A single-drive two-stage rotating grasping and twisting picking claw

Abstract

The present technology discloses a single-drive two-stage rotating grasping and twisting picking claw, including a clamping mechanism, a primary twisting mechanism, a secondary twisting mechanism and a driving mechanism; the clamping mechanism includes a plurality of clamping claws and a finger seat; the primary twisting mechanism includes a spiral shell; the secondary twisting mechanism includes a frame, an adjusting bolt, a friction block, an adjusting spring and an adjusting nut; the driving mechanism includes a motor, a sleeve one and a sleeve two; the output shaft of the motor is connected to the sleeve one, and the sleeve one is connected to the sleeve two; the outer sleeve of the sleeve two is covered with a spiral shell, the end of the sleeve two is connected to the finger seat, the finger seat and the spiral shell can rotate relative to each other, the finger seat is rotatably connected with a clamping claw, and the end of each clamping claw is provided with a ball head, and the surface of the spiral shell facing the end of the clamping claw is provided with a plurality of arc grooves with the same number as the ball head, and the ball head is slidably connected to the arc groove. The present technology can realize continuous grasping and twisting picking through a single drive (i.e., a motor), and the overall structure is simple, the weight is light, and the picking effect is high.

Description

Technical Field

[0001] The present technology relates to the field of picking technology, and specifically is a single-drive two-stage rotating grasping and twisting picking claw. Background Art

[0002] In the fruit picking operation, manual picking is inefficient and labor-intensive. With the development of robotics and computer technology, picking robots have great advantages in picking operations. The picking gripper is a tool for the picking robot to directly contact the picking target. The quality of its structure and working principle will directly determine the success rate of picking. The current rotating grasping and twisting picking grippers are mainly complex in structure and multi-drive picking. The continuous process of grabbing the fruit and twisting it off the fruit branch needs to be realized through multi-drive, and the overall structure is complex and the weight is heavy. Summary of the invention

[0003] The technical problem to be solved by the present technology is to provide a single-drive two-stage rotary grasping and twisting picking claw to address the deficiencies of the above-mentioned prior art. The single-drive two-stage rotary grasping and twisting picking claw can realize continuous grasping and twisting picking through a single drive (i.e., a motor). The overall structure is simple, the weight is light, and the picking effect is high.

[0004] In order to achieve the above technical objectives, the technical solution adopted by this technology is:

[0005] A single-drive two-stage rotating grasping and twisting picking claw comprises a clamping mechanism, a primary twisting mechanism, a secondary twisting mechanism and a driving mechanism;

[0006] The clamping mechanism includes a plurality of clamping claws and finger seats; the primary screwing mechanism includes a spiral shell; the secondary screwing mechanism includes a frame, an adjusting bolt, a friction block, an adjusting spring and an adjusting nut; the driving mechanism includes a motor, a first sleeve and a second sleeve;

[0007] The output shaft of the motor is connected to the first sleeve, and the first sleeve is connected to the second sleeve; the outer sleeve of the second sleeve is covered with a spiral shell, and the spiral shell and the second sleeve can rotate relative to each other. The end of the second sleeve is connected to the finger seat, and the second sleeve is used to drive the finger seat to rotate. The finger seat and the spiral shell can rotate relative to each other. The finger seat is provided with a plurality of claw grooves evenly distributed in a circumference, and a clamping claw is rotatably connected in each claw groove. A ball head is provided at the end of each clamping claw, and a plurality of arc grooves with the same number as the ball head are provided on the surface of the spiral shell facing the end of the clamping claw, and the ball head is slidably connected to the arc groove;

[0008] The outer wall of the spiral shell is provided with a circle of annular friction grooves, a friction block is placed inside the friction grooves, the housing of the motor is connected to the frame, a ring frame is provided at the front end of the frame, the ring frame is located outside the friction groove of the outer wall of the spiral shell, a plurality of mounting grooves are provided on the ring frame, a bolt hole is provided inside each mounting groove, a bolt head of an adjusting bolt is located in the mounting groove, a bolt rod of the adjusting bolt passes through the bolt hole of the mounting groove, the friction groove and the reserved hole of the friction block in sequence, an adjusting nut is threadedly connected to the adjusting bolt, an adjusting spring is sleeved outside the bolt rod of the adjusting bolt, the adjusting nut and the adjusting spring are both located inside the friction groove, and the adjusting spring is located between the adjusting nut and the friction block;

[0009] The ring frame is connected with a blocking piece used for blocking the adjusting bolt in the installation groove from moving outwards, and the blocking piece is provided with a through hole connected with the installation groove.

[0010] Furthermore, the front end of the shaft sleeve 2 is inserted into the inner hole of the finger seat and the front end of the shaft sleeve 2 is circumferentially connected to the finger seat and can drive the finger seat to rotate.

[0011] Furthermore, the inner hole of the second sleeve includes a sleeve one mounting hole, a countersunk hole and a bolt hole that are connected in sequence, the output shaft of the motor is connected to the sleeve one, and the sleeve one is connected to the sleeve one mounting hole of the second sleeve; the bolt head of a bolt is located in the countersunk hole, and the bolt rod of the bolt passes through the bolt hole of the second sleeve and the inner hole of the finger seat in sequence and then is connected to the nut, thereby preventing the finger seat, the spiral shell and the second sleeve from spreading axially and allowing the finger seat and the second sleeve to rotate relative to the spiral shell.

[0012] Furthermore, there are three clamping claws, and three claw grooves evenly distributed in a circle are arranged on the finger seat, and each claw groove is rotatably connected with a clamping claw through a pin.

[0013] Furthermore, an inner hole for installing the second sleeve is provided in the middle of the spiral shell, and there are three arc grooves on the spiral shell, one end of each arc groove is close to the inner hole of the spiral shell, and the other end is close to the outer circumferential surface of the spiral shell.

[0014] Furthermore, the housing of the motor is fixedly connected to the frame by screws, and the baffle is fixedly connected to the ring frame by screws.

[0015] Furthermore, the friction block is an arc-shaped friction block, the adjusting nut is an arc-shaped nut, and the adjusting nut can slide in the friction groove of the spiral shell.

[0016] Furthermore, there are two of each of the friction block, the adjusting bolt, the adjusting spring and the adjusting nut.

[0017] Furthermore, the clamping surface of the clamping claw is made of flexible material.

[0018] The beneficial effects of this technology are:

[0019] The motor of this technology drives the finger seat to rotate relative to the spiral shell through the first and second sleeves in turn, and then drives the clamping claws to open and close. When the three claws are closed and the target fruit is grasped, the motor continues to run. Since the clamping claws cannot be closed after grasping the target fruit, the ball head of the clamping claws cannot continue to slide along the arc groove of the spiral shell. At this time, the clamping claws and the spiral shell will rotate with the rotation of the motor to achieve the action of twisting the fruit, thereby twisting the fruit off the fruit branch and picking the fruit. Therefore, the picking claws provided by this technology can realize continuous picking by grasping and twisting through a single drive (i.e., a motor), and the overall structure is compact, light in weight, and high in picking efficiency. This technology can also adjust the size of the friction between the friction block and the spiral shell to adjust the gripping tightness of the clamping claws. This technology can replace manual picking, saving time and effort, and has a high level of automation; and it can accurately and quickly complete the picking of fruits, and can reduce damage to the fruits during the picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of this embodiment Figure 1 .

[0021] Figure 2 This is a schematic diagram of the structure of this embodiment Figure 2 .

[0022] Figure 3 It is a side view of the structure of this embodiment.

[0023] Figure 4 This is the front view of the structure of this embodiment.

[0024] Figure 5 for Figure 4 Middle BB cross-section.

[0025] Figure 6 This is a schematic diagram of the structure of the present embodiment in which the motor, frame and spiral shell are hidden.

[0026] Figure 7 Schematic diagram of the spiral shell structure Figure 1 .

[0027] Figure 8 Schematic diagram of the spiral shell structure Figure 2 . DETAILED DESCRIPTION

[0028] The specific implementation of the present technology is further described below according to the accompanying drawings:

[0029] like Figure 1-Figure 2 As shown, a single-drive two-stage rotating grasping and twisting picking claw comprises a clamping mechanism, a primary twisting mechanism, a secondary twisting mechanism and a driving mechanism.

[0030] like Figure 1-Figure 2 As shown, the clamping mechanism includes a plurality of clamping claws 1 and a finger seat 2; the primary screwing mechanism includes a spiral shell 3; the secondary screwing mechanism includes a frame 6, an adjusting bolt 8, a friction block 11, an adjusting spring 10 and an adjusting nut 9; the driving mechanism includes a motor 7, a sleeve 1 5 and a sleeve 2 4.

[0031] like Figure 1-Figure 8 As shown, the output shaft 7-1 of the motor 7 is connected to the sleeve 1 5, and the sleeve 1 5 is connected to the sleeve 2 4; the sleeve 2 4 is covered with a spiral shell 3, and the spiral shell 3 and the sleeve 2 4 can rotate relative to each other. The end of the sleeve 2 4 is connected to the finger seat 2, and the sleeve 2 4 is used to drive the finger seat 2 to rotate. The finger seat 2 and the spiral shell 3 can rotate relative to each other. The front end of the spiral shell 3 is provided with a circle of sleeves 3-3, and the rear end of the finger seat 2 is located inside the sleeve 3-3. The finger seat 2 is provided with a plurality of claw grooves 2-1 that are evenly distributed in a circle and extend along the radial direction. The middle part of the clamping claw 1 is rotatably connected to each claw groove 2-1 through a pin, and the end of each clamping claw 1 is provided with a ball head 1-1. The surface of the spiral shell 3 facing the end of the clamping claw 1 is provided with a plurality of arc grooves 3-1 with the same number as the ball head 1-1, and the ball head 1-1 is slidably connected to the arc groove 3-1. The head end of each clamping claw 1 extends out of the finger seat 2.

[0032] A circle of annular friction grooves 3-2 are provided on the outer wall of the spiral shell 3, and a friction block 11 is placed inside the friction groove 3-2. The shell of the motor 7 is connected to the frame 6. The front end of the frame 6 is provided with a circle of ring frame 6-1, and the ring frame 6-1 is located on the outside of the friction groove 3-2 on the outer wall of the spiral shell 3. A plurality of mounting grooves 6-2 are opened on the ring frame 6-1, and a bolt hole is opened inside each mounting groove 6-2. The bolt head of the adjusting bolt 8 is located in the mounting groove 6-2, and the bolt rod of the adjusting bolt 8 passes through the bolt hole of the mounting groove 6-2, the friction groove 3-2 and the reserved hole of the friction block 11 in sequence. The adjusting bolt 8 is threadedly connected with an adjusting nut 9, and the outer side of the bolt rod of the adjusting bolt 8 is covered with an adjusting spring 10. The adjusting nut 9 and the adjusting spring 10 are both located inside the friction groove 3-2, and the adjusting spring 10 is located between the adjusting nut 9 and the friction block 11.

[0033] The ring frame 6 - 1 is connected with a blocking piece 14 for blocking the adjusting bolt 8 in the mounting groove 6 - 2 from moving outwards, and the blocking piece 14 is provided with a through hole 14 - 1 communicating with the mounting groove 6 - 2 .

[0034] The front end of the second sleeve 4 is inserted into the inner hole of the finger seat 2 and the front end of the second sleeve 4 is circumferentially connected to the finger seat 2 .

[0035] The inner hole of the shaft sleeve 2 4 includes a shaft sleeve 1 mounting hole, a countersunk hole and a bolt hole which are connected in sequence. The output shaft 7-1 of the motor 7 is connected to the shaft sleeve 1 5, and the shaft sleeve 1 5 is connected to the shaft sleeve 1 mounting hole of the shaft sleeve 2 4. The bolt head of a bolt 12 is located in the countersunk hole, and the bolt rod of the bolt 12 passes through the bolt hole of the shaft sleeve 2 4 and the inner hole of the finger seat 2 in sequence and is connected to the nut 13. The bolt 12 can prevent the finger seat 2 and the shaft sleeve 1 5 from axial movement. The nut 13 is not in close contact with the finger seat 2, and does not affect the relative rotation of the finger seat 2 and the spiral shell 3.

[0036] There are three clamping claws 1, and the finger seat 2 is provided with three claw grooves 2-1 evenly distributed in a circle and extending along the radial direction. The middle part of the clamping claw 1 is rotatably connected to each claw groove 2-1 through a pin.

[0037] The middle part of the spiral shell 3 is provided with an inner hole for installing the shaft sleeve 2 4 . There are three arc grooves 3 - 1 on the spiral shell 3 . One end of each arc groove 3 - 1 is close to the inner hole of the spiral shell 3 , and the other end is close to the outer circumferential surface of the spiral shell 3 .

[0038] The housing of the motor 7 is fixedly connected to the frame 6 by screws, and the baffle 14 is fixedly connected to the ring frame 6 - 1 by screws.

[0039] The friction block 11 is an arc-shaped friction block, and the adjusting nut 9 is an arc-shaped nut. The adjusting nut 9 can slide radially along the spiral shell 3 in the friction groove 3 - 2 of the spiral shell 3 .

[0040] There are two friction blocks 11, two adjusting bolts 8, two adjusting springs 10 and two adjusting nuts 9.

[0041] The clamping surface of the clamping claw 1 is made of a flexible material, which has a protective effect on the fruit.

[0042] The frame 6 of the single-drive two-stage rotary grasping and twisting picking claw of this embodiment can be installed on a picking robot, and a controller and a power supply are installed on the picking robot (the controller and the power supply can also be installed on the single-drive two-stage rotary grasping and twisting picking claw). The controller is used to drive the motor 7 to work, and the power supply supplies power to the motor 7. Tactile sensors are provided on the concave arc clamping surfaces of the clamping claw 1. After the picking robot runs to the picking destination, the picking robot drives the single-drive two-stage rotary grasping and twisting picking claw to move, so that the target fruit is located on the inner side of the clamping claw 1, and the controller drives the motor 7 to work. The motor 7 drives the finger seat 2 to rotate through the shaft sleeve 1 5 and the shaft sleeve 2 4 in turn, and the finger seat 2 drives the three clamping claws 1 to rotate (the initial state of the clamping claw 1 is the open state, that is, the ball head 1-1 at the end is located in the arc groove 3-1 close to the axis of the spiral shell 3). Since the ball heads 1-1 of the three clamping claws 1 are located in the three arc grooves 3-1 of the spiral shell 3, the ball heads 1-1 slide along the arc groove 3-1, and the ball heads 1-1 at the end gradually slide in the arc groove 3-1 away from the axis of the spiral shell 3 (or close to the outer circumference of the spiral shell 3), and the middle part of the clamping claw 1 swings around the pin in the claw groove 2-1 of the finger seat 2, and the head ends of the three clamping claws 1 The closed state is gradually achieved. After the target fruit is grasped, the tactile sensor sends a signal to the controller, and the controller controls the motor 7 to continue to operate and increase the operating torque of the motor 7. Since the clamping claw 1 cannot be closed after grasping the target fruit, the ball head 1-1 of the clamping claw 1 cannot continue to slide along the arc groove 3-1 of the spiral shell 3. At this time, since the driving force on the spiral shell 3 is greater than the resistance between the spiral shell 3 and the friction block 11, the clamping claw 1 will drive the spiral shell 3 to rotate circumferentially (at this time, the adjusting bolt 8, the adjusting spring 10 and the friction block 11 do not rotate, and the adjusting bolt 8, the adjusting spring 10 and the friction block 11 rotate relative to the annular friction groove 3-2), the clamping claw 1 and the spiral shell 3 will rotate with the rotation of the motor 7, and the clamping claw 1 will rotate circumferentially after clamping the target fruit, realizing the fruit twisting action, thereby twisting the fruit off the fruit branch and realizing the fruit picking. After that, the controller controls the motor 7 to reset, so that the clamping claw 1 is reset, and a picking round is completed. The primary rotation of this embodiment refers to the rotation of the gripping claw 1 and the finger seat 2 to grasp the fruit, and the secondary rotation refers to the spiral shell 3 starting to rotate to twist off the fruit.

[0043] In this embodiment, the friction block 11 contacts the inner wall of the annular friction groove 3-2 of the spiral shell 3. When the friction between the friction block 11 and the spiral shell 3 needs to be adjusted, the bolt head of the adjusting bolt 8 is rotated through the through hole 14-1 of the stopper by a tool, and the adjusting bolt 8 rotates. The adjusting nut 9 on the adjusting bolt 8 is in the shape of a long arc and is located in the friction groove 3-2. Therefore, the adjusting nut 9 cannot rotate with the adjusting bolt 8. The adjusting nut 9 moves along the thread on the bolt rod of the adjusting bolt 8 in the direction of the adjusting spring 10. The adjusting nut 9 presses the adjusting spring 10, and the adjusting spring 10 presses the friction block 11. The friction between the friction block 11 and the spiral shell 3 increases. After the friction between the friction block 11 and the spiral shell 3 increases, when the clamping claw 1 grasps the target fruit, the controller needs to control the motor 7, and the motor 7 increases the operating torque to ensure that when the motor 7 continues to operate, the spiral shell 3 and the clamping claw 1 can achieve common circumferential rotation. At this time, the clamping degree of the clamping claw 1 on the target fruit increases. Therefore, in this embodiment, the friction between the friction block 11 and the spiral shell 3 can be adjusted to adjust the gripping tightness of the clamping claw 1, thereby preventing the clamping claw 1 from idling synchronously with the spiral shell 3 before it grips the fruit.

[0044] The protection scope of the present technology includes but is not limited to the above embodiments. The protection scope of the present technology shall be based on the claims. Any replacement, deformation, and improvement of the present technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present technology.

Claims

1. A single-drive two-stage rotating grasping and twisting picking claw, characterized in that: It includes a clamping mechanism, a primary screwing mechanism, a secondary screwing mechanism and a driving mechanism; The clamping mechanism comprises a plurality of clamping claws (1) and a finger seat (2); the primary screwing mechanism comprises a spiral shell (3); the secondary screwing mechanism comprises a frame (6), an adjusting bolt (8), a friction block (11), an adjusting spring (10) and an adjusting nut (9); the driving mechanism comprises a motor (7), a first shaft sleeve (5) and a second shaft sleeve (4); The output shaft (7-1) of the motor (7) is connected to the shaft sleeve 1 (5), and the shaft sleeve 1 (5) is connected to the shaft sleeve 2 (4); the shaft sleeve 2 (4) is covered with a spiral shell (3), and the spiral shell (3) and the shaft sleeve 2 (4) can rotate relative to each other; the end of the shaft sleeve 2 (4) is connected to the finger seat (2), and the shaft sleeve 2 (4) is used to drive the finger seat (2) to rotate; the finger seat (2) and the spiral shell (3) can rotate relative to each other; a plurality of claw grooves (2-1) uniformly distributed in a circumference are provided on the finger seat (2), and a clamping claw (1) is rotatably connected in each claw groove (2-1), and a ball head (1-1) is provided at the end of each clamping claw (1); a plurality of arc grooves (3-1) having the same number as the ball head (1-1) are provided on the surface of the spiral shell (3) facing the end of the clamping claw (1), and the ball head (1-1) is slidably connected to the arc groove (3-1); The outer wall of the spiral shell (3) is provided with a circle of circular friction grooves (3-2), and a friction block (11) is placed inside the friction grooves (3-2). The housing of the motor (7) is connected to the frame (6), and a ring frame (6-1) is provided at the front end of the frame (6). The ring frame (6-1) is located outside the friction grooves (3-2) on the outer wall of the spiral shell (3). The ring frame (6-1) is provided with a plurality of mounting grooves (6-2), and a bolt hole is provided inside each mounting groove (6-2). The adjusting bolt (8) is provided with a plurality of mounting grooves (6-2). The bolt head is located in the mounting groove (6-2); the bolt rod of the adjusting bolt (8) passes through the bolt hole of the mounting groove (6-2), the friction groove (3-2) and the reserved hole of the friction block (11) in sequence; the adjusting bolt (8) is threadedly connected with an adjusting nut (9); the bolt rod of the adjusting bolt (8) is covered with an adjusting spring (10); the adjusting nut (9) and the adjusting spring (10) are both located inside the friction groove (3-2); and the adjusting spring (10) is located between the adjusting nut (9) and the friction block (11); The ring frame (6-1) is connected with a blocking piece (14) for blocking the adjusting bolt (8) in the mounting groove (6-2) from moving outwards, and the blocking piece (14) is provided with a through hole (14-1) communicating with the mounting groove (6-2).

2. The single-drive two-stage rotating grasping and twisting picking claw according to claim 1 is characterized in that: The front end of the second shaft sleeve (4) is inserted into the inner hole of the finger seat (2) and the front end of the second shaft sleeve (4) is circumferentially connected to the finger seat (2).

3. The single-drive two-stage rotating grasping and twisting picking claw according to claim 2 is characterized in that: The inner hole of the second sleeve (4) includes a sleeve first mounting hole, a countersunk hole and a bolt hole which are connected in sequence; the output shaft (7-1) of the motor (7) is connected to the sleeve first (5), and the sleeve first (5) is connected to the sleeve first mounting hole of the second sleeve (4); the bolt head of a bolt (12) is located in the countersunk hole, and the bolt rod of the bolt (12) passes through the bolt hole of the second sleeve (4) and the inner hole of the finger seat (2) in sequence and is connected to the nut (13).

4. The single-drive two-stage rotating grasping and twisting picking claw according to claim 1 is characterized in that: There are three clamping claws (1), and three claw grooves (2-1) evenly distributed in a circumference are arranged on the finger seat (2). Each claw groove (2-1) is rotatably connected to a clamping claw (1) via a pin.

5. The single-drive two-stage rotating grasping and twisting picking claw according to claim 4 is characterized in that: The spiral shell (3) has an inner hole in the middle thereof for passing the second shaft sleeve (4). The spiral shell (3) has three arc-shaped grooves (3-1), one end of each arc-shaped groove (3-1) is close to the inner hole of the spiral shell (3), and the other end is close to the outer circumferential surface of the spiral shell (3).

6. The single-drive two-stage rotating grasping and twisting picking claw according to claim 1 is characterized in that: The housing of the motor (7) is fixedly connected to the frame (6) by means of screws, and the baffle (14) is fixedly connected to the ring frame (6-1) by means of screws.

7. The single-drive two-stage rotating grasping and twisting picking claw according to claim 1 is characterized in that: The friction block (11) is an arc-shaped friction block, the adjusting nut (9) is an arc-shaped nut, and the adjusting nut (9) can slide in the friction groove (3-2) of the spiral shell (3).

8. The single-drive two-stage rotating grasping and twisting picking claw according to claim 7 is characterized in that: There are two of each of the friction block (11), the adjusting bolt (8), the adjusting spring (10) and the adjusting nut (9).

9. The single-drive two-stage rotating grasping and twisting picking claw according to claim 1 is characterized in that: The clamping surface of the clamping claw (1) is made of flexible material.

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