Air suction clamping composite picking device

Abstract

The present application discloses an air suction clamping composite picking device, comprising: an air suction component, the air suction component comprises an air suction piece and an air pump, the air suction piece is connected to the air pump, and the air pump transmits the generated suction force to the air suction piece; a telescopic component, the telescopic component comprises a telescopic piece and a connecting piece, one end of the connecting piece is connected to the air suction piece, and the other end is connected to the telescopic piece, and the air suction piece moves with the connecting piece; a clamping component, the clamping component comprises a connecting rod and a finger, one end of the connecting rod is installed on the connecting piece, and the other end is movably connected to the finger; a receiving component, the receiving component comprises a connecting pipe and a receiving piece, one end of the connecting pipe is connected to the receiving piece, and the other end is connected to the telescopic component; the problem of low working efficiency caused by damage to the surface of the fruit due to the inability to control the clamping force when picking fruits by traditional clamping picking manipulators and the need for a mechanical arm to transport the fruit back to a collection frame can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of development of automated picking robots, and in particular to an air suction and clamping composite picking device. Background Art

[0002] Fruits and vegetables are rich in nutrients and are necessities in human life. Fruit and vegetable picking is a labor-intensive job and is the most time-consuming and labor-intensive link in the entire production chain. Existing fruit and vegetable picking operations are mainly completed manually, which has problems such as low efficiency, high cost, and high labor intensity. In recent years, due to the serious shortage of human resources caused by the aging population, the cost of manual picking operations accounts for a high proportion of the total production cost. Therefore, realizing the automation of picking operations has become an urgent need and key technical bottleneck for the deepening development of agriculture. Research on intelligent fruit picking based on agricultural robots has become a hot spot in agricultural development in recent years.

[0003] The traditional clamping end manipulator only clamps the fruit and picks the fruit by pulling and twisting. The force of clamping the fruit cannot be well controlled during picking, which damages the surface of the fruit. In addition, the robotic arm needs to be operated to transport the fruit to the collection frame after picking. The picking efficiency is low. The movement space of the robotic arm will be greatly affected by the space of the fruit tree, and the operation is complicated.

[0004] Therefore, it is necessary to improve the prior art to solve the above problems. Summary of the invention

[0005] The present application provides an air suction clamping composite picking device, which can solve the problem that the traditional clamping picking manipulator cannot control the clamping force when picking fruits, resulting in damage to the fruit surface and the need for a mechanical arm to transport the fruit back to the collection frame, resulting in low work efficiency. The present application provides the following technical solutions:

[0006] An air suction clamping composite picking device is provided, comprising:

[0007] An air suction component, the air suction component comprising an air suction piece and an air pump, the air suction piece is connected to the air pump, and the air pump transmits the generated suction force to the air suction piece;

[0008] A telescopic component, the telescopic component comprising a telescopic member and a connecting member, one end of the connecting member is connected to the air suction member, and the other end of the connecting member is connected to the telescopic member, and the air suction member moves with the connecting member;

[0009] A clamping assembly, the clamping assembly comprising a connecting rod and a finger, one end of the connecting rod is mounted on the connecting member, and the other end is movably connected to the finger;

[0010] The receiving and connecting assembly comprises a connecting pipe and a receiving part, one end of the connecting pipe is connected to the receiving part, and the other end is connected to the telescopic assembly.

[0011] Optionally, the air suction assembly further includes a ventilator having an air suction port, the air suction member is mounted on the air suction port, a ventilator is connected to an outer wall of the ventilator with a ventilator pipe, and the ventilator pipe is connected to the air pump.

[0012] Optionally, the air suction assembly further comprises a support rod, and the support rod is respectively connected to the ventilator and the connecting member.

[0013] Optionally, the ventilator further includes a connecting port, one end of the support rod is inserted into the connecting port, and the support rod is interference fit with the connecting port.

[0014] Optionally, the other end of the support rod is threadedly connected to the connecting piece.

[0015] Optionally, the connecting member further includes a connecting portion, and the connecting rod is pin-connected to the connecting portion.

[0016] Optionally, the connecting rod is connected to the finger pin.

[0017] Optionally, the telescopic assembly further comprises a shell, the telescopic member is partially installed in the shell, the shell comprises a drop tube extending outwardly, and the drop tube is connected to the connecting tube.

[0018] Optionally, an outer side wall of the shell is provided with a movable groove, and the connecting rod reciprocates along the movable groove.

[0019] Optionally, the finger has a contact portion, and the surface of the contact portion corresponding to the object to be picked is recessed inwards.

[0020] The beneficial effects of the present application are: providing an air suction clamping composite picking device with reasonable design, compact structure and high degree of automation, comprising: an air suction component, a telescopic component, a clamping component and a receiving component, the air suction component comprising an air suction piece and an air pump, the air pump transmits the generated suction to the air suction piece, the clamping component comprises a connecting rod and a finger, and the receiving component comprises a connecting pipe and a receiving piece; through the cooperation of the clamping component and the air suction component, after accurately positioning the object to be picked, the air suction piece picks the object to be picked by suction, and the object to be picked falls from the connecting pipe into the receiving piece, which can solve the problem of damage to the surface of the fruit due to the inability to control the clamping force when picking fruits by traditional clamping picking robots and the low work efficiency caused by the need for a robot arm to transport the fruit back to the collection frame.

[0021] The telescopic part can control the movement of the air suction part and the finger at the same time, with a simple mechanical structure and high picking efficiency.

[0022] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0024] Figure 2 This is a partial structural schematic diagram of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0025] Figure 3 This is a partial structural schematic diagram of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0026] Figure 4 This is a partial structural schematic diagram of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of the working state of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0028] Figure 6 This is a schematic diagram of the working state of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0029] Figure 7 This is a schematic diagram of the working state of an air suction and clamping composite picking device provided by an embodiment of the present application;

[0030] Figure 8 It is a schematic diagram of the working state of an air suction and clamping composite picking device provided in one embodiment of the present application.

[0031] Among them: 100-air suction clamping composite picking device, 110-object to be picked, 1-air suction assembly, 11-air suction part, 12-ventilation part, 121-air suction port, 122-connection port, 13-support rod, 14-ventilation pipe, 15-fastening nut, 2-telescopic assembly, 21-telescopic part, 211-cylinder body, 212-piston rod, 22-connecting part, 221-cavity, 222-connecting part, 223-threaded hole, 224-fixing screw Mother, 23-housing, 231-drop tube, 232-slot, 233-locking nut, 234-movable component, 2341-movable housing, 2342-movable cavity, 2343-movable slot, 2344-positioning portion, 235-moving portion, 24-mechanical arm, 3-clamping assembly, 31-connecting rod, 32-fingers, 321-contact portion, 33-connecting pin, 34-positioning pin, 4-receiving assembly, 41-connecting tube, 42-accommodating part. DETAILED DESCRIPTION

[0032] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but are not intended to limit the scope of the present application.

[0033] Figure 1 FIG. 1 is a schematic diagram of the structure of an air suction clamping composite picking device provided by an embodiment of the present application. Figure 1 As shown, the device 100 at least includes: an air suction component 1, the air suction component 1 includes an air suction piece 11 and an air pump (not shown), the air suction piece 11 is connected to the air pump, and the air pump transmits the generated suction force to the air suction piece 11; a telescopic component 2, the telescopic component 2 includes a telescopic piece 21 and a connecting piece 22, one end of the connecting piece 22 is connected to the air suction piece 11, and the other end is connected to the telescopic piece 21, and the air suction piece 11 moves with the connecting piece 22; a clamping component 3, the clamping component 3 includes a connecting rod 31 and a finger 32, one end of the connecting rod 31 is installed on the connecting piece 22, and the other end is movably connected to the finger 32; a receiving component 4, the receiving component 4 includes a connecting pipe 41 and a receiving piece 42, one end of the connecting pipe 41 is connected to the receiving piece 42, and the other end is connected to the telescopic component 2. The air pump generates suction force, so that after the air suction member 11 picks the object 110 to be picked, it falls from the connecting pipe 41 into the receiving member 42, ensuring that the object 110 to be picked is not easily damaged during the picking process.

[0034] Please combine Figure 2 and Figure 3 The air suction assembly 1 also includes a ventilator 12, which has an air suction port 121. The air suction member 11 is installed on the air suction port 121. A ventilator 14 is connected to the outer wall of the ventilator 12. The ventilator 14 is connected to the air pump for transmitting the suction force generated by the air pump to the air suction member 11.

[0035] In one example, the air suction member 11 is fixedly connected to the connecting member 22. Schematically, the ventilating member 12 has a connecting head (not shown) corresponding to the air suction port 121, and the connecting head is welded to the connecting member 22.

[0036] In another example, the air suction assembly 1 further includes a support rod 13, and the air suction member 11 is connected to the connecting member 22 through the support rod 13, and the support rod 13 is respectively connected to the ventilator 12 and the connecting member 22. Specifically, the ventilator 12 further includes a connecting port 122, and one end of the support rod 13 is inserted into the connecting port 122, and the support rod 13 and the connecting port 122 are interference fit. Of course, in other examples, an internal thread can also be provided in the connecting port 122, and one end of the support rod 13 and the connecting port 122 can also be provided with an external thread matching the internal thread, and the connecting port 122 is threadedly connected to the support rod 13.

[0037] The other end of the support rod 13 is threadedly connected to the connecting member 22. In order to ensure that the support rod 13 is more tightly connected to the connecting member 22, in one embodiment, the air suction assembly 1 further includes a fastening nut 15. Accordingly, the connecting member 22 has a centrally hollowed cavity 221, and the fastening nut 15 is placed in the cavity 221.

[0038] The connecting member 22 further includes a connecting portion 222, one end of the connecting rod 31 is pin-connected to the connecting portion 222, and the other end is pin-connected to the finger 32. Specifically, the clamping assembly 3 further includes a connecting pin 33, which is used to flexibly connect the connecting rod 31 to the connecting portion 222, and the connecting pin 33 is also used to flexibly connect the connecting rod 31 to the finger 32.

[0039] like Figure 4 As shown, the telescopic assembly 2 also includes a housing 23, and the telescopic member 21 is partially installed in the housing 23. In one embodiment, the telescopic member 21 is a cylinder, and the cylinder includes a cylinder body 211 and a piston rod 212, and the cylinder body 211 is installed in the housing 23. Specifically, the housing 23 includes a slot 232 for placing the cylinder body 211 and a locking nut 233 for fastening the cylinder body 211. The number of the locking nuts 233 is two, which are respectively located at both ends of the cylinder body 211. Such a design enables the cylinder body 211 to be firmly installed in the housing 23.

[0040] One end of the piston rod 212 is connected to the cylinder body 211, and the other end is connected to the connecting piece 22. In one embodiment, the piston rod 212 is threadedly connected to the connecting piece 22. Specifically, one end of the connecting piece 22 connected to the piston rod 212 has a threaded hole 223, and the piston rod 212 is threadedly connected to the connecting piece 22 through the threaded hole 223. In order to ensure that the connection between the piston rod 212 and the connecting piece 22 is more firmly, in one embodiment, the connecting piece 22 further includes a fixing nut 224 for fastening the piston rod 212 and the connecting piece 22.

[0041] The housing 23 further includes a drop tube 231 extending outward, and the drop tube 231 is connected to the connecting tube 41, so that the object 110 to be picked falls from the drop tube 231 into the receiving member 42 via the connecting tube 41. A movable groove 2343 is provided on the outer wall of the housing 23, and the connecting rod 31 reciprocates along the movable groove 2343. Specifically, the housing 23 further includes an movable assembly 234 for providing space for the air suction member 11 to move, and the movable assembly 234 includes a movable housing 2341 and an movable cavity 2342 formed by the movable housing 2341, and the air suction member 11 moves in the movable cavity 2342, and the movable groove 2343 is located on the outer wall of the movable housing 2341.

[0042] The outer wall of the movable housing 2341 further includes a positioning portion 2344 , and the clamping assembly 3 further includes a positioning pin 34 . The positioning portion 2344 cooperates with the positioning pin 34 to fix one end of the finger 32 relative to the movable housing 2341 .

[0043] The end of the finger 32 has a contact portion 321. In order to reduce the damage of the finger 32 to the object 110 to be picked and prevent the object 110 from falling off during the picking process, in one embodiment, the finger 32 has a contact portion 321, and the contact portion 321 is elliptical and the surface of the contact portion 321 corresponding to the object 110 to be picked is recessed inward.

[0044] Please combine Figure 1 and Figure 4 As shown, the telescopic assembly 2 further includes a mechanical arm 24 for driving the clamping assembly to move arbitrarily, and the mechanical arm 24 is connected to the housing 23. In one embodiment, the housing 23 further includes a moving portion 235, and the end of the mechanical arm 24 is fixedly connected to the moving portion 235. Optionally, the mechanical arm 24 is flange-connected to the moving portion 235.

[0045] Please combine Figures 5 to 8 , Figures 5 to 8 It is a schematic diagram of the working state of the air suction clamping composite picking device. First, the binocular camera shoots the object to be picked 110 to determine the maturity and position of the object to be picked 110. When the object to be picked 110 is not mature, the picking is abandoned; then, according to the position information, the mechanical arm is driven to reach the specified position, that is, the front position of the object to be picked 110; then, the driving piston rod 212 is extended to make the air suction part 11 close to the object to be picked 110, and the finger 32 is controlled to tighten and fix the object to be picked 110, and the air pump is driven to generate suction to suck the object to be picked 110; finally, the driving piston rod 212 is retracted, so that the object to be picked 110 naturally falls into the receiving part through the connecting pipe 41.

[0046] In summary, the air suction clamping composite picking device provided in the present embodiment has a reasonable design, a compact structure, and a high degree of automation, and includes: an air suction component, a telescopic component, a clamping component and a receiving component. The air suction component includes an air suction piece and an air pump. The air pump transmits the generated suction force to the air suction piece. The clamping component includes a connecting rod and a finger. The receiving component includes a connecting tube and a receiving piece. Through the cooperation of the clamping component and the air suction component, after accurately positioning the object to be picked, the air suction piece picks the object to be picked through suction, and the object to be picked falls from the connecting tube into the receiving piece. This can solve the problem of damage to the surface of the fruit due to the inability to control the clamping force when picking fruits by traditional clamping picking robots, and the problem of low work efficiency caused by the need for a robot arm to transport the fruit back to the collection frame.

[0047] The telescopic part can control the movement of the air suction part and the finger at the same time, with a simple mechanical structure and high picking efficiency.

[0048] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An air suction clamping composite picking device, characterized in that: include: An air suction component, the air suction component comprising an air suction piece and an air pump, the air suction piece is connected to the air pump, and the air pump transmits the generated suction force to the air suction piece; A telescopic component, the telescopic component comprising a telescopic member and a connecting member, one end of the connecting member is connected to the air suction member, and the other end of the connecting member is connected to the telescopic member, and the air suction member moves with the connecting member; A clamping assembly, the clamping assembly comprising a connecting rod and a finger, one end of the connecting rod is mounted on the connecting member, and the other end is movably connected to the finger; A receiving assembly, the receiving assembly comprising a connecting pipe and a receiving member, one end of the connecting pipe is connected to the receiving member, and the other end is connected to the telescopic assembly; The picking device is configured to drive the telescopic assembly to drive the air suction member to approach and suck the object to be picked after reaching the designated position, and at the same time, the telescopic assembly cooperates with the connecting rod to drive the finger to tighten and fix the object to be picked; The telescopic assembly further comprises a housing, the telescopic member is partially mounted in the housing, the housing comprises a drop tube extending outward, the drop tube is connected to the connecting tube, an outer side wall of the housing is provided with a movable groove, the connecting rod reciprocates along the movable groove; The shell also includes a movable component for providing space for the air suction piece to move. The movable component includes a movable shell and an movable cavity surrounded by the movable shell. The air suction piece moves in the movable cavity. The movable groove is located on the outer side wall of the movable shell. The outer side wall of the movable shell also includes a positioning part. The clamping component also includes a positioning pin. The positioning part cooperates with the positioning pin to fix one end of the finger relative to the movable shell.

2. The air suction and clamping composite picking device according to claim 1 is characterized in that: The air suction component also includes a ventilator, which has an air suction port. The air suction component is installed on the air suction port. A ventilator is connected to the outer wall of the ventilator, and the ventilator is connected to the air pump.

3. The air suction and clamping composite picking device according to claim 2 is characterized in that: The air suction assembly also includes support rods, which are respectively connected to the ventilation member and the connecting member.

4. The air suction and clamping composite picking device according to claim 3 is characterized in that: The ventilator also includes a connecting port, one end of the support rod is inserted into the connecting port, and the support rod and the connecting port are interference fit.

5. The air suction and clamping composite picking device according to claim 4 is characterized in that: The other end of the support rod is threadedly connected to the connecting piece.

6. The air suction and clamping composite picking device according to claim 1 is characterized in that: The connecting member also includes a connecting portion, and the connecting rod is pin-connected to the connecting portion.

7. The air suction and clamping composite picking device according to claim 1 is characterized in that: The connecting rod is connected to the finger pin.

8. The air suction and clamping composite picking device according to claim 1 is characterized in that: The finger has a contact portion, and the surface of the contact portion corresponding to the object to be picked is recessed inwards.

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