CN210695008U - Fruit and vegetable picking actuator based on integration of flexible grasping and clamping shear - Google Patents
Fruit and vegetable picking actuator based on integration of flexible grasping and clamping shear Download PDFInfo
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- CN210695008U CN210695008U CN201921377488.4U CN201921377488U CN210695008U CN 210695008 U CN210695008 U CN 210695008U CN 201921377488 U CN201921377488 U CN 201921377488U CN 210695008 U CN210695008 U CN 210695008U
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Abstract
The utility model provides a fruit vegetables picking executor based on it is flexible grab to hold and cut integrative with pressing from both sides, its characterized in that: comprises a clamping and shearing mechanism and a grasping mechanism; the clamping and shearing mechanism comprises a first shearing blade, a second shearing blade and a joint shaft, wherein the first shearing blade and the second shearing blade are hinged with each other; the first cutting edge is provided with a guide groove, and the second cutting edge is provided with a movable groove; the guide groove and the movable groove form an included angle; the joint shaft is movably arranged at the superposed position of the guide groove and the movable groove; the first shear blade is provided with a shear driving device; the joint shaft is connected with the shearing driving device; one side of the first shear blade, which is close to the grasping mechanism, is provided with a first clamping piece, and one side of the second shear blade, which is close to the grasping mechanism, is provided with a second clamping piece; the gripping mechanism comprises a gripping base and at least two soft fingers; the grasping base is connected with the first shearing blade. The fruit and vegetable picking actuator can improve the working efficiency, reduce the labor cost, improve the nondestructive picking rate of fruits and vegetables and provide enough shearing force to cut off fruit stalks.
Description
Technical Field
The utility model relates to a fruit vegetables pick technical field, more specifically say, relate to a fruit vegetables pick executor based on flexible grab is held and is cut integrative with clamp.
Background
China is a main production country of string-type fruits such as litchis, grapes and the like, but in the picking process of the string-type fruits, people still mainly rely on manual picking, the labor degree is high, and certain labor cost is occupied. With the aging population and the reduction of labor force, the problems of fruit damage, timely picking and the like gradually emerge. While the intelligent industries such as robot technology and the like are continuously developed and mature, the industrial 4.0 is proposed, and the policies such as the Chinese manufacturing 2025 are successively proposed and deepened, no profound change occurs in the manufacturing industry, and the robot gradually replaces the human labor. If the manipulator is applied to picking of string-type fruits, the fruit picking can be mechanically, automatically and intelligently carried out, the agricultural production environment is effectively improved, and the progress of agricultural science and technology is promoted.
The invention discloses an end effector of a string type fruit picking robot (publication number: CN 106233938A). The end effector mainly comprises a lifting mechanism, a clamping mechanism and a cutting mechanism, fruit stalks are clamped by the clamping mechanism, when the clamping force reaches a preset value, the lifting mechanism is started, and the cutting mechanism is started after the lifting is in place. However, the shearing mechanism of the actuator adopts a steering engine, and the situation of insufficient shearing force can occur under the condition of a slightly larger fruit stalk diameter. In addition, the lifting mechanism of the actuator adopts a tray mode to lift the stringed fruits, and the stringed fruits are easily damaged in the process of falling into the tray, so that the quality of the stringed fruits is influenced.
The soft fingers are cast and molded by flexible materials under a special process; the soft finger can be inflated or sucked through the air passage, and can realize self-adaptive gripping on objects with different shapes and sizes under the characteristic of the flexible material. Therefore, the soft fingers are an ideal scheme for supporting the stringed fruits in the stringed fruit picking process. However, the existing flexible clamping jaw with soft fingers has a fixed finger base, and the positions of the soft fingers cannot be flexibly changed according to the fruit stringing characteristics, so that the protection effect of the soft fingers on fruit stringing is limited when the soft fingers lift fruit stringing.
SUMMERY OF THE UTILITY MODEL
For overcoming the shortcoming and not enough among the prior art, the utility model aims to provide a based on flexible grab hold with press from both sides cut integrative, can improve work efficiency, reduce labour cost, improve the harmless picking rate of fruit vegetables, provide enough shearing force and cut off the fruit vegetables harvesting executor of fruit stalk.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides an executor is picked to fruit vegetables based on it is flexible grab to grab and cut integrative with pressing from both sides, its characterized in that: comprises a clamping and shearing mechanism and a grasping mechanism;
the clamping and shearing mechanism comprises a first shearing blade, a second shearing blade and a combined shaft, wherein the first shearing blade and the second shearing blade are hinged with each other; the first cutting edge is provided with a guide groove, and the second cutting edge is provided with a movable groove; the guide groove and the movable groove form an included angle, and the guide groove and the movable groove are partially overlapped; the joint shaft is movably arranged at the superposed position of the guide groove and the movable groove;
the first shear blade is provided with a shear driving device; the joint shaft is connected with the shearing driving device so as to drive the joint shaft to move along the length direction of the guide groove, and the joint shaft drives the second shearing blade to rotate around a hinge point of the first shearing blade and the second shearing blade so as to realize shearing or opening; one side of the first shear blade, which is close to the grasping mechanism, is provided with a first clamping piece, and one side of the second shear blade, which is close to the grasping mechanism, is provided with a second clamping piece;
the gripping mechanism comprises a gripping base and at least two soft fingers arranged on the gripping base; the grasping base is connected with the first shearing blade.
The utility model discloses fruit vegetables picking executor's theory of operation is: firstly, acquiring the shapes and sizes of fruits and vegetables through visual identification so as to obtain the grasping positions of the fruits and the vegetables and the clamping and shearing positions of fruit stalks; the shape and size of the fruits and vegetables can be identified by adopting the prior art; then, the grasping mechanism grasps the fruits and vegetables by using soft fingers; then, the shearing driving device drives the joint shaft to move along the length direction of the guide groove, and the joint shaft drives the second shearing blade to rotate around a hinge point of the first shearing blade and the second shearing blade so that the first shearing blade and the second shearing blade are sheared to realize fruit stem shearing; the first clamping piece and the second clamping piece are close together along with the first shearing edge and the second shearing edge, so that the fruit stalks are clamped by the first clamping piece and the second clamping piece after being sheared. The fruit and vegetable picking actuator can rapidly pick fruits and vegetables, improve the working efficiency and reduce the labor cost; the soft fingers are firstly adopted to grab the fruits and vegetables and then shear and clamp the fruit stalks, so that the nondestructive picking rate of the fruits and vegetables can be improved.
Because the distances between different positions of the guide groove and the hinge point are different, the distance between the joint shaft and the hinge point is changed in the process of moving along the length direction of the guide groove, and the joint of the joint shaft and the second shearing blade cannot be fixed at the same position, so that the second shearing blade is provided with a movable groove to match the change of the distance between the joint shaft and the hinge point, and the joint shaft is linked with the second shearing blade when moving along the length direction of the guide groove; simple and ingenious structure is favorable to alleviateing the whole weight of fruit vegetables harvesting executor. The shearing driving device is adopted to drive the joint shaft to do linear motion to link the two shearing blades for shearing, so that enough shearing force can be provided for shearing fruit stalks, and the picking speed is accelerated.
Preferably, the cutting edge of the first shear blade is concave arc-shaped; the cutting edge of the second cutting edge is provided with an outer convex arc shape.
Preferably, the clamping part of the first clamping piece is arranged along the cutting edge direction of the first shear blade, and the clamping part of the first clamping piece is in a wave boss shape; and a clamping gap is reserved between the second clamping piece and the first clamping piece. When the first cutting edge and the second cutting edge rapidly cut off the fruit stalks, the first clamping piece and the second clamping piece clamp the fruit stalks, so that the vibration impact on the fruits and vegetables at the cutting moment can be relieved, the fruits and vegetables after the fruit stalks are cut off can be supported, and particularly, the fruits and vegetables in the cluster type, such as grapes, can be prevented from being damaged due to the fact that upper fruits are inclined downwards.
Preferably, the gripping base comprises a mount, a fixed jaw mount and at least two rotating jaw mounts; the number of the soft fingers is at least three; each soft finger is respectively connected to the fixed claw mounting rack and the rotating claw mounting rack;
the fixed claw mounting frame is connected with the mounting seat; each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the soft finger connected with the rotary claw mounting frame rotates to realize position adjustment.
The working principle of the gripping mechanism is as follows: the rotary driving mechanism drives each rotary claw mounting rack to rotate, so that a soft finger connected with the rotary claw mounting racks rotates to realize position adjustment; all the soft fingers form various gripping forms, so that the gripping device is suitable for gripping more types of fruits and vegetables, the universality of the equipment is improved, and the use cost is reduced.
Preferably, the number of the rotating claw mounting brackets is two; the two rotary claw mounting frames are hinged with the mounting seat at the same hinge position; the rotary driving mechanism comprises a linear motion driver connected to the mounting seat and a linkage piece;
the linear motion driver is connected with the linkage piece so as to realize that the linear motion driver drives the linkage piece to move; the two rotating claw mounting frames are respectively rotatably connected with the linkage piece, and the two connecting points are positioned on two sides of the movement axis; the movement axis refers to a movement axis passing through the hinge point and being parallel to the driving direction of the linear motion driver.
The linear motion driver drives the linkage piece to move, and the linkage piece drives the two rotary claw mounting frames to rotate around the hinge joint in opposite directions through the connecting points respectively so as to realize closing or rotate around the hinge joint in a back direction so as to realize separation; therefore, the three pneumatic soft fingers connected with the rotating claw mounting frame and the fixed claw mounting frame can form a parallel gripping form or a wrapping gripping form; in the wrapped gripping configuration, the pneumatic soft fingers connected by the two rotating claw mounting frames can also be adjusted to different positions to form a wrapped gripping configuration with multiple angles. This grab and hold mechanism can realize two and grab the conversion of holding the form scheme, has enlarged and has grabbed the fruit vegetables type scope of holding, and is safer, convenient, high-efficient. The rotary driving mechanism is simple and ingenious, the two rotary claw mounting frames can effectively rotate around the hinged position, and the position adjustment of the pneumatic soft finger is realized. For the string-shaped fruits and vegetables which are long in length and distributed in irregular shapes, a wrapping type grasping form is preferably adopted; the fruit and vegetable of short length and regular inverted cone shape in string form or single fruit form is preferably held in parallel.
Preferably, the two rotating claw mounting frames are respectively provided with a rotating hole; the linkage piece is provided with a long guide hole along the direction of the motion axis; the mounting seat is connected with a connecting piece; the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary hole of the rotary claw mounting frame and the long guide hole of the linkage piece.
Preferably, the linkage member is a cam member; the rotating claw mounting frame is provided with a guiding position matched with the motion track of the edge of the cam piece. The arrangement of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting rack; the rotary jaw mounting bracket is preferably adapted to translate linear motion of the linear motion actuator into rotational motion of the rotary jaw mounting bracket by virtue of the urging force of the cam member in addition to the urging force of the point of attachment to the cam member.
Preferably, the soft fingers are adjustably connected to the stationary jaw mounting bracket and the rotating jaw mounting bracket, respectively. The advantage of this setting can be according to the size of a dimension and the kind of snatching the fruit vegetables and adjust the distance of each pneumatic software finger, makes to grab and hold the mechanism and can better with various fruit vegetables phase-match, further improves the commonality.
Preferably, the gripping base is connected to the first cutting edge by a lifting device. The lifting device can adopt the prior art, such as a cylinder; the distance between the grasping mechanism and the clamping and shearing mechanism can be adjusted according to the shape, the size and the fruit stalk retaining length of the fruits and vegetables through visual identification, so that the grasping position and the fruit stalk clamping and shearing position of the fruits and vegetables can be adjusted.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:
1. the fruit and vegetable picking actuator can rapidly pick fruits and vegetables, improve the working efficiency and reduce the labor cost; the nondestructive picking rate of fruits and vegetables can be improved;
2. the clamping and shearing mechanism of the fruit and vegetable picking actuator is simple and portable, the initial opening angle between the first shearing blade and the second shearing blade can be opened by a larger angle, the fault tolerance of aligning fruit stalks before shearing is higher, the accuracy of positioning and shearing the fruit stalks can be reduced, and the fruit and vegetable picking efficiency is accelerated; the shearing driving device is adopted to drive the combined shaft to do linear motion so as to link the second shearing edge to realize shearing, so that enough shearing force can be provided to shear the fruit stalks, and the picking speed is accelerated;
3. the fruit and vegetable picking actuator of the utility model adopts the first clamping part and the second clamping part to clamp the fruit stalks, so that the vibration impact on the fruits and vegetables at the shearing moment can be reduced, the fruits and vegetables after the fruit stalks are sheared can be supported, and the fruit damage caused by the downward tilting of the upper fruits can be avoided;
4. all soft fingers of the gripping mechanism of the fruit and vegetable picking actuator can form various gripping forms, so that the gripping mechanism is suitable for gripping more types of fruits and vegetables, the universality of equipment is improved, and the use cost is reduced;
5. the utility model discloses fruit vegetables are picked adjustable grabbing of executor and are held the distance between the mechanism and press from both sides the shearing mechanism to the position is cut to the position and the fruit stalk clamp of grabbing of adjustment fruit vegetables.
Drawings
Fig. 1 is a schematic structural view of the fruit and vegetable picking actuator in a wrapping gripping form;
FIG. 2 is a schematic structural view of the fruit and vegetable picking actuator in a parallel gripping configuration;
FIG. 3 is a schematic structural view of a clamping and shearing mechanism in the fruit and vegetable picking actuator of the present invention;
fig. 4 is an exploded view of the gripping mechanism in the fruit and vegetable picking actuator of the present invention;
FIG. 5 is a schematic view of another gripping mechanism of the fruit and vegetable picking actuator according to the present invention in a wrapped gripping configuration;
FIG. 6 is a schematic structural view of another gripping mechanism of the fruit and vegetable picking actuator according to the present invention in a parallel gripping configuration;
fig. 7 is an exploded view of another gripping mechanism of the fruit and vegetable picking actuator of the present invention;
FIG. 8 is an exploded view of the fixed jaw mounting bracket, the rotating jaw mounting bracket and the linkage member of another grasping mechanism of the fruit and vegetable picking actuator of the present invention;
FIG. 9 is a schematic view of the gripping of another gripping mechanism in a wrapped gripping configuration for the fruit and vegetable picking actuator of the present invention;
FIG. 10 is an open view of another gripping mechanism of the fruit and vegetable picking actuator of the present invention in a wrapped gripping configuration;
FIG. 11 is a schematic view of another gripping mechanism of the fruit and vegetable picking actuator of the present invention in a side-by-side gripping configuration;
FIG. 12 is an opening schematic view of another side-by-side grasping configuration of the grasping mechanism of the fruit and vegetable picking actuator of the present invention;
fig. 13 is a flow chart of the fruit and vegetable picking actuator of the present invention;
wherein, 1 is the stationary dog mounting bracket, 2 is the rotatory claw mounting bracket, 3 is the linkage, 4 is the cylinder that is used for driving the linkage, 5 is cylinder mounting bracket one, 6 is the connecting piece, 7 is the cutting edge two, 8 is the cutting edge one, 9 is the cylinder that is used for driving the joint axle, 10 is cylinder mounting bracket two, 11a is the clamping piece one, 11b is the clamping piece two, 12 is the joint axle, 13 is the software finger, 14 is elevating gear, 15 is the mount pad, 16 is microscler guiding hole, 17 is the commentaries on classics hole, 18 is the direction, 19 is the boss, 20 is the linkage mounting hole.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
The fruit and vegetable picking actuator based on the flexible gripping and clamping shear is structurally shown in fig. 1 to 12 and comprises a clamping shear mechanism and a gripping mechanism.
The clamping and shearing mechanism comprises a first shearing blade 8, a second shearing blade 7 and a joint shaft 12, wherein the first shearing blade and the second shearing blade are hinged with each other; the first shear blade 8 is provided with a guide groove, and the second shear blade 7 is provided with a movable groove; the guide groove and the movable groove form an included angle, and the guide groove and the movable groove are partially overlapped; the joint shaft 12 is movably arranged at the superposed position of the guide groove and the movable groove;
the first shear blade 8 is provided with a shear driving device; in the present embodiment, the shear driving device adopts the prior art, such as the air cylinder 9; the joint shaft 12 is connected with the air cylinder 9, so that the air cylinder 9 drives the joint shaft 12 to move along the length direction of the guide groove, and the joint shaft 12 drives the second shearing blade 7 to rotate around a hinge point of the first shearing blade 8 and the second shearing blade 7 to realize shearing or opening; one side of the first shear blade 8 close to the grasping mechanism is provided with a first clamping piece 11a, and one side of the second shear blade 7 close to the grasping mechanism is provided with a second clamping piece 11 b.
The cutting edge of the first shear blade 8 is provided with an inward concave arc shape; the cutting edge of the second cutting edge 7 is provided with an outer convex arc shape. The clamping part of the first clamping piece 11a is arranged along the cutting edge direction of the first shear blade 8, and the clamping part of the first clamping piece 11a is in the shape of a wavy boss 19; a clamping gap is reserved between the second clamping piece 11b and the first clamping piece 11 a.
The gripping mechanism comprises a gripping base and at least two soft fingers 13 arranged on the gripping base; the number of the soft fingers 13 can be two, three, four or more, and the soft fingers can grip fruits and vegetables.
The gripping base is connected to the first cutting edge 8 by a lifting device 14. In this embodiment, the lifting device 14 may be a conventional device, such as a pneumatic cylinder. The distance between the grasping mechanism and the clamping and shearing mechanism can be adjusted according to the shape, the size and the fruit stalk retaining length of the fruits and vegetables through visual identification, so that the grasping position and the fruit stalk clamping and shearing position of the fruits and vegetables can be adjusted.
In this embodiment, the gripping base comprises a mounting seat 15, a fixed jaw mounting frame 1 and at least two rotating jaw mounting frames 2; each soft finger 13 is connected to the fixed claw mounting frame 1 and the rotating claw mounting frame 2, respectively. The number of soft fingers 13 is at least three, such as three, four, five or more; the number of rotating claw mounts is at least two, such as two, three, four, or more.
The fixed claw mounting frame 1 is connected with the mounting seat 15; each rotating claw mounting frame 2 is connected with the mounting seat 15 through a rotating driving mechanism respectively to realize that the rotating driving mechanism drives the rotating claw mounting frame 2 to rotate, so that the soft finger 13 connected with the rotating claw mounting frame 2 rotates to realize position adjustment.
The rotary driving mechanism drives each rotary claw mounting rack 2 to rotate, so that the soft finger 13 connected with the rotary claw mounting rack 2 rotates to realize position adjustment; all the soft fingers 13 form various gripping forms, so that the fruit and vegetable gripping device is suitable for gripping more types of fruits and vegetables, the universality of the equipment is improved, and the use cost is reduced.
The further scheme is as follows: the number of the rotary claw mounting frames 2 is two; the two rotary claw mounting frames 2 are hinged with the mounting seat 15 at the same hinge position; the rotary drive mechanism comprises a linear actuator attached to the mounting block 15, and a linkage 3. The linear actuator may be of the known art, such as a pneumatic cylinder 4.
One solution of the gripping mechanism of the present embodiment is: the fixed jaw mounting frame 1 and the mounting seat 15 are of an integral structure, as shown in fig. 4; the other scheme is as follows: the claw mount 1 is designed separately from the mount 15, as shown in fig. 5 to 12.
The cylinder 4 is connected with the linkage piece 3 so as to realize that the cylinder 4 drives the linkage piece 3 to move; the two rotary claw mounting frames 2 are respectively rotatably connected with the linkage piece 3, and two connecting points are positioned at two sides of the motion axis; the axis of movement refers to the axis of movement through the hinge point and parallel to the direction of actuation of the cylinder 4.
The fixed claw mounting rack 1 is provided with a mounting groove 21; the two rotary claw mounting frames 2 are respectively attached to the upper bottom surface and the lower bottom surface of the linkage piece 3 and are embedded into the linkage mounting holes 20 through bosses 19 to realize rotatable connection with the upper bottom surface and the lower bottom surface of the linkage piece 3; the joints of the two rotary claw mounting frames 2 and the linkage piece 3 are embedded in the mounting groove 21, and the joints of the two rotary claw mounting frames 2 and the linkage piece 3 are positioned through groove walls on two sides of the mounting groove 21. The fixed claw mounting frame 1 and the linkage piece 3 are mutually positioned.
The two rotary claw mounting frames 2 are respectively provided with a rotary hole 17; the linkage piece 3 is provided with a long guide hole 16 along the direction of the motion axis; the mounting seat 15 is connected with a connecting piece 6; the rotating claw mount 2, the link 3 and the mount 15 are coupled together by the connecting member 6 passing through the rotation hole 17 of the rotating claw mount 2 and the elongated guide hole 16 of the link 3.
The linear motion driver drives the linkage piece 3 to move, and the linkage piece 3 respectively drives the two rotary claw mounting frames 2 to rotate around the hinge joint in opposite directions through the connecting point so as to realize closing or rotate around the hinge joint in a back direction so as to realize separation; therefore, the three pneumatic soft fingers 13 connected with the rotating claw mounting frame 2 and the fixed claw mounting frame 1 can form a side-by-side gripping form or a wrapping gripping form; in the wrapped gripping configuration, the pneumatic soft fingers 13 connected to the two rotating claw mounts 2 can also be adjusted to different positions to form a wrapped gripping configuration at various angles. This grab and hold mechanism can realize two and grab the conversion of holding the form scheme, has enlarged and has grabbed the fruit vegetables type scope of holding, and is safer, convenient, high-efficient. The rotary driving mechanism is simple and ingenious, the two rotary claw mounting frames 2 can effectively rotate around the hinged position, and the position of the pneumatic soft finger 13 can be adjusted. For the string-shaped fruits and vegetables which are long in length and distributed in irregular shapes, a wrapping type grasping form is preferably adopted; the fruit and vegetable of short length and regular inverted cone shape in string form or single fruit form is preferably held in parallel.
The linkage piece 3 is a cam piece; the rotary claw mounting 2 is provided with a guide 18 matching the path of the cam element edge. The arrangement of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting rack 2; the rotary jaw mounting 2 is preferably adapted to convert linear motion of the linear motion actuator into rotational motion of the rotary jaw mounting 2 by the urging force of the cam member in addition to the urging force of the point of attachment to the cam member.
The soft fingers 13 are respectively and adjustably connected with the fixed claw mounting frame 1 and the rotating claw mounting frame 2. The advantage of this setting is that can adjust the distance of each pneumatic software finger 13 according to the size and the kind of snatching the fruit vegetables, makes the mechanism of grabbing can better with various fruit vegetables phase-match, further improves the commonality.
The picking method of the fruit and vegetable picking actuator based on the integration of the flexible grip and the clamp shear is shown in fig. 13, and comprises the following steps:
firstly, acquiring the shapes and sizes of fruits and vegetables through visual identification so as to obtain the grasping positions of the fruits and the vegetables and the clamping and shearing positions of fruit stalks; the shape and size of the fruits and vegetables can be identified by adopting the prior art; the grasping form of the grasping mechanism is adjusted according to the fruit and vegetable form; the height of the clamping and shearing mechanism is adjusted according to the fruit and vegetable grasping position and the fruit stalk clamping and shearing position, so that the distance between the clamping and shearing mechanism and the grasping mechanism is matched with the fruit and vegetable grasping position and the fruit stalk clamping and shearing position;
secondly, flexibly grasping the fruits and vegetables by using soft fingers;
thirdly, the shearing driving device enables the first shearing edge and the second shearing edge to be sheared to realize the shearing of the fruit stalks; the first clamping piece and the second clamping piece approach together along with the shearing of the first shearing edge and the second shearing edge, and the fruit stalks are clamped by the first clamping piece and the second clamping piece after being sheared;
fourthly, flexibly gripping the fruits by using soft fingers, and gripping the fruit stalks by using the first clamping piece and the second clamping piece to lift the fruits and the vegetables, and moving the fruits and the vegetables to a placing position;
fifthly, resetting the shearing driving device to enable the first clamping piece and the second clamping piece to loosen fruit stalks; the soft fingers loosen the fruits and vegetables.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (9)
1. The utility model provides an executor is picked to fruit vegetables based on it is flexible grab to grab and cut integrative with pressing from both sides, its characterized in that: comprises a clamping and shearing mechanism and a grasping mechanism;
the clamping and shearing mechanism comprises a first shearing blade, a second shearing blade and a combined shaft, wherein the first shearing blade and the second shearing blade are hinged with each other; the first cutting edge is provided with a guide groove, and the second cutting edge is provided with a movable groove; the guide groove and the movable groove form an included angle, and the guide groove and the movable groove are partially overlapped; the joint shaft is movably arranged at the superposed position of the guide groove and the movable groove;
the first shear blade is provided with a shear driving device; the joint shaft is connected with the shearing driving device so as to drive the joint shaft to move along the length direction of the guide groove, and the joint shaft drives the second shearing blade to rotate around a hinge point of the first shearing blade and the second shearing blade so as to realize shearing or opening; one side of the first shear blade, which is close to the grasping mechanism, is provided with a first clamping piece, and one side of the second shear blade, which is close to the grasping mechanism, is provided with a second clamping piece;
the gripping mechanism comprises a gripping base and at least two soft fingers arranged on the gripping base; the grasping base is connected with the first shearing blade.
2. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 1, wherein: the cutting edge of the first shear blade is provided with an inward concave arc shape; the cutting edge of the second cutting edge is provided with an outer convex arc shape.
3. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 2, wherein: the clamping part of the first clamping piece is arranged along the cutting edge direction of the first shear blade and is in a wave boss shape; and a clamping gap is reserved between the second clamping piece and the first clamping piece.
4. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 1, wherein: the gripping base comprises a mounting seat, a fixed jaw mounting frame and at least two rotating jaw mounting frames; the number of the soft fingers is at least three; each soft finger is respectively connected to the fixed claw mounting rack and the rotating claw mounting rack;
the fixed claw mounting frame is connected with the mounting seat; each rotary claw mounting frame is connected with the mounting seat through a rotary driving mechanism respectively to realize that the rotary driving mechanism drives the rotary claw mounting frame to rotate, so that the soft finger connected with the rotary claw mounting frame rotates to realize position adjustment.
5. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 4, wherein: the number of the rotary claw mounting frames is two; the two rotary claw mounting frames are hinged with the mounting seat at the same hinge position; the rotary driving mechanism comprises a linear motion driver connected to the mounting seat and a linkage piece;
the linear motion driver is connected with the linkage piece so as to realize that the linear motion driver drives the linkage piece to move; the two rotating claw mounting frames are respectively rotatably connected with the linkage piece, and the two connecting points are positioned on two sides of the movement axis; the movement axis refers to a movement axis passing through the hinge point and being parallel to the driving direction of the linear motion driver.
6. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 5, wherein: the two rotating claw mounting frames are respectively provided with rotating holes; the linkage piece is provided with a long guide hole along the direction of the motion axis; the mounting seat is connected with a connecting piece; the rotary claw mounting frame, the linkage piece and the mounting seat are connected together through the connecting piece penetrating through the rotary hole of the rotary claw mounting frame and the long guide hole of the linkage piece.
7. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 6, wherein: the linkage piece is a cam piece; the rotating claw mounting frame is provided with a guiding position matched with the motion track of the edge of the cam piece.
8. The fruit and vegetable picking actuator based on integration of flexible grip and pinch shear of claim 4, wherein: the soft fingers are respectively and adjustably connected with the fixed claw mounting rack and the rotating claw mounting rack.
9. The fruit and vegetable picking actuator based on flexible grip and clip shear integration of any one of claims 1 to 8, wherein: the grasping base is connected with the first shear blade through a lifting device.
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| CN201921377488.4U CN210695008U (en) | 2019-08-23 | 2019-08-23 | Fruit and vegetable picking actuator based on integration of flexible grasping and clamping shear |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN112720529A (en) * | 2020-12-29 | 2021-04-30 | 中国农业科学院都市农业研究所 | Multi-mechanical-arm cooperation harvesting robot |
| CN113796208A (en) * | 2021-11-04 | 2021-12-17 | 合肥工业大学 | Agricultural picking robot based on machine vision |
| CN114193486A (en) * | 2021-11-18 | 2022-03-18 | 上海大学 | Pneumatic perception end effector of fruit and vegetable picking robot |
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2019
- 2019-08-23 CN CN201921377488.4U patent/CN210695008U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN110432000B (en) * | 2019-08-23 | 2024-06-11 | 佛山科学技术学院 | Fruit and vegetable picking actuator based on integration of flexible gripping and clamping and shearing and picking method thereof |
| CN112720529A (en) * | 2020-12-29 | 2021-04-30 | 中国农业科学院都市农业研究所 | Multi-mechanical-arm cooperation harvesting robot |
| CN112720529B (en) * | 2020-12-29 | 2022-10-04 | 中国农业科学院都市农业研究所 | Multi-mechanical-arm cooperation harvesting robot |
| CN113796208A (en) * | 2021-11-04 | 2021-12-17 | 合肥工业大学 | Agricultural picking robot based on machine vision |
| CN114193486A (en) * | 2021-11-18 | 2022-03-18 | 上海大学 | Pneumatic perception end effector of fruit and vegetable picking robot |
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