Inter-cell lossless grabbing device and grabbing and shearing integrated device

Abstract

The application discloses an inter-cell lossless grabbing device and grabbing and shearing integrated device, belongs to the field of flexible robots, and aims to realize clamping operation on sweet potato type crisp and tender and small-size plant stems. The device comprises a limiting support and a clamping unit. The working end of the limiting support is a plane, and the working end of the limiting support is referred to as a limiting plane. The clamping unit comprises a first internal support, a first communication air pipe connected with an air source, a first inflatable expansion body with one end being open, a first sealing ring, a second external fixing part and a third internal fixing part. The first internal support comprises a first internal support part and a first connecting part. The first internal support part is a columnar hollow cavity structure with one end being open. The cavity in the first internal support part is referred to as a first working cavity, and the open end of the first internal support part is referred to as a first working port end. The application realizes clamping operation on fragile crop stems, which cannot be realized by existing fruit and vegetable picking devices.

Description

Technical Field

[0001] This application relates to the field of machinery, particularly the field of flexible robots, specifically a small-area non-destructive gripping device and a gripping-shearing integrated device. More specifically, this application provides a flexible gripping device, a gripping-shearing integrated device using the gripping device, and its application, which is applicable to working scenarios such as gripping and shearing agricultural seedlings, and is of great significance for improving the level of agricultural mechanization. Background Technology

[0002] End effectors, as crucial execution tools, serve as a vital medium connecting robots and manipulated objects, playing a crucial role in the field of robotics. Traditional end effectors are mostly rigid structures, largely composed of rigid joints. Their structural forms, drive mechanisms, and control methods are often complex, primarily used in industrial automation, where they have achieved significant development. In industrial automation, the grasping action of rigid end effectors is mainly accomplished by rigid robotic grippers or vacuum suction cups. However, rigid robotic grippers, due to the difficulty in controlling force, struggle to achieve non-destructive grasping of soft and fragile objects, while vacuum suction cups are ill-suited for handling rough surfaces or irregularly shaped objects with openings. Therefore, the inherent rigidity of rigid end effectors limits their adaptability to flexible objects.

[0003] In recent years, flexible end effectors have attracted increasing attention from researchers due to their advantages such as multiple degrees of freedom, high compliance, good environmental adaptability, flexibility and safety. They have made great progress in fields such as industrial product loading and unloading and assembly, agricultural robots and service robots, and have shown broad application prospects in industrial production, medical care, detection and search and rescue.

[0004] For example, Chinese patent CN112518726B discloses a multi-module flexible water snake robot that uses a dielectric elastomer as a drive, which greatly reduces the size and weight of the flexible water snake robot and enhances its motion performance.

[0005] Chinese patent CN112376520B discloses a flexible, deployable, large-deformation grasping mechanism, which includes a flexible gripper, a flexible linear actuator, and a connector. The flexible linear actuator is connected to the middle of the flexible gripper through the connector. The extension of the flexible linear actuator drives the flexible gripper to close. The closed grasping state of the flexible gripper can be controlled by the extension and retraction of the flexible linear actuator. When the flexible linear actuator extends, the internal stress of the flexible gripper is released, and the two ends of the long arm of the flexible gripper bend towards the middle, completing the closing action of the grasping mechanism. When the flexible linear actuator retracts, the width of the long arm of the flexible gripper narrows under stress, and the long axis of the central hole, side hole, and end hole of the flexible gripper bends downward. The long arm of the flexible gripper bends in the opposite direction to the initial state, completing the unfolding action of the grasping mechanism.

[0006] Furthermore, flexible end effectors can deform to adapt to their surroundings, making them ideal for interacting with unstructured environments. They can grasp fragile objects such as eggs, fruit, and water glasses, showing promising applications in agriculture. Currently, flexible robots are already being used for fruit harvesting to replace manual labor.

[0007] For example, Chinese patent CN113442152B discloses a flexible finger for fruit picking with lateral wrapping capabilities. It includes a fish-fin-like structure made of flexible material, a lateral wrapping structure, and a connecting frame. The longitudinal section of the fish-fin-like structure is V-shaped, with the open end of the V-shape connected to the connecting frame. The lateral wrapping structure is a triangular pyramid structure, with two of them symmetrically connected to the two sides of the fish-fin-like structure. The two sides of the lateral wrapping structure connected to the fish-fin-like structure have the same shape and size. The front sides of the two lateral wrapping structures and the front side of the fish-fin-like structure together form a U-shaped wrapping surface for wrapping the fruit to be picked. This application utilizes the fish-fin-like structure and lateral wrapping structure made of flexible material to bend upon contact with the fruit, thereby wrapping the fruit from multiple directions, effectively preventing the fruit from falling off and improving the gripping reliability of the flexible picking finger.

[0008] Chinese patent application CN103448061B discloses a kiwifruit harvesting end effector, which includes a clamping mechanism, a rotating harvesting mechanism, a proximity mechanism, a sensing system, and a control system. The clamping mechanism consists of a scissor-like structure formed by two arc-shaped fingers, enabling the separation and reliable gripping of adjacent fruits. The rotating harvesting mechanism uses a decelerated stepper motor to drive the clamping mechanism to rotate, separating the fruit stem from the fruit. The proximity mechanism moves the front finger closer to the fruit. The sensing system consists of a pressure sensor and an infrared photoelectric switch mounted on the inside of the front finger, a Hall effect position sensor mounted on the frame, and a limit switch, used to detect the clamping threshold force, fruit position, mechanism reset information, and control the rotation angle of the decelerated stepper motor, respectively. The control system consists of a microcontroller and a stepper motor controller, which, in conjunction with the sensing system, enables the control of the entire system.

[0009] In certain scenarios, such as grafting pumpkin seedlings and cutting sweet potato seedlings, the corresponding operations currently need to be performed by workers, and mechanization is not yet possible. The difficulty lies in how to clamp the plant stems.

[0010] To address this, Chinese patent application CN110432000A discloses a fruit and vegetable harvesting actuator and its harvesting method based on a flexible gripping and clamping mechanism integrated with shearing. This fruit and vegetable harvesting actuator includes a clamping mechanism and a gripping mechanism; the clamping mechanism includes two shear blades hinged together, a first shear blade and a second shear blade, and a connecting shaft; the first shear blade has a guide groove, and the second shear blade has a movable groove; the guide groove and the movable groove form an angle; the connecting shaft is movably disposed at the overlap of the guide groove and the movable groove; the first shear blade has a shearing drive device; the connecting shaft is connected to the shearing drive device; a clamping element is provided on the side of the first shear blade near the gripping mechanism, and a clamping element is provided on the side of the second shear blade near the gripping mechanism; the gripping mechanism includes a gripping base and at least two soft fingers; the gripping base is connected to the first shear blade. This fruit and vegetable harvesting actuator can improve work efficiency, reduce labor costs, increase the rate of damage-free harvesting of fruits and vegetables, and provide sufficient shearing force to cut the fruit stems.

[0011] Analysis reveals that Chinese patent application CN110432000A is essentially a fruit-harvesting device, primarily designed for fruits and vegetables such as kiwifruit, tomatoes, and apples. Compared to these fruits and vegetables, sweet potato seedlings have smaller and more delicate stems, making them highly susceptible to damage from excessive force, thus failing to meet the requirements for automated mechanical operation.

[0012] Therefore, how to clamp the tender, small-sized stems of sweet potatoes has become an urgent technical problem that needs to be solved. Summary of the Invention

[0013] To address the aforementioned problems, a small-area non-destructive gripping device and a gripping-shearing integrated device are provided, along with their applications.

[0014] One of the objectives of this invention is to provide a flexible gripping device. Specifically, it provides a gripping device for brittle, stalk-like objects, which is a flexible end effector mainly used for gripping fragile items in complex environments such as unstructured environments. The gripping target can be a long strip-shaped object with a diameter ≤8mm.

[0015] The second objective of this invention is to provide an integrated gripping and cutting device based on the aforementioned flexible gripping device. Based on the flexible gripping device, this application adds a corresponding cutting device. This integrated gripping and cutting device can be used for the combined gripping and cutting of sweet potato seedlings. The cut sweet potato stems can be used for transplanting without damaging the stems. This invention is not limited to sweet potato seedlings; it can also be used for gripping and cutting other plant stems.

[0016] The third objective of this application is to provide applications based on the aforementioned flexible gripping device and integrated gripping and shearing device, including the application of the corresponding device as a robot end effector, the application of the corresponding device in the agricultural field, and the application of the corresponding device in the gripping of fruit and vegetable seedlings and rod-shaped similar objects, such as agricultural seedling gripping and shearing.

[0017] To achieve the above objectives, this application adopts the following technical solution: A non-destructive gripping device for small-area interlocking, comprising a limiting support and a clamping unit; The working end of the limiting support is a plane, and the working end of the limiting support is denoted as the limiting plane; The clamping unit includes a first internal support, a first connecting air pipe for connecting to an air source, a first inflatable expansion body with one end open, a first sealing ring, a second outer fixing member, and a third inner fixing member. The first internal support member includes a first internal support part and a first connecting part. The first internal support part is a columnar hollow cavity structure with one end open. The cavity in the first internal support part is referred to as the first working cavity, the open end of the first internal support part is referred to as the first working port end, and the end face on the first internal support part opposite to the first working port end is referred to as the first limiting end face. The first connecting air tube passes through the first limiting end face of the first internal support and communicates with the first working cavity. The first connecting part is connected to the first inner support part, and the connection point between the first connecting part and the first inner support part is denoted as the first connecting point; The outer wall of the first inner support is provided with a first limiting groove that cooperates with the first inflatable expansion body in the circumferential direction. The first limiting groove is located between the first connection and the first working port end. Along the direction from the first working port end toward the first limiting end face, the first inflatable expansion body is sleeved on the first inner support part; the closed end of the first inflatable expansion body is located on the first working port end, and the open end of the first inflatable expansion body is located on the first limiting end face; the first limiting groove is located between the open end of the first inflatable expansion body and the first working port end. The first sealing ring is sleeved on the outer wall of the first inflatable expansion body, and the first sealing ring is located in the first limiting groove; The first connecting part is connected to the limiting support, and the limiting support can provide support for the first internal support member through the first connecting part; The second outer fixing member includes a second outer bottom plate, a second outer side plate, a second outer limiting plate that mates with the first limiting end face, and a second top limiting member that mates with the first working end. There are two second outer side plates, which are respectively disposed on both sides of the second outer bottom plate to form a second outer intermediate body one. The second outer intermediate body one is U-shaped or U-shaped. The two ends of the second outer limiting plate are respectively connected to the second outer side plate. The second outer side plate is inclined relative to the second outer bottom plate and can abut against the first limiting end surface. The second top limiting member is connected to the second outer intermediate body and the second outer intermediate body can provide support for the second top limiting member. The second top limiting member is disposed opposite to the second outer limiting plate and the second top limiting member can prevent the first inflatable inflatable body from expanding along the axial direction of the second outer intermediate body. A second pressure relief hole is formed between the second outer bottom plate and the second outer limiting plate, or a second pressure relief hole is provided on the second outer bottom plate; The third inner fixing member is in the shape of an inverted U or U. The opening side of the third inner fixing member is facing the opening side of the second outer intermediate body. The second outer fixing member is connected to the third inner fixing member to form a second sleeve assembly. The second sleeve assembly is disposed on the first inner support member. The second outer fixing member and the third inner fixing member are detachably connected. The second outer fixing member is located on the side of the first inner support member away from the limiting support. The third inner fixing member is located on the side of the first inner support member close to the limiting support. The second sleeve assembly is provided with a second working port end that cooperates with the first working port end. The first working port end and the second working port end are respectively rectangular and the part of the first inflatable expansion body that is attached to the first working port end can extend outward in a rectangular shape through the second working port end under the action of internal air pressure. The second outer bottom plate, the second outer side plate, the second outer limiting plate, the second top limiting member, and the third inner fixing member are respectively attached to the outer wall of the first inner support member; There are two clamping units, with the two clamping units respectively located on both sides of the limiting support, and the first working ends of the two clamping units are arranged in parallel.

[0018] The first inflatable expander is located between the first internal support and the second external fixing member, and between the first internal support and the third internal fixing member.

[0019] The limiting support is rectangular or rectangular in shape, and the end face of the limiting support near the first working port is a limiting plane.

[0020] The second outer bottom plate, the second outer side plate, the second outer limiting plate and the second top limiting member are integrally formed.

[0021] The third inner fixing member is located between the first connecting part and the first working port end.

[0022] The first connecting part and the first inner support part are integrally formed.

[0023] The first sealing ring is a rubber sealing ring.

[0024] The first inflatable inflatable body is a balloon. Further, the first inflatable inflatable body is a long, narrow balloon with one open end; preferably, the first inflatable inflatable body is a 360-type long, narrow latex balloon.

[0025] The second outer bottom plate is provided with a second limiting groove that cooperates with the first limiting groove, and the third inner fixing member is provided with a third limiting groove that cooperates with the first limiting groove. The first limiting groove, the second limiting groove, and the third limiting groove can respectively limit the first sealing ring.

[0026] The second outer fixing member also includes a second connecting rod, the two ends of which are respectively connected to the second outer side plate. A second guide hole is formed between the second connecting rod and the second outer limiting plate. The first connecting air tube passes through the second guide hole, and the second guide hole can guide the first connecting air tube.

[0027] The second outer fixing member and the third inner fixing member, and the first inner support member and the limiting support are respectively connected by screws or bolts.

[0028] The first inner support part is rectangular in shape.

[0029] The first inner support part consists of an inner support plate 1, an inner side plate 2, an inner support plate 3, an inner side plate 4, and an inner limiting end plate 5. The inner support plate 1 is located on the side of the first inner support member near the limiting support. The inner support plate 3 is arranged parallel to the inner support plate 1. One side of the inner support plate 1 is connected to one side of the inner support plate 3 through the inner side plate 2, and the other side of the inner support plate 1 is connected to the other side of the inner support plate 3 through the inner side plate 4. The inner support plate 1, inner side plate 2, inner support plate 3, and inner side plate 4 are connected in sequence to form a hollow rectangular tube. The inner limiting end plate 5 is located at one end of the hollow rectangular tube and forms the first inner support part. The first limiting groove is rectangular along a cross-section perpendicular to its axial direction; The first working port is inclined relative to the central axis of the hollow rectangular tube.

[0030] The portion of the internal support plate three located between the first working port end and the first limiting groove is referred to as internal plate three part one, and the second outer bottom plate is attached to internal plate three part one. The portion of the internal support plate three located between the first limiting end face and the first limiting groove is referred to as the second part of the internal plate three. The portion of the first inflatable expansion body that is fitted to the second pressure relief hole and attached to the second part of the internal plate three can expand outward through the second pressure relief hole to achieve the purpose of pressure relief when the air pressure in the first inflatable expansion body exceeds the set pressure value of the first sealing ring.

[0031] The open end portion of the first inflatable inflatable body is located between the first limiting end face and the second outer limiting plate, and the remaining part of the open end portion of the first inflatable inflatable body is sleeved on the first inner support portion.

[0032] The integrated gripping and shearing device using the aforementioned inter-cell non-destructive gripping device includes an inter-cell non-destructive gripping device and a cutting component; The cutting assembly includes a fourth telescopic cylinder connected to an air source and a fourth cutting blade. The fourth telescopic cylinder is mounted on a limiting support, and the limiting support provides support for the fourth telescopic cylinder. The fourth cutting blade is mounted on the telescopic rod of the fourth telescopic cylinder, and the telescopic rod of the fourth telescopic cylinder can drive the fourth cutting blade to move along its axial direction to achieve the cutting operation.

[0033] It also includes a fourth connector, through which the fourth telescopic cylinder is connected to the limiting support.

[0034] The fourth connecting member is L-shaped, and the fourth telescopic cylinder is connected to the fourth connecting member, and the fourth connecting member is connected to the limiting support by screws or bolts.

[0035] It also includes the gas source.

[0036] The aforementioned application of inter-cell non-destructive gripping devices and integrated gripping and shearing devices.

[0037] The device is used as the end effector of the robot.

[0038] The device will be used in the agricultural sector.

[0039] The device is used for holding fruit and vegetable seedlings and rod-like objects.

[0040] my country is a large agricultural country with a long history. Many crops, such as corn and sweet potatoes, require transplanting or pruning during their seedling stage; others, like bean sprouts, need to be harvested at this stage for sale as vegetables. Because crops lack the support of a xylem layer in their seedling stage, they are often very fragile. Therefore, to prune or transplant seedlings at this stage, a basic approach is to first clamp them before cutting. Clamping should be done using a non-destructive method, while cutting should be determined based on the characteristics of the target crop. Non-destructive clamping should use flexible grippers; by contacting the seedling with a flexible material and flexibly controlling the clamping force, damage to the seedling can be minimized.

[0041] Compared with existing technologies, this application achieves the clamping operation of fragile crop stems, which is impossible for existing fruit and vegetable harvesting equipment. Test results show that this application can be used for clamping the stems of tender, small-volume plants such as sweet potatoes, corn, and pumpkin seedlings; based on this, combined with the cutting component, corresponding cutting operations can be achieved. Furthermore, by combining this application with conventional robotic arms, wider promotion and application can be realized.

[0042] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: (1) The small-interval non-destructive gripping device of this application is ingeniously conceived, easy to manufacture, and low in cost. It can meet the needs of large-scale industrial production and application and has extremely high application value. (2) Compared with rigid end effectors, this application has better adaptability. It can achieve flexible gripping through its own flexible deformation to adapt to the irregular shape and size requirements of plant seedling stems. It has extremely high versatility and flexibility, and can clamp long strip-shaped items with a diameter ≤ 8mm. (3) The small-interval non-destructive gripping device of this application has the advantages of small size, convenient control and fast response speed. It can realize non-destructive gripping, which is conducive to realizing mechanized and automated operations such as transplanting and cutting of plant seedlings. It is of great significance for reducing labor costs, improving work efficiency and ensuring the integrity and survival rate of plant seedlings. Attached Figure Description

[0043] The present invention will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a test record diagram showing the balloon being directly fixed to the first internal support during the preliminary test.

[0044] Figure 2 This is a sample image of the silicone mold produced during the initial testing phase.

[0045] Figure 3 This is a schematic diagram of the structure of the second outer fixing member and the third inner fixing member combined during the preliminary test.

[0046] Figure 4 This is a test record of how the gripping and shearing device clamped sweet potato seedlings during the preliminary experiment.

[0047] Figure 5 This is a schematic diagram of the three-section air path design structure of the first working chamber in Example 1.

[0048] Figure 6 This is a 3D printed sample of the first internal support component in Example 1.

[0049] Figure 7 This is a three-dimensional exploded view of the integrated gripper and shear device in Example 1.

[0050] Figure 8 This is a top view of the integrated gripper and shear device in Example 1.

[0051] Figure 9 for Figure 8 A half-section diagram.

[0052] Figure 10 This is a three-dimensional schematic diagram of the integrated gripper and shear device in Example 1.

[0053] Figure 11 for Figure 10 A half-section diagram.

[0054] Figure 12 This is an assembly diagram of the integrated gripper and shear device in Example 1.

[0055] Figure 13 for Figure 12 A diagram showing the result after removing the bolts or screws.

[0056] Figure 14 This is an axial view of the integrated gripper and shear device in Example 1.

[0057] Figure 15 This is a cross-sectional view of the integrated gripper and shear device in Example 1.

[0058] Figure 16 This is a front view of the first internal support member in Embodiment 1.

[0059] Figure 17 for Figure 16 The left view.

[0060] Figure 18 for Figure 16 A bottom view.

[0061] Figure 19 for Figure 16 A three-dimensional schematic diagram.

[0062] Figure 20 This is a top view of the second outer fastener in Embodiment 1.

[0063] Figure 21 This is a side view of the second outer fastener in Embodiment 1.

[0064] Figure 22 This is a bottom view of the second outer fastener in Example 1.

[0065] Figure 23 This is a three-dimensional schematic diagram of the second outer fixing member in Embodiment 1.

[0066] Figure 24 for Figure 23 A sectional view.

[0067] Figure 25 This is a top view of the third inner fixing member in Embodiment 1.

[0068] Figure 26 This is a bottom view of the third inner fastener in Example 1.

[0069] Figure 27 This is a side view of the third inner fastener in Example 1.

[0070] Figure 28 This is a three-dimensional schematic diagram of the third inner fixing member in Example 1.

[0071] Figure 29 This is a schematic diagram of the structure of the cutting component and the fourth connector in Example 1.

[0072] The markings in the diagram are: 1. Limiting support; 2. Clamping unit; 3. Limiting plane; 4. First internal support; 5. First connecting air pipe; 6. First sealing ring; 7. Second outer fixing component; 8. Third inner fixing component; 9. Cutting assembly; 11. First inner support part; 12. First connecting part; 13. First working port end; 14. First limiting end face; 15. First connection point; 16. First limiting groove; 21. Internal support plate one; 22. Internal support plate three. 23. Internal side plate four; 24. Internal limiting end plate five; 25. Internal plate part one; 26. Internal plate part two; 31. Second outer bottom plate; 32. Second outer side plate; 33. Second outer limiting plate; 34. Second top limiting piece; 35. Second connecting rod; 36. Second guide hole; 37. Second limiting groove; 38. Second pressure relief hole; 41. Third limiting groove; 51. Fourth telescopic cylinder; 52. Fourth cutting blade; 53. Fourth connecting piece. Detailed Implementation

[0073] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0074] Any feature disclosed in this specification, unless otherwise stated, may be replaced by other equivalent or similar features. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

[0075] Example 1 This embodiment provides a small-area non-destructive gripping device, which includes a limiting support and two clamping units. The working end of the limiting support is a plane, referred to as the limiting plane. In a specific example, the limiting support is a roughly rectangular shape, and the end face of the limiting support near the first working opening is the limiting plane.

[0076] The clamping unit includes a first internal support member, a first connecting air pipe for connection to an air source, a first inflatable expander with one open end, a first sealing ring, a second outer fixing member, and a third inner fixing member. The first internal support member includes a first inner support portion and a first connecting portion. The first inner support portion is a cylindrical hollow cavity structure with one open end, and the first connecting portion and the first inner support portion are integrally formed. The cavity in the first inner support portion is designated as the first working cavity, the open end of the first inner support portion is designated as the first working port end, and the end face on the first inner support portion opposite to the first working port end is designated as the first limiting end face. The first connecting air pipe passes through the first limiting end face of the first internal support member and communicates with the first working cavity. A first limiting groove is provided circumferentially on the outer wall of the first inner support portion to cooperate with the first inflatable expander. The first limiting groove is located between the first connecting portion and the first working port end.

[0077] A first inflatable expandable body is fitted onto the first inner support portion along the direction from the first working port end to the first limiting end face. The closed end of the first inflatable expandable body is located on the first working port end, and the open end of the first inflatable expandable body is located on the first limiting end face. A first limiting groove is located between the open end and the first working port end of the first inflatable expandable body. A first sealing ring is fitted onto the outer wall of the first inflatable expandable body, and the first sealing ring is located within the first limiting groove; the first sealing ring uses its own tension to help achieve a seal between the first inflatable expandable body and the first inner support portion.

[0078] Meanwhile, the first connecting part is connected to the first inner support part, and the connection point between the first connecting part and the first inner support part is referred to as the first connecting point. In this embodiment, the first connecting part mainly serves as a connection and support, so as to connect the first inner support member with the limiting support; at the same time, the first connecting part can also limit the subsequent second sleeve assembly.

[0079] In a specific example, as shown in the figure, the first inner support is a rectangular-shaped body, consisting of an inner support plate 1, an inner side plate 2, an inner support plate 3, an inner side plate 4, and an inner limiting end plate 5. The inner support plate 1 is located on the side of the first inner support member closest to the limiting support, and the inner support plate 3 is arranged parallel to the inner support plate 1. One side of the inner support plate 1 is connected to one side of the inner support plate 3 via the inner side plate 2, and the other side of the inner support plate 1 is connected to the other side of the inner support plate 3 via the inner side plate 4. The inner support plate 1, inner side plate 2, inner support plate 3, and inner side plate 4 are sequentially connected to form a hollow rectangular tube. The inner limiting end plate 5 is located at one end of the hollow rectangular tube and forms the first inner support. As shown in the figure, in one specific example, a three-section air path design is adopted to improve the air intake effect when the first working chamber is filled with air, and to enhance the sealing effect between the first inner support and the first connecting air pipe.

[0080] As shown in the figure, the hollow rectangular tube has a trapezoidal cross-section. An internal support plate forms the upper base of the trapezoid, and an internal support plate forms the lower base. Internal side plates two and four respectively form the two sides of the trapezoid. The inclination angle of the two sides can be set as needed, i.e., the first working port end is inclined relative to the central axis of the hollow rectangular tube. The angle between the trapezoidal side at the first working port end and the lower base of the trapezoid is acute; preferably, it is 15~75°. In this structure, the first limiting groove is rectangular along a cross-section perpendicular to its axial direction.

[0081] As shown in the figure, the second outer fixing member includes a second outer bottom plate, a second outer side plate, a second outer limiting plate that mates with the first limiting end face, and a second top limiting member that mates with the first working end face. There are two second outer side plates, which are respectively disposed on both sides of the second outer bottom plate to form a second outer intermediate body one. As described above, when the first inner support part is a rectangular shape, the second outer intermediate body one is U-shaped. Both ends of the second outer limiting plate are connected to the second outer side plate; the second outer side plate is inclined relative to the second outer bottom plate and can abut against the first limiting end face. Simultaneously, the second top limiting member is connected to the second outer intermediate body one, and the second outer intermediate body one can provide support for the second top limiting member; the second top limiting member is disposed opposite to the second outer limiting plate, and the second top limiting member can prevent the first inflatable expandable body from expanding axially along the second outer intermediate body one. In this embodiment, the second outer bottom plate, the second outer side plate, the second outer limiting plate, and the second top limiting member are integrally formed.

[0082] In this application, the second pressure relief hole can be formed directly by opening a hole in the second outer bottom plate; as an alternative, the second outer bottom plate and the second outer limiting plate are not directly connected, and there is a certain gap between them, which is the second pressure relief hole; the size of the second pressure relief hole is set as needed. In a specific example, the second pressure relief hole is rectangular. The part of the inner support plate three located between the first working port end and the first limiting groove is denoted as inner plate three part one, and the second outer bottom plate is attached to inner plate three part one; the part of the inner support plate three located between the first limiting end face and the first limiting groove is denoted as inner plate three part two; inner plate three part two cooperates with the second pressure relief hole, and when the air pressure in the first inflatable expansion body exceeds the set pressure value of the first sealing ring, the part of the first inflatable expansion body attached to inner plate three part two can expand outward through the second pressure relief hole to achieve the purpose of pressure relief. The open end of the first inflatable inflatable body is located between the first limiting end face and the second outer limiting plate, and the remaining part of the open end of the first inflatable inflatable body is sleeved on the first inner support.

[0083] In this application, the third inner fixing member mainly serves as a connector and support, and is located between the first connecting part and the first working port end. The first inflatable expander is located between the first inner support member and the second outer fixing member, and between the first inner support member and the third inner fixing member. In this embodiment, the third inner fixing member cooperates with the second outer fixing member; the third inner fixing member is U-shaped, with its opening side facing the opening side of the second outer intermediate body. The second outer fixing member and the third inner fixing member are connected to form the second sleeve assembly. The second sleeve assembly is disposed on the first inner support member, and the second outer fixing member and the third inner fixing member are detachably connected. The second outer fixing member is located on the side of the first inner support member away from the limiting support, and the third inner fixing member is located on the side of the first inner support member closer to the limiting support. As shown in the figure, the second sleeve assembly is provided with a second working port end that mates with the first working port end. Both the first and second working ports end are rectangular, and the portion of the first inflatable expander that is attached to the first working port end can extend outward in a rectangular shape through the second working port end under the action of internal air pressure. At the same time, the second outer bottom plate, the second outer side plate, the second outer limiting plate, the second top limiting member, and the third inner fixing member are respectively attached to the outer wall of the first internal support member.

[0084] In this embodiment, there are two clamping units, with the two clamping units respectively arranged on both sides of the limiting support, and the first working ends of the two clamping units are arranged in parallel.

[0085] In a specific example, the first sealing ring is a rubber sealing ring, and the first inflatable expander is a long, open-ended balloon. Preferably, the first inflatable expander is a 360-type long latex balloon. The 360-type long latex balloon has high material strength, high elasticity, and uniform thickness, maintaining good expansion effect. In this application, it serves as the bearing component of the clamping actuator and directly contacts the clamped object. As mentioned above, the long balloon is sleeved on the first inner support part, with its closed end located on the first working port end. Specifically, its closed end is located on the edge of the inner support plate three. This method makes the portion of the long balloon located at the first working port end flatter. At the same time, the open end of the long balloon is set on the first limiting end face by a pressing method. The pressing operation of the open end of the long balloon is achieved by the cooperation between the second outer limiting plate and the inner limiting end plate five, between the second outer side plate and the inner side plate two, and between the second outer side plate and the inner side plate four.

[0086] In this embodiment, the second sleeve assembly is disposed on the first internal support member, the third inner fixing member is located on one side of the first connecting portion, and the first limiting end face is located on the other side of the first connecting portion, thereby effectively preventing the second sleeve assembly from moving relative to the first internal support member. The first connecting portion is connected to the limiting support, and the limiting support can provide support for the first internal support member through the first connecting portion.

[0087] In the initial stages, the inventors attempted to directly fix the balloon to the first internal support component, as shown in the figure. However, without the second sleeve assembly, the balloon has a contact surface at its tip. During repeated inflation and deflation, the balloon is continuously and repeatedly pulled to one side, thus reducing its durability.

[0088] The working process of the aforementioned inter-cell non-destructive grasping device is as follows: (1) Clamping operation The air source inflates the first working chamber through the first connecting air pipe. The part of the long strip balloon located at the first working port expands outward in a rectangular shape, forming the first flexible claw. The two clamping units work simultaneously, with the first working ends arranged parallel to each other. This allows the two first flexible claws to approach each other without relative movement of the positions of the first internal support, the second external fixing, and the third internal fixing, thereby achieving the clamping operation on the stems of the plant seedlings. (2) Release operation After the plant seedling stem is moved to the set position, the air is released, the long strip balloon contracts, and the first flexible claws move away from each other, thus releasing the plant seedling. (3) One-time pressure relief During the process of the gas source filling the first working chamber with gas through the first connecting air pipe, when the gas pressure in the first working chamber exceeds the pressure setting value of the first sealing ring, some gas will flow towards the opening end of the elongated balloon, and the part of the elongated balloon attached to the inner plate three parts two can expand outward through the second pressure relief hole to achieve the purpose of pressure relief. (4) Secondary pressure relief When the air pressure in the first working chamber exceeds the pressure setting value of the second pressure relief hole, some gas will continue to flow towards the opening end of the elongated balloon and eventually flow out through the opening end of the elongated balloon, thus achieving the purpose of secondary pressure relief.

[0089] This application, by adopting a self-relieving pressure mode, can effectively extend the service life of the non-destructive gripping device, reduce maintenance and operating costs, and improve the reliability and stability of the device operation.

[0090] In this application, a sealing method consisting of a first limiting groove, a first sealing ring, and a second sleeve assembly is used to ensure the sealing performance of the first working cavity in the first inflatable expander, thereby ensuring the clamping effect. In this structure, the design of the first limiting groove reduces the unobstructed flow of air to this location. Together with the first sealing ring, the first sealing ring and the first limiting groove can jointly block the passage of airflow, thereby improving the sealing performance.

[0091] Preferably, the second outer bottom plate is provided with a second limiting groove that mates with the first limiting groove, and the third inner fixing member is provided with a third limiting groove that mates with the first limiting groove. The first, second, and third limiting grooves can respectively limit the first sealing ring. In this manner, the second and third limiting grooves mate with the first limiting groove, enhancing the limiting and sealing effect of the first sealing ring. Furthermore, the second outer fixing member also includes a second connecting rod, with both ends connected to the second outer side plate, forming a second guide hole between the second connecting rod and the second outer limiting plate. The first connecting air pipe passes through the second guide hole, which guides the first connecting air pipe. Furthermore, the second outer fixing member and the third inner fixing member, and the first internal support member and the limiting support, are connected by screws or bolts.

[0092] Furthermore, this embodiment provides a gripping and shearing integrated device based on the aforementioned inter-cell non-destructive gripping device, which includes an inter-cell non-destructive gripping device and a cutting assembly. The cutting assembly includes a fourth telescopic cylinder connected to an air source and a fourth cutting blade. The fourth telescopic cylinder is connected to a limiting support, and the fourth cutting blade is mounted on the telescopic rod of the fourth telescopic cylinder. The telescopic rod of the fourth telescopic cylinder can drive the fourth cutting blade to move along its axial direction to achieve the cutting operation.

[0093] In this embodiment, the limiting plane mainly serves as the working plane. In a specific example, the fourth telescopic cylinder is a CUJB4-15DM type cylinder with a stroke of 15cm, used as the power source for the cutting component; the fourth cutting blade can be a common sharpened blade, which, combined with the fourth telescopic cylinder, is used to cut plant seedlings. Here, taking sweet potato seedlings as an example, the working process of the integrated gripper and shear device is explained as follows: (a) Preliminary positioning The grabbing and shearing device moves to the vicinity of the sweet potato seedling to be sheared. The first inflatable expansion body is in the deflated state, bringing the limiting plane of the limiting support close to the sweet potato seedling, and then stops, completing the initial positioning operation. (b) Grab operation After the initial positioning is completed, the air source inflates the first working chamber through the first connecting air pipe; during this process, the first flexible claw expands outward in a rectangular shape, and the two first flexible claws clamp the sweet potato seedling; after the sweet potato seedling is clamped, the air source stops inflating the first working chamber, and the grasping operation is completed. (c) Cutting operation After the grabbing operation is completed, the air source inflates the fourth telescopic cylinder, and the telescopic rod of the fourth telescopic cylinder drives the fourth cutting blade on it to move forward synchronously; during the movement of the fourth cutting blade, the cutting operation of the sweet potato seedling is completed; then, the air in the fourth telescopic cylinder is deflated, and the telescopic rod of the fourth telescopic cylinder drives the fourth cutting blade on it to move backward synchronously until it returns to the initial position. (d) Release operation After the cutting operation is completed, the first flexible claw of the integrated grabber and cutter device moves the cut sweet potato seedling to the set position and begins to release air. The first inflatable expansion body contracts, and the first flexible claws move away from each other, thus releasing the sweet potato seedling. (e) Repeat steps (a) to (d) above until all sweet potato seedlings have been cut.

[0094] This application combines gripping and cutting functions, which can effectively improve work efficiency, and the clamping and cutting parts are relatively fixed. During operation, the cutting position of the clamped object remains unchanged relative to the clamping position, which is convenient to meet actual production requirements. At the same time, the device of this application is generally conical in shape, which can effectively reduce the impact of the device on the surrounding environment and realize clamping and cutting operations within a small area.

[0095] It should be noted that in some cases, there may only be a grasping operation and no cutting operation; those skilled in the art can adjust the operation steps independently according to actual needs without changing the corresponding technical concept.

[0096] Furthermore, this embodiment also includes a fourth connecting member, through which the fourth telescopic cylinder is connected to the limiting support. Furthermore, the fourth connecting member is L-shaped, and the fourth telescopic cylinder is connected to the fourth connecting member, and the fourth connecting member is connected to the limiting support, respectively, by screws or bolts. Furthermore, there are two fourth connecting members, arranged parallel to each other, with the fourth telescopic cylinder located between the two fourth connecting members.

[0097] Furthermore, it also includes an air source. Furthermore, the opening end of the elongated balloon and the first internal support member can also be further reinforced and sealed using methods such as glue sealing or thread wrapping. This method can improve the sealing performance of the elongated balloon, but it will compromise the secondary pressure relief function of this application, thus reducing the service life of the elongated balloon; based on actual needs, those skilled in the art can make appropriate selections according to actual requirements.

[0098] The inter-cell non-destructive gripping device and integrated gripping and shearing device of this application can serve as the end effector of a robot, and they exhibit good performance in gripping rod-shaped or similar objects. Furthermore, the device of this application can be used in the agricultural field, such as in gripping the stems of vegetable and fruit seedlings and rod-shaped or similar objects.

[0099] This application presents a non-destructive gripping device and integrated gripping and shearing device for small-area applications. These devices feature novel design, compact structure, small size, simple manufacturing process, low cost, easy operation, and convenient maintenance, while also possessing a certain degree of flexibility and precision. Furthermore, within the gripping size range of the non-destructive gripping device, it can grasp objects of various shapes, demonstrating strong adaptability and a wide range of applications. This application enables non-destructive gripping of fruit and vegetable seedlings and holds promise for application in the field of agricultural machinery automation, exhibiting high application value and promising prospects.

[0100] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A small-interval non-destructive grasping device, characterized in that, Includes limit support and clamping unit; The working end of the limiting support is a plane, and the working end of the limiting support is denoted as the limiting plane; The clamping unit includes a first internal support, a first connecting air pipe for connecting to an air source, a first inflatable expansion body with one end open, a first sealing ring, a second outer fixing member, and a third inner fixing member. The first internal support member includes a first internal support part and a first connecting part. The first internal support part is a columnar hollow cavity structure with one end open. The cavity in the first internal support part is referred to as the first working cavity, the open end of the first internal support part is referred to as the first working port end, and the end face on the first internal support part opposite to the first working port end is referred to as the first limiting end face. The first connecting air tube passes through the first limiting end face of the first internal support and communicates with the first working cavity. The first connecting part is connected to the first inner support part, and the connection point between the first connecting part and the first inner support part is denoted as the first connecting point; The outer wall of the first inner support is provided with a first limiting groove that cooperates with the first inflatable expansion body in the circumferential direction. The first limiting groove is located between the first connection and the first working port end. Along the direction from the first working port end toward the first limiting end face, the first inflatable expansion body is sleeved on the first inner support part; the closed end of the first inflatable expansion body is located on the first working port end, and the open end of the first inflatable expansion body is located on the first limiting end face; the first limiting groove is located between the open end of the first inflatable expansion body and the first working port end. The first sealing ring is sleeved on the outer wall of the first inflatable expansion body, and the first sealing ring is located in the first limiting groove; The first connecting part is connected to the limiting support, and the limiting support can provide support for the first internal support member through the first connecting part; The second outer fixing member includes a second outer bottom plate, a second outer side plate, a second outer limiting plate that mates with the first limiting end face, and a second top limiting member that mates with the first working end. There are two second outer side plates, which are respectively disposed on both sides of the second outer bottom plate to form a second outer intermediate body one. The second outer intermediate body one is U-shaped or U-shaped. The two ends of the second outer limiting plate are respectively connected to the second outer side plate. The second outer side plate is inclined relative to the second outer bottom plate and can abut against the first limiting end surface. The second top limiting member is connected to the second outer intermediate body and the second outer intermediate body can provide support for the second top limiting member. The second top limiting member is disposed opposite to the second outer limiting plate and the second top limiting member can prevent the first inflatable inflatable body from expanding along the axial direction of the second outer intermediate body. A second pressure relief hole is formed between the second outer bottom plate and the second outer limiting plate, or a second pressure relief hole is provided on the second outer bottom plate; The third inner fixing member is in the shape of an inverted U or U. The opening side of the third inner fixing member is facing the opening side of the second outer intermediate body. The second outer fixing member is connected to the third inner fixing member to form a second sleeve assembly. The second sleeve assembly is disposed on the first inner support member. The second outer fixing member and the third inner fixing member are detachably connected. The second outer fixing member is located on the side of the first inner support member away from the limiting support. The third inner fixing member is located on the side of the first inner support member close to the limiting support. The second sleeve assembly is provided with a second working port end that cooperates with the first working port end. The first working port end and the second working port end are respectively rectangular and the part of the first inflatable expansion body that is attached to the first working port end can extend outward in a rectangular shape through the second working port end under the action of internal air pressure. The second outer bottom plate, the second outer side plate, the second outer limiting plate, the second top limiting member, and the third inner fixing member are respectively attached to the outer wall of the first inner support member; There are two clamping units, with the two clamping units respectively located on both sides of the limiting support, and the first working ends of the two clamping units are arranged in parallel.

2. The gripping device according to claim 1, characterized in that, The limiting support is rectangular or rectangular in shape, and the end face of the limiting support near the first working port is a limiting plane.

3. The gripping device according to claim 1, characterized in that, The second outer bottom plate is provided with a second limiting groove that cooperates with the first limiting groove, and the third inner fixing member is provided with a third limiting groove that cooperates with the first limiting groove. The first limiting groove, the second limiting groove, and the third limiting groove can respectively limit the first sealing ring.

4. The gripping device according to any one of claims 1-3, characterized in that, The second outer fixing member also includes a second connecting rod, the two ends of which are respectively connected to the second outer side plate. A second guide hole is formed between the second connecting rod and the second outer limiting plate. The first connecting air tube passes through the second guide hole, and the second guide hole can guide the first connecting air tube.

5. The gripping device according to claim 1, characterized in that, The first inner support part is rectangular in shape.

6. The gripping device according to claim 5, characterized in that, The first inner support part consists of an inner support plate 1, an inner side plate 2, an inner support plate 3, an inner side plate 4, and an inner limiting end plate 5. The inner support plate 1 is located on the side of the first inner support member near the limiting support. The inner support plate 3 is arranged parallel to the inner support plate 1. One side of the inner support plate 1 is connected to one side of the inner support plate 3 through the inner side plate 2, and the other side of the inner support plate 1 is connected to the other side of the inner support plate 3 through the inner side plate 4. The inner support plate 1, inner side plate 2, inner support plate 3, and inner side plate 4 are connected in sequence to form a hollow rectangular tube. The inner limiting end plate 5 is located at one end of the hollow rectangular tube and forms the first inner support part. The first limiting groove is rectangular along a cross-section perpendicular to its axial direction; The first working port is inclined relative to the central axis of the hollow rectangular tube.

7. The gripping device according to claim 6, characterized in that, The portion of the internal support plate three located between the first working port end and the first limiting groove is referred to as internal plate three part one, and the second outer bottom plate is attached to internal plate three part one. The portion of the internal support plate three located between the first limiting end face and the first limiting groove is referred to as the second part of the internal plate three. The portion of the first inflatable expansion body that is fitted to the second pressure relief hole and attached to the second part of the internal plate three can expand outward through the second pressure relief hole to achieve the purpose of pressure relief when the air pressure in the first inflatable expansion body exceeds the set pressure value of the first sealing ring.

8. A gripping and shearing integrated device, characterized in that, Includes the inter-cell non-destructive gripping device and cutting assembly as described in any one of claims 1-7; The cutting assembly includes a fourth telescopic cylinder connected to an air source and a fourth cutting blade. The fourth telescopic cylinder is mounted on a limiting support, and the limiting support provides support for the fourth telescopic cylinder. The fourth cutting blade is mounted on the telescopic rod of the fourth telescopic cylinder, and the telescopic rod of the fourth telescopic cylinder can drive the fourth cutting blade to move along its axial direction to achieve the cutting operation.

9. The integrated gripper and shear device according to claim 8, characterized in that, It also includes a fourth connector, through which the fourth telescopic cylinder is connected to the limiting support.

10. The application of the inter-cell non-destructive gripping device according to any one of claims 1-7.

11. Application of the gripper-shear integrated device according to any one of claims 8-9.

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