by a distance set in the holding unit includes

The frame may have a length set to form the transfer unit.

The conveying belt may be formed in a pair in close contact with each other in the conveying unit to convey the crops before and after cutting in a state in which they are gripped between each other.

The forceps may include a pair of clamp fingers mounted on one side of the frame as a pair of first shafts and operated around the pair of first shafts to grip or release.

The conveying belts are formed in a pair, each extending from the conveying part, respectively installed on the pair of tongs fingers, and can grip the crops between each other.

The grip part further includes a first driving part for operating the pair of clamp fingers, and the first driving part is a first driving gear connected to one of the pair of clamp fingers, and the first driving gear is connected to the first driving gear. It may include a first driven gear coupled to the gear and connected to the other clamp finger, and a first driving motor for driving the first driving gear.

The cutter may include a pair of blades mounted on a pair of second shafts in the frame and operated around the pair of second shafts to cut or release the blade.

The cutting part further includes a second driving part for operating the pair of blades, and the second driving part is a second driving gear connected to one of the pair of blades, and gear-coupled to the second driving gear. It may include a second driven gear connected to the other blade, and a second driving motor for driving the second driving gear.

The conveying unit further includes a third driving unit for operating the pair of conveying belts, and the third driving unit includes a third driving pulley connected to one conveying belt among the pair of conveying belts, one side of the third driving pulley a third driving gear connected to the , a third driven pulley connected to the other transfer belt, a third driven gear connected to one side of the third driven pulley and gear-coupled to the third driving gear, and the third driving A third driving motor for driving the gear may be included.

The transfer unit is provided with a pair of tension pulleys and a pair of outer tension pulleys in the frame to which the grip part is mounted, and a pair of turning pulleys are provided on the pair of clamp fingers of the grip part, one transfer belt is connected to the third driving pulley, one tension pulley, one outer tension pulley and one turning pulley, and the other conveying belt is connected to the third driven pulley, the other tension pulley, the other outer tension pulley and the other turning pulley. can be connected to

The continuous picking and transfer gripper according to an embodiment of the present invention includes a guide bar provided on a side of a frame and disposed in the longitudinal direction of the frame, and is mounted on one side of the frame to push crops attached to a crop stem toward the guide bar. One first clamp finger and a first gripper gripping the guide bar, the guide bar and the 11th blade provided on the side of the first tongs finger by pushing the crops gripped by the first tongs finger toward the guide bar; A first cutting part for cutting with the twelfth blade fixed to the guide bar, and a first transport belt mounted on the other side of the frame to connect the crops cut by the eleventh blade and the twelfth blade to the first gripper It may include a first transfer unit for transferring to.

The first transfer belt may extend from the first transfer unit and be installed on the first clamp finger.

The continuous harvesting and transporting gripper of crops according to an embodiment of the present invention is mounted on one side of the frame to push the crops attached to the crop stem toward the guide bar to grip the other second tongs finger and the guide bar. A first for cutting the agricultural products held by the gripper, the guide bar and the second tongs finger toward the guide bar, and the other 21 blade provided on the side of the second tongs finger and the 22nd blade fixed to the guide bar. It may further include a second cutting unit, and a second conveying unit mounted on the other side of the frame to transport the crops cut by the 21st blade and the 22nd blade to a second conveying belt connected to the second gripping unit. there is.

The second transfer belt may extend from the second transfer unit and be installed on the second clamp finger.

A continuous picking and transfer gripper according to an embodiment of the present invention includes a gripper mounted on one side of a frame to grip a factory-made part with tongs, and a part mounted on the other side of the frame and gripped by the tongs. and a conveying unit for conveying to a conveying belt connected to the holding unit so as to convey a distance set by the holding unit.

The conveying belt is formed in a pair that maintains a distance set in the conveying unit, so that the parts can be conveyed in a state of being gripped between each other.

The tongs are mounted on one side of the frame as a pair of first shafts and include a pair of tongs fingers operated around the pair of first shafts to grip or release, and the pair of transport belts are Each extending from the transfer unit may be respectively installed on the pair of tongs fingers.

As described above, in an embodiment of the present invention, the gripper performs an operation of gripping an object (part, crop) and transferring the gripped object (part, crop) in the gripper, so a robot equipped with a gripper It can be done continuously without full movement of the arm.

In addition, one embodiment proceeds with the gripper of the crop, the cutting of the crop from the crop stem, and the transfer to the collection of the cut crop without the overall movement of the robot arm on which the gripper is mounted. can be done continuously.

Accordingly, one embodiment can reduce the energy required to move the robot arm, and can significantly reduce the number of calibrations of the cognitive systems (eg, a camera) attached to the robot arm.

1 is a perspective view of a continuous harvesting and transfer gripper of crops according to a first embodiment of the present invention;
FIG. 2 is a side view of FIG. 1 ;
FIG. 3 is a side view of the frame applied to FIG. 1 .
FIG. 4 is a perspective view of a first driving part (a first driving gear, a first driven gear, a first driving pulley, a first driven pulley, and a first driving motor) that operates the clamps of the gripping part in FIG. 1 .
FIG. 5 is a perspective view of a second driving part (a second driving gear, a second driven gear, and a second driving motor) which operates the cutter of the cutting part in FIG. 1 .
FIG. 6 is a perspective view of a third driving unit (a third driving gear, a third driven gear, a third driving pulley, a third driven pulley, and a third driving motor) which operates the conveying belt of the conveying unit in FIG. 1 .
7 is a side view of a continuous harvesting and transfer gripper of crops according to a second embodiment of the present invention;
8 is a side view of a continuous harvesting and transporting gripper of crops according to a third embodiment of the present invention;
9 is a perspective view seen from the left side of FIG.
10 is a perspective view of transferring parts (bolts) with a continuous picking and transfer gripper according to a fourth embodiment of the present invention.
11 is a perspective view of transferring a part (spacer) with a continuous picking and transfer gripper according to a fourth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

1 is a perspective view of a continuous harvesting and transferring gripper of crops according to a first embodiment of the present invention, FIG. 2 is a side view of FIG. 1 , and FIG. 3 is a side view of a frame applied to FIG. 1 .

1 to 3, the continuous harvest and transfer gripper (1, hereinafter referred to as "gripper") of crops according to the first embodiment includes a frame 10, a gripper 20, a cutting portion 30, and It includes a transfer unit (40).

The frame 10 forms the overall shape of the gripper 1 and is mounted on the arm of the robot (not shown). The frame 10 has a length set to form the transfer unit 40 , and allows the harvested crops to be transferred to a collection box (not shown) through the transfer unit 40 .

The gripper 20 is mounted on one side of the frame 10 and is configured to grip the crops attached to the stems of the crops with the tongs 21 . The gripping unit 20 includes the conveying belt 41 of the conveying unit 40 as a component so as to transfer the cropped crops by gripping to the collection box through the conveying unit 40 .

The conveying belt 41 is formed in a pair to convey as much as a distance set by the gripper 20 so that the crops gripped by the gripper 20 can be transferred before and after cutting the crops in a gripped state. That is, the pair of conveying belts 41 hold the crops between each other in the holding unit 20 before cutting, and continuously convey the crops cut between each other in a state held by the holding unit 20 make it

The cutting unit 30 is mounted on one side in the lateral direction of the holding unit 20 to cut the crops held by the tongs 21 with a cutter 31 provided on the side of the tongs 21 and operated separately from the tongs 21. . The cutter 31 may be formed with a knife as shown, or may be formed with a laser cutter, although not shown.

The transfer unit 40 is mounted on the other side in the longitudinal direction of the frame 10 to transfer the crops cut by the cutter 31 to the transfer belt 41 connected to the holding unit 20 . The transfer unit 40 is configured to grip the crops in the gripper 20 , cut the crops gripped by the cutting unit 30 , and transfer the harvested crops to a collection box (not shown).

As an example, the forceps 21 of the gripper 20 include a pair of forceps fingers 211 and 212 . The pair of clamp fingers 211 and 212 are mounted on one side of the frame 10 in the longitudinal direction as a pair of first axes S11 and S12, and operate around the pair of first axes S11 and S12. Before cutting the crop, the target crop is gripped, and when the cut crop is transferred to the transfer unit 40, the gripping operation is released. That is, the transferred crops are loaded into a collection box provided at the end of the transfer unit 40 .

The transfer belts 41 ; 411 , 412 formed as a pair extend from the transfer unit 40 , respectively, and are installed on each of the pair of clamp fingers 211 and 212 . Accordingly, the pair of conveying belts 41; 411, 412 enables cutting by gripping the crops between each other, and allows the cut crops to be moved to the conveying unit 40 through a simple moving process.

For example, the pair of conveying belts 41; 411, 412 has grooves formed on the outside to make it possible to firmly grip the crops and prevent damage to the crops, and the third drive pulley to be described later by further forming grooves on the inside. Sliding with the 423 and the third driven pulley 424 can be minimized.

FIG. 4 is a perspective view of a first driving unit (a first driving gear, a first driven gear, a first driving pulley, a first driven pulley, and a first driving motor) which operates the clamps of the gripping part in FIG. 1 . 1 to 4 , the holding unit 20 further includes a first driving unit 11 for operating the pair of clamp fingers 211 and 212 .

The first driving unit 11 includes a first driving gear 111 , a first driven gear 112 , and a first driving motor 115 . The first driving gear 111 is connected to one of the pair of clamp fingers 211 and 212, and the first driven gear 112 is externally connected to the first driving gear 111 and is gear-coupled. and is connected to the other clamp finger 212 .

The first driving motor 115 is provided on one side of the first driving gear 111 to drive the first shaft S11 on which the first driving gear 111 is mounted, so that the first driving gear 111 and the first driven gear are provided. The gear 112 may be rotated relative to hold or release the pair of clamp fingers 211 and 212 .

At this time, the pair of conveying belts 411 and 412 installed on the pair of tongs fingers 211 and 212 hold the crops attached to the crop stem, and by driving the conveying unit 40, the conveying belts 411 and 412 are gripped by the conveying belts 411 and 412. The farmed crops are transferred to the inspection box by riding the transfer unit 40 .

FIG. 5 is a perspective view of a second driving part (a second driving gear, a second driven gear, and a second driving motor) which operates the cutter of the cutting part in FIG. 1 . 1 to 3 and 5 , the cutter 31 includes a pair of blades 311 and 312 .

The cutting unit 30 further includes a second driving unit 32 for operating the pair of blades 311 and 312 . A pair of blades 311 and 312 is mounted on the frame 10 as a pair of second axes S21 and S22 and operates around a pair of second axes S21 and S22 to cut the gripped crops. or turn it off

The second driving unit 32 includes a second driving gear 321 , a second driven gear 322 , and a second driving motor 323 . The second driving gear 321 is connected to one blade 311 of the pair of blades 311 and 312, and the second driven gear 322 is externally geared to the second driving gear 321 and the other It is connected to one blade 312 .

The second drive motor 323 is provided on one side of the second drive gear 321 to drive the shaft on which the second drive gear 321 is mounted, so that the second drive gear 321 and the second driven gear 322 are It is possible to cut and release crops held by the pair of blades 311 and 312 by relative rotation.

Although not shown, the blades of the cutting part may be synchronized with the operation of the tongs fingers by interlocking with the driving part for driving the clamping fingers of the gripping part.

6 is a perspective view of a third driving unit (a third driving gear, a third driven gear, a third driving pulley, a third driven pulley, and a third driving motor) that operates the conveying belt of the conveying unit in FIG. 1 . 1 to 3 and 6 , the conveying unit 40 further includes a third driving unit 42 for operating the pair of conveying belts 411 and 412 .

The third driving unit 42 includes a third driving pulley 423 , a third driving gear 421 , a third driven pulley 424 , a third driven gear 422 , and a third driving motor 425 . The third drive pulley 423 is connected to one transfer belt 411 among the pair of transfer belts 411 and 412 , and the third drive gear 421 is provided on one side of the third drive pulley 423 . It is connected to the 31st axis (S31).

The third driven pulley 424 is connected to the other conveying belt 412 , and the third driven gear 422 is provided on one side of the third driven pulley 424 and connected to the 32nd axis S32 , and is connected to the third driven pulley 424 . 3 It is gear-coupled externally to the drive gear (421).

The third driving motor 425 is provided on one side of the third driving gear 421 to drive the 31st shaft S31 on which the third driving gear 421 is mounted, so that the third driving gear 421 and the third driven The gear 422 may relatively rotate on the 32nd axis S32 to transfer the pair of transfer belts 411 and 412 in the same direction.

The transfer unit 40 is provided with a pair of tension pulleys 431 and 432 and a pair of outer tension pulleys 441 and 442 on the frame 10 on which the gripper 20 is mounted, and the gripper 20 is A pair of turning pulleys 451 and 452 are provided on a pair of tongs fingers 211 and 212 . When the transfer unit 40 is lengthened, it further includes a pair of outer tension pulleys 443 and 444 .

The outer tension pulleys (443, 444) are movably installed on the brackets (445, 446) so that they can be adjusted and fixed in a state approaching or away from the transfer belts (411, 412). It can prevent sagging. Brackets 445 , 446 are mounted to frame 10 . The brackets 445 and 446 and the outer tension pulleys 443 and 444 are installed in an appropriate number according to the length of the transfer unit 40 .

The pair of tension pulleys 431 and 432 are freely rotatably mounted on the pair of first shafts S11 and S12 provided in the first driving part 11 of the gripper 20 . That is, the tension pulleys 431 and 432 are supported on the eleventh and twelfth shafts S11 and S12, but do not receive the rotational force of the first shafts S11 and S12.

One of the tension pulleys 431 of the pair is disposed on one side of the first drive gear 111 and is supported on the eleventh shaft S11. ) to adjust the tension.

The other tension pulley 432 is disposed on one side of the first driven gear 112 and supported on the twelfth shaft S12 to adjust the tension of the other one of the pair of transport belts 412 together.

And one transfer belt 411 is connected to the third driving pulley 423 , one tension pulley 431 , one outer tension pulley 441 , and one turning pulley 451 . The other conveying belt 412 is connected to the third driven pulley 424 , the other tension pulley 432 , the other outer tension pulley 442 and the other turning pulley 452 .

For this reason, when the third drive motor 425 is driven, the third drive gear 421 and the third driven gear 422 coupled with the external gear are driven, and the third drive pulley 423 and the third driven pulley ( While 424 is driven, a pair of conveying belts 411 and 412 are driven.

The third driving pulley 423 and the third driven pulley 424 are formed to correspond to the shapes (V-belt shape, timing belt shape) of the pair of conveying belts 411 and 412 to prevent slipping when transmitting driving force. can In the first embodiment, the conveying belts 411 and 412 are formed as timing belts. Although not shown, the conveying belt may be formed of a V-belt or a flat belt.

According to the opening and closing operation of the pair of clamp fingers 211 and 212, the pair of conveying belts 411 and 412 includes a pair of tension pulleys 431 and 432 and a pair of outer tension pulleys 441 and 442 and 1 The tension is adjusted and supported by the pair of turning pulleys 451 and 452, respectively, and the gripped and cut crops are transferred between each other.

Agricultural products held by a pair of tongs fingers 211 and 212 and a pair of conveying belts 411 and 412 in the holding unit 20 are leaf vegetables such as sesame leaves (see FIG. 1 ) and red peppers, green peppers, eggplants, cucumbers, and pumpkins. , fruits and vegetables such as tomatoes.

These crops are gripped with a spout between a pair of conveying belts 411 and 412, cut and then conveyed. That is, the gripper 1 can continuously harvest and transfer various crops. Therefore, the energy to move the robot arm on which the gripper 1 is mounted is minimized, the correction of the cognitive systems is minimized, and crop harvesting efficiency can be increased.

In addition, the conveying belts 411 and 412 of the conveying unit 40 may be formed in a straight line as in this embodiment, and although not shown, may be formed in a gentle curve to convey the crops, and in this case, the tension A configuration is used to control the tension pulley to keep it tight.

Hereinafter, various embodiments of the present invention will be described. Compared with the first embodiment and the previously described embodiments, the same configuration will be omitted and different configurations will be described.

7 is a side view of a continuous harvesting and transfer gripper of crops according to a second embodiment of the present invention; Referring to FIG. 7 , the gripper 2 of the second embodiment further includes a guide bar 27 provided on the side of the frame 210 and disposed in the longitudinal direction of the frame 210 .

The guide bar 27 of the second embodiment forms a part of the frame 10 of the first embodiment while forming one side of the holding part 20 , the cutting part 30 and the transfer part 40 of the first embodiment. Accordingly, the gripper 2 of the second embodiment includes a first gripping part 120 , a first cutting part 130 , and a first transfer part 140 together with the guide bar 27 .

The first gripper 120 is configured to be gripped by one first clamp finger 211 and a guide bar 27 . That is, the first tongs finger 211 is mounted on one side of the frame 210 to push and hold the crops attached to the stems of the crops toward the guide bar 27 .

The driving unit (not shown) for driving the first clamp finger 211 includes a first driving gear 111 and a first driving motor in which the first driving unit 11 drives one clamp finger 211 in the first embodiment. The structure of (115) can be applied. A detailed description will be omitted here.

The first cutting unit 130 is configured to be cut with the eleventh blade 311 and the twelfth blade 312 fixed to the guide bar 27 . That is, the eleventh blade 311 is provided on the side of the first tongs finger 211, and the crops gripped by pushing the first tongs fingers 211 to the side of the guide bar 27 together with the twelfth blade 312. cut

The driving unit (not shown) for driving the eleventh blade 311 includes a second driving gear 321 and a second driving motor 323 in which the second driving unit 32 drives one blade 311 in the first embodiment. ) can be applied in the structure of A detailed description will be omitted here.

The first transfer unit 140 is configured to transfer to one first transfer belt 411 and a guide bar 27 . That is, the first transfer belt 411 is mounted on the other side of the frame 210 and connected to the first gripper 120 to transfer the crops cut by the eleventh blade 311 and the twelfth blade 312 . .

The first transfer unit 140 includes a tension pulley 431 and an outer tension pulley 441 in the frame 210 on which the first gripper 120 is mounted, and the tongs fingers 211 of the first gripper 120 . ) is provided with a turning pulley 451.

The tension pulley 431 adjusts the tension of the first transfer belt 411 . The first transfer belt 411 is connected to the third driving pulley 423 , the tension pulley 431 , the outer tension pulley 441 , and the turning pulley 451 .

A driving unit (not shown) for driving the first conveying belt 411 includes a third driving gear 422 and a third driving pulley in which the third driving unit 42 drives one conveying belt 411 in the first embodiment. It can be applied to the structure of 423 and the third driving motor 425 . A detailed description will be omitted here.

The gripper 2 of the second embodiment is provided with the first transfer belt 411 only above the frame 210 . As such, when the first transfer belt 411 is provided on only one side, the guide bar 27 is made of a material that easily slips with the transferred crops, and the first transfer belt 411 has grooves on both sides. can form.

The inner groove of the first transfer belt 411 is coupled to the third driving pulley 423 to increase power transmission efficiency, and the outer groove can prevent damage to the crop stem while in contact with the crop to be gripped and transported.

As described above, the gripper 2 of the second embodiment includes a guide bar 27 , and a first gripping part 120 , a first cutting part 130 , and a first transfer part 140 on the upper or lower side of the guide bar 27 . ) can be formed by having.

8 is a side view of a continuous harvesting and transporting gripper of crops according to a third embodiment of the present invention, and FIG. 9 is a perspective view seen from the left side of FIG. 8 . 8 to 9 , the gripper 3 of the third embodiment includes first and second gripping parts 120 and 220 , first and second cutting parts 130 on upper and lower sides of the guide bar 27 , 230) and first and second transfer units 140 and 240 .

That is, the gripper 3 of the third embodiment is provided with the two grippers 2 of the second embodiment symmetrically up and down. The gripper 3 of the third embodiment is configured such that the gripper 2 disposed at the upper side and the gripper 4 disposed at the lower side operate independently of each other.

Therefore, the gripper of the third embodiment can increase the harvesting efficiency of crops more than when one gripper 1, 2 is used as in the first and second embodiments.

In the description of the third embodiment, the description of the first gripper 120 , the first cut part 130 , and the first transfer part 140 that form the gripper 2 of the second embodiment is omitted, and the added gripper 4 is omitted. ) will be described with respect to the second gripping part 220 , the second cutting part 230 , and the second conveying part 240 .

The second gripper 220 is configured to be gripped by the other second clamping finger 212 and the guide bar 27 . That is, the second tongs finger 212 is mounted on one side of the frame 210 to push and hold the crops hung on the crop stems toward the guide bar 27 .

The second cutting unit 230 is configured to be cut into the 21st blade 511 and the 22nd blade 512 fixed to the guide bar 27 . That is, the 21st blade 511 is provided on the side of the second tongs finger 212, and the second tongs finger 212 is pushed to the side of the guide bar 27 to move the gripped crops together with the 22nd blade 512. cut

The second transfer unit 240 is configured to transfer to the second transfer belt 412 and the guide bar 27 . That is, the second transfer belt 412 is mounted on the other side of the frame 310 and connected to the second gripper 220 to transfer the crops cut by the 21st blade 511 and the 22nd blade 512 . .

The second transfer unit 240 includes a tension pulley 432 and an outer tension pulley 442 on the frame 310 on which the second gripper 220 is mounted, and the second clamp finger of the second gripper 220 . A turning pulley 452 is provided at 212 .

The tension pulley 432 adjusts the tension of the second transfer belt 412 . The second transfer belt 412 is connected to the fourth driving pulley 523 , the tension pulley 432 , the outer tension pulley 442 , and the turning pulley 452 .

10 is a perspective view of transferring parts (bolts) to a continuous picking and transfer gripper according to a fourth embodiment of the present invention, and FIG. 11 is a continuous picking and transfer gripper according to a fourth embodiment of the present invention. It is a perspective view of transporting

10 and 11, the continuous picking and transport gripper 4 of the fourth embodiment is applied to picking and transporting parts manufactured in a factory. Unlike the grippers 1, 2, 3 used for agricultural products, this gripper 4 does not have a cut-out part.

Accordingly, the gripper 4 of the fourth embodiment includes the gripper 20 and the transfer unit 440 . The gripper 20 is mounted on one side of the frame 410 to grip the factory-manufactured parts (eg, the bolt (B), the spacer (S)) with the tongs 21 . The spacer may be replaced by a nut or a bushing.

The transfer unit 440 is mounted on the other side of the frame 410 to transport the parts (eg, bolts B, spacers S) gripped by the tongs 21 by a distance set in the gripping unit 20 . It is transferred to a transfer belt (41; 411, 412) connected to the branch (20).

The conveying belt 41 is formed of a pair of first and second conveying belts 411 and 412 maintaining the interval set by the conveying unit 440, and parts (eg, bolts B) gripped by the gripper 20 ), the spacer (S) is transferred in a state of being gripped between each other.

The clamp 21 of the grip unit 20 includes a pair of clamp fingers 211 and 212 mounted on one side of the frame 410 by a pair of first axes S11 and S12. The pair of tongs fingers 211 and 212 are operated about the pair of first axes S11 and S12 to grip or release parts (eg, bolts B and spacers S).

The pair of first and second transfer belts 411 and 412 are respectively extended from the transfer unit 440 and installed on the pair of clamp fingers 211 and 212, respectively, of the pair of clamp fingers 211 and 212. The grip and release action grips or releases a part (eg bolt (B), spacer (S)).

Although preferred embodiments of the present invention have been described above, the present invention is not limited thereto, and various modifications can be made within the scope of the claims, the description of the invention, and the accompanying drawings, and this is also It goes without saying that it falls within the scope of the invention.

1, 2, 3, 4: Gripper 10, 210, 310, 410: Frame
11: first driving unit 20: gripping unit
21: clamp 27: guide bar
30: cut part 31: cutter
32: second driving unit 40, 440: transfer unit
41: conveying belt 42: third driving part
111: first driving gear 112: first driven gear
115: first driving motor 120, 220: first and second gripping part
130, 230: first and second cut parts 140, 240: first and second transfer parts
211: (first) forefinger 212: (second) forefinger
311: (11th) blade 312: (12th) blade
321: second driving gear 322: second driven gear
323: second drive motor 411: (first) transfer belt
412: (second) transfer belt 421: third drive gear
422: third driven gear 423: third drive pulley
424: third driven pulley 425: third driving motor
431, 432: tension pulley 441, 442, 443, 444: outer tension pulley
451, 452: turning pulley 511: blade 21
512: the 22nd blade 523: the fourth drive pulley
B: Bolt S: Spacer
S11, S12: 1st (11th, 12th) axis S21, S22: 2nd axis
S31: the 31st axis S32: the 32nd axis

Claims (17)

a gripper mounted on one side of the frame to grip the crops attached to the crop stems with tongs;
a cutting unit mounted on one side of the holding unit to cut the crops held by the tongs with a cutter provided on the side of the tongs; and
A transfer unit mounted on the other side of the frame to transfer the crops cut by the cutter to a conveying belt connected to the holding unit so as to transport the crops cut by the cutter by a distance set in the holding unit
includes,
the conveying belt
formed in pairs,
Continuous picking and transfer grippers respectively extending from the transfer unit and installed in the tongs to grip crops between each other. According to claim 1,
the frame is
A continuous picking and transfer gripper having a length set to form the transfer portion. According to claim 1,
the conveying belt
Continuous picking and transfer grippers formed as a pair in close contact with each other in the transfer unit to transfer crops before and after cutting in a state of gripping each other. 3. The method of claim 2,
the tongs
A pair of tongs fingers mounted on one side of the frame as a pair of first shafts and operated around the pair of first shafts to grip or release
A continuous picking and transfer gripper comprising a. 5. The method of claim 4,
A pair of the conveying belts
Continuous picking and transfer grippers respectively installed on the pair of tongs fingers. 5. The method of claim 4,
The grip part
Further comprising a first driving unit for operating the pair of tongs fingers,
The first driving unit
a first driving gear connected to one of the pair of tongs fingers;
a first driven gear gear-coupled to the first driving gear and connected to another clamp finger;
and
a first drive motor for driving the first drive gear
A continuous picking and transfer gripper comprising a. 5. The method of claim 4,
the cutter
A pair of blades mounted as a pair of second shafts in the frame and operated around the pair of second shafts to cut or release
A continuous picking and transfer gripper comprising a. 8. The method of claim 7,
the cut part
Further comprising a second driving unit for operating the pair of blades,
The second driving unit
a second driving gear connected to one of the pair of blades;
a second driven gear gear-coupled to the second driving gear and connected to the other blade; and
a second drive motor for driving the second drive gear
A continuous picking and transfer gripper comprising a. 4. The method of claim 3,
the transfer unit
Further comprising a third driving unit for operating a pair of conveying belts,
The third driving unit
a third drive pulley connected to one of the pair of conveying belts;
a third drive gear connected to one side of the third drive pulley;
A third driven pulley connected to the other conveying belt,
a third driven gear connected to one side of the third driven pulley and gear-coupled to the third driving gear; and
a third drive motor for driving the third drive gear
A continuous picking and transfer gripper comprising a. 10. The method of claim 9,
the transfer unit
A pair of tension pulleys and a pair of outer tension pulleys are provided in the frame to which the gripper is mounted,
A pair of turning pulleys is provided on a pair of tongs fingers of the gripping part,
One transfer belt is connected to the third drive pulley, one tension pulley, one outer tension pulley and one turning pulley,
Connecting another conveying belt to the third driven pulley, another tension pulley, another outer tension pulley and another turning pulley
Continuous picking and transfer grippers. a guide bar provided on the side of the frame and disposed in the longitudinal direction of the frame;
a first gripper mounted on one side of the frame to push the crops attached to the crop stem toward the guide bar to grip one first tongs finger and the guide bar;
a first cutting part for pushing the crops held by the guide bar and the first tongs to the guide bar to cut the eleventh blade provided on the side of the first tongs and the twelfth blade fixed to the guide bar; and
A first transfer unit mounted on the other side of the frame to transfer the crops cut by the eleventh blade and the twelfth blade to a first transfer belt connected to the first gripping unit
A continuous picking and transfer gripper comprising a. 12. The method of claim 11,
The first transfer belt is
It extends from the first transfer unit and is installed on the first tongs finger
Continuous picking and transfer grippers. 12. The method of claim 11,
a second gripper mounted on one side of the frame to push the crops attached to the crop stem toward the guide bar to grip the other second tongs finger and the guide bar;
a second cutting part for pushing the crops held by the guide bar and the second tongs to the guide bar to cut the other 21 blades provided on the side of the second tongs and the 22nd blades fixed to the guide bar; and
A second transfer unit mounted on the other side of the frame to transfer the crops cut by the 21st blade and the 22nd blade to a second transfer belt connected to the second gripper
Continuous picking and transfer gripper further comprising a. 14. The method of claim 13,
The second transfer belt is
extended from the second transfer unit and installed on the second tongs finger
Continuous picking and transfer grippers. a gripper mounted on one side of the frame to grip the parts manufactured in the factory with tongs; and
A transfer unit mounted on the other side of the frame to transfer the parts gripped by the tongs to a conveying belt connected to the gripping part so as to transport the parts held by the tongs by a distance set in the gripping part
includes,
the conveying belt
formed in pairs,
A continuous picking and transfer gripper extending from the transfer unit and respectively installed in the tongs to grip parts between each other. 16. The method of claim 15,
the conveying belt
A continuous picking and transfer gripper formed in a pair that maintains a set interval in the transfer unit and transfers parts while gripping each other. 17. The method of claim 16,
the tongs
A pair of tongs fingers mounted on one side of the frame as a pair of first shafts and operated around the pair of first shafts to grip or release
including,
A pair of the conveying belts
Continuous picking and transfer grippers respectively installed on the pair of tongs fingers.

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