A kiwi fruit picking mechanical gripper with adaptive gripping force

Abstract

The present invention belongs to the technical field of fruit picking equipment, and discloses a kiwi fruit picking mechanical claw with adaptive clamping force, including a shell; a mechanical gripper mechanism, which includes a limit component, a control component and a clamping component; wherein the control component includes a conveying hose connecting shell, and the conveying hose connecting shell is movably sleeved in the shell. The present invention is provided with a flexible bionic finger and a brushless reduction motor. Through the design of the brushless reduction motor and the flexible bionic finger, the brushless reduction motor is driven by a driver, and a control system is formed with a single-chip microcomputer controller. The magnitude of the motor working current can be detected at any time. When the current exceeds the set value, it means that the gripping force of the flexible bionic finger is too large, and the current should be reduced. This is an adaptive adjustment process to ensure that the clamping force applied to the surface of the fruit is appropriate, thereby achieving the purpose of reliable clamping and adjustable force.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit picking equipment, and in particular relates to a kiwi fruit picking mechanical claw with adaptive clamping force. Background Art

[0002] Kiwi fruit is a perennial woody plant of the genus Actinidia in the family Actinidia. Its young branches have white velvet, its leaves are papery, and are inverted broad ovate. Its inflorescence is corymbose, its petals are small and ovate, and its fruit is yellow-brown, spherical or inverted ovate. At present, in the process of picking kiwi fruit, it is often necessary to use a mechanical gripper. Although the existing mechanical gripper considers using flexible materials as fingers to reduce the damage to the surface of the kiwi fruit caused by the mechanical gripper during the clamping process, the existing mechanical gripper cannot effectively control the clamping force, and there will still be damage to those soft fruits. Therefore, it needs to be improved. Summary of the invention

[0003] The object of the present invention is to provide a kiwi fruit picking mechanical claw with adaptive clamping force to solve the problems raised in the above-mentioned background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A kiwi fruit picking mechanical claw with adaptive clamping force, comprising

[0006] shell;

[0007] A mechanical gripper mechanism, which includes a limit component, a control component and a clamping component;

[0008] Among them, the control component includes a conveying hose connecting shell, which is movably sleeved in the outer shell, and the interior of the conveying hose connecting shell is fixedly sleeved with a brushless reduction motor, and the upper end of the brushless reduction motor is transmission-connected with a small gear, and the outer surface of the small gear is meshingly connected with a large gear ring, and the inner surface of the large gear ring is fixedly sleeved with an upper flange, and the bottom of the upper flange is fixedly connected with a middle flange, and the outer surface of the middle flange is fixedly sleeved with the inner wall of the outer shell, and the small gear is movably sleeved inside the middle flange. The brushless reduction motor is driven by a driver and forms a control system with a single-chip microcomputer controller.

[0009] Preferably, the clamping assembly includes a transmission assembly and a soft clamping assembly;

[0010] The transmission assembly includes a lead screw, a square round nut and a small lead screw sleeve;

[0011] The outer surface of the round nut is movably connected to the inner wall of the pinion gear, and the outer surface of the screw rod is fixedly connected to the inner wall of the square round nut to form a screw rod nut pair. The upper end of the screw rod extends to the inner wall of the small screw rod sleeve and is threadedly connected and fixed to the inner wall of the small screw rod sleeve.

[0012] Preferably, the soft clamping assembly includes a gripper shaft seat, a gripper shaft block, a flexible bionic finger and a kiwi fruit body.

[0013] One end screw hole of the gripper shaft seat is hinged to the upper flange and fixed with screws, one end hole of the gripper shaft block is hinged to the small screw sleeve hole, the upper end hole of the gripper shaft seat block is fixedly connected and hinged to a hole of the flexible bionic finger, another hole of the flexible bionic finger is hinged to a hole of the gripper shaft seat, and the kiwi fruit body is arranged between the rings formed by the flexible bionic fingers.

[0014] Preferably, the limit assembly includes a proximity switch;

[0015] The proximity switch is arranged on the middle flange, and the proximity switch is located on the left side of the screw rod.

[0016] Preferably, it also includes a buffering falling mechanism;

[0017] Wherein, the buffering blanking mechanism comprises a fixed connection component, a fixed component and a buffering blanking component;

[0018] Wherein, the fixed connection assembly includes connecting screws, a delivery pipe and a clamp;

[0019] The outer surface of the connecting screw is threadedly sleeved with the inner wall of the middle flange, the lower end of the connecting screw extends to the interior of the delivery hose connecting shell and is threadedly sleeved with the inner wall of the delivery hose connecting shell, and the inner surface of the delivery pipe is fixedly clamped on the delivery hose connecting shell by a clamp.

[0020] Preferably, the buffer drop assembly comprises a sleeve cloth, a rubber block and a rubber ring;

[0021] The upper end of the sleeve cloth is fixedly connected to the conveying pipe, the rubber ring is equidistantly arranged inside the sleeve cloth, and the rubber block is equidistantly arranged on the rubber ring in an annular shape.

[0022] Preferably, the fixing assembly includes a clamping assembly, a rotating assembly and an anti-falling assembly;

[0023] Wherein, the rotating assembly includes a convex rod, a rotating rod and a bottom ring;

[0024] The outer surface of the convex rod is movably connected to the inner wall of the bottom ring, the inner surface of the bottom ring is fixedly connected to the outer surface of the sleeve cloth, the other end of the convex rod is fixedly connected to the convex rod, and the other end of the rotating rod is fixedly connected to the clamping assembly.

[0025] Preferably, the clamping assembly comprises a limit rod;

[0026] The side surface of the limiting rod is fixedly connected to the side surface of the rotating rod, and the limiting rod is located below the anti-falling component.

[0027] Preferably, the anti-falling component comprises a spring clip;

[0028] One end of the spring clip is fixedly connected to the delivery pipe, and the other end of the spring clip is clamped and connected to the limiting rod.

[0029] The beneficial effects of the present invention are as follows:

[0030] 1. The present invention is provided with a flexible bionic finger and a brushless reduction motor. Through the design of the brushless reduction motor and the flexible bionic finger, the brushless reduction motor is driven by a driver and forms a control system with a single-chip microcomputer controller. The magnitude of the motor working current can be detected at any time. When the current exceeds a set value, it indicates that the grasping force of the flexible bionic finger is too large, and the current should be reduced. This is an adaptive adjustment process to ensure that the clamping force applied to the surface of the fruit is appropriate, thereby achieving the purpose of reliable clamping and adjustable force.

[0031] 2. The present invention provides a sleeve cloth, a rubber ring and a rubber block, and opens the flexible bionic fingers, so that the kiwi fruit body can enter the sleeve cloth through the conveying tube. At this time, due to the design of multiple rubber rings and rubber blocks, the kiwi fruit body will pass through multiple rubber blocks and rubber rings for friction and buffering during unloading, and finally fall into the fruit frame on the vehicle carrying the robotic arm. Such a design prevents the kiwi fruit body from being damaged when it is picked and falls into the fruit frame, thereby achieving the purpose of preventing the kiwi fruit body from being damaged when it falls into the fruit frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 It is a bottom view structural schematic diagram of the present invention;

[0034] Figure 3 It is a schematic diagram of the internal structure of the present invention;

[0035] Figure 4 For the present invention Figure 2 A schematic diagram of the partially enlarged structure at center A;

[0036] Figure 5 For the present invention Figure 3 Schematic diagram of the local enlarged structure at point B in the middle.

[0037] In the figure: 1. Kiwifruit body; 2. Flexible bionic finger; 3. Outer shell; 4. Small lead screw nut; 5. Upper flange; 6. Middle flange; 7. Pawl rotating shaft seat; 8. Large gear ring; 9. Connecting screw; 10. Delivery pipe; 11. Clamp; 12. Small gear; 13. Proximity switch; 14. Lead screw; 15. Brushless reduction motor; 16. Delivery hose connection shell; 17. Round nut; 18. Sleeve cloth; 19. Bottom ring; 20. Rubber ring; 21. Rubber block; 22. Convex rod; 23. Rotating rod; 24. Spring clip; 25. Limit rod; 26. Pawl rotating shaft block. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] As Figures 1 to 5 shown, the embodiment of the present invention provides a kiwifruit fruit picking mechanical claw with self - adapting clamping force, which is characterized by including

[0040] Outer shell 3;

[0041] A mechanical claw mechanism, which includes a limiting component, a control component and a clamping component;

[0042] Among them, the control component includes a delivery hose connection shell 16. The delivery hose connection shell 16 is movably sleeved inside the outer shell 3. A brushless reduction motor 15 is fixedly sleeved inside the delivery hose connection shell 16. The upper end of the brushless reduction motor 15 is drivingly connected to a small gear 12. The outer surface of the small gear 12 is meshed with a large gear ring 8. The inner surface of the large gear ring 8 is fixedly sleeved with an upper flange 5. The bottom of the upper flange 5 is fixedly connected to a middle flange 6. The outer surface of the middle flange 6 is fixedly sleeved with the inner wall of the outer shell 3. The small gear 12 is movably sleeved inside the middle flange 6. The brushless reduction motor 15 is driven by a driver and forms a control system with a single - chip microcomputer controller.

[0043] Among them, through the design of the brushless reduction motor 15 and the flexible bionic finger 2, when the current exceeds the set value, it indicates that the grasping force of the flexible bionic finger 2 is too large. The single - chip microcomputer reduces the current through the brushless reduction motor 15. This is an adaptive adjustment process to ensure that the clamping force applied to the fruit surface is appropriate.

[0044] As Figure 3 and Figure 5 shown, the clamping component includes a transmission component and a soft clamping component;

[0045] The transmission assembly includes a screw rod 14, a square round nut 17 and a small screw rod sleeve 4;

[0046] The outer surface of the round nut 17 is movably connected to the inner wall of the pinion 12, and the outer surface of the screw rod 14 is fixedly connected to the inner wall of the square round nut 17 to form a screw rod nut pair. The upper end of the screw rod 14 extends to the inner wall of the small screw rod screw sleeve 4 and is threadedly connected and fixed to the inner wall of the small screw rod screw sleeve 4.

[0047] Among them, through the design of the small gear 12 and the round nut 17, when the small gear 12 rotates, the round nut 17 drives the screw 14 to rotate along the inner wall of the small screw sleeve 4, thereby causing the small screw sleeve 4 to move upward.

[0048] like Figure 1 As shown, the soft clamping assembly includes a gripper shaft seat 7, a gripper shaft block 26, a flexible bionic finger 2 and a kiwi fruit body 1.

[0049] A screw hole at one end of the gripper shaft seat 7 is hinged to the upper flange 5 and fixed with screws, a hole at one end of the gripper shaft block 26 is hinged to the hole of the small screw sleeve 4, an upper end hole of the gripper shaft seat block 26 is fixedly connected and hinged to a hole of the flexible bionic finger 2, another hole of the flexible bionic finger is hinged to a hole of the gripper shaft seat 7, and the kiwi fruit body 1 is arranged between the rings formed by the three flexible bionic fingers 2.

[0050] Among them, through the design of the gripper shaft block 26 and the small screw sleeve 4, when the small screw sleeve 4 moves upward, the small screw sleeve 4 will drive the flexible bionic finger 2 to rotate and clamp the kiwi fruit body 1 through the gripper shaft block 26.

[0051] like Figure 3 As shown, the limit assembly includes a proximity switch 13;

[0052] The proximity switch 13 is arranged on the middle flange 6 , and the proximity switch 13 is located on the left side of the screw rod 14 .

[0053] Among them, through the design of the proximity switch 13, when the brushless reduction motor 15 reverses to make the flexible bionic finger 2 open to the maximum position, the proximity switch 13 is triggered to limit the lifting and lowering action of the screw rod 14 and the round nut 17, and the brushless reduction motor 15 stops rotating, indicating that the brushless reduction motor 15 and its transmission device are at zero position.

[0054] like Figure 2 and Figure 3 As shown, it also includes a buffering drop mechanism;

[0055] Wherein, the buffering blanking mechanism comprises a fixed connection component, a fixed component and a buffering blanking component;

[0056] The fixed connection assembly includes a connecting screw 9, a delivery pipe 10 and a clamp 11;

[0057] The outer surface of the connecting screw 9 is threadedly sleeved with the inner wall of the middle flange 6, and the lower end of the connecting screw 9 extends to the interior of the delivery hose connecting shell 16 and is threadedly sleeved with the inner wall of the delivery hose connecting shell 16. The inner surface of the delivery pipe 10 is fixedly clamped on the delivery hose connecting shell 16 by a clamp 11.

[0058] Wherein, by designing the connecting screws 9 and the clamp 11 , the delivery pipe 10 can be fixed on the outer shell 3 through the delivery hose connecting shell 16 for use.

[0059] like Figure 2 As shown, the buffer drop assembly includes a sleeve cloth 18, a rubber block 21 and a rubber ring 20;

[0060] The upper end of the sleeve cloth 18 is fixedly connected to the conveying pipe 10 , the rubber rings 20 are equidistantly arranged inside the sleeve cloth 18 , and the rubber blocks 21 are equidistantly arranged on the rubber ring 20 in an annular shape.

[0061] Among them, through the design of multiple rubber rings 20 and rubber blocks 21, the kiwi fruit body 1 will pass through multiple rubber blocks 21 and rubber rings 20 for friction and buffering when falling.

[0062] like Figure 1 As shown, the fixing assembly includes a clamping assembly, a rotating assembly and an anti-falling assembly;

[0063] The rotating assembly includes a convex rod 22, a rotating rod 23 and a bottom ring 19;

[0064] The outer surface of the convex rod 22 is movably connected to the inner wall of the bottom ring 19, the inner surface of the bottom ring 19 is fixedly connected to the outer surface of the sleeve cloth 18, the other end of the convex rod 22 is fixedly connected to the convex rod 22, and the other end of the rotating rod 23 is fixedly connected to the clamping assembly.

[0065] Among them, through the design of the convex rod 22 and the rotating rod 23, the convex rod 22 can be rotated around the convex rod 22 to clamp the assembly.

[0066] like Figure 1 As shown, the clamping assembly includes a limit rod 25;

[0067] The side surface of the limiting rod 25 is fixedly connected to the side surface of the rotating rod 23, and the limiting rod 25 is located below the anti-falling component.

[0068] Among them, through the design of the limiting rod 25, the limiting rod 25 can clamp and fix the sleeve cloth 18 as a whole on the fruit frame for use.

[0069] like Figure 1 As shown, the anti-drop assembly includes a spring clip 24;

[0070] One end of the spring clip 24 is fixedly connected to the delivery pipe 10 , and the other end of the spring clip 24 is clamped and connected to the limiting rod 25 .

[0071] Among them, through the design of the spring clip 24 and the limiting rod 25, the limiting rod 25 will fix the sleeve cloth 18 as a whole on the conveying pipe 10 through the spring clip 24 for use.

[0072] Working principle and usage process:

[0073] When in use, the flexible bionic finger 2 is first operated to the bottom of the fruit, and then moved upward to wrap the kiwi fruit body 1. At this time, the brushless reduction motor 15 drives the pinion 12 to rotate, so that the pinion 12 drives the large gear ring 8 to rotate, and at the same time, the large gear ring 8 will drive another pinion 12 to rotate, so that the pinion 12 drives the screw 14 to rotate along the inner wall of the small screw screw sleeve 4 through the round nut 17, so that the pinion 12 and the small screw screw sleeve 4 and the round nut 17 drive the claw shaft block 26 to move upward, so that the claw shaft block 26 drives multiple flexible bionic fingers 2 to rotate and grasp the kiwi fruit body 1. The brushless reduction motor 15 is driven by a driver, and forms a control system with the single-chip controller, which can detect the size of the motor working current at any time. When the current exceeds the set value, it means that the grasping force of the flexible bionic finger 2 is too large, and the current should be reduced. This is an adaptive adjustment process to ensure that the clamping force applied to the fruit surface is appropriate. The proximity switch 13 limits the lifting and lowering action of the screw rod 14 and the round nut 17. When the brushless reduction motor 15 reverses to open the flexible bionic finger 2 to the maximum position, the proximity switch 13 is triggered and the brushless reduction motor 15 stops rotating, indicating that the brushless reduction motor 15 and its transmission device are in the zero position, thereby achieving the purpose of reliable clamping and adjustable force.

[0074] Then the wrist joint of the robot arm rotates forward, and at the same time the robot arm moves downward a short distance, driving the pinion 12 to pick the kiwi body 1, and then open the flexible bionic finger 2, so that the kiwi body 1 falls and enters the sleeve cloth 18 through the conveying tube 10. At this time, due to the design of multiple rubber rings 20 and rubber blocks 21, the kiwi body 1 will pass through multiple rubber blocks 21 and rubber rings 20 for friction and buffering when it is unloaded, and finally fall into the fruit frame on the vehicle carrying the robot arm. Such a design prevents the kiwi body 1 from being damaged when it is picked and falls into the fruit frame, thereby achieving the purpose of preventing the kiwi body 1 from being damaged when it falls into the fruit frame.

[0075] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0076] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A kiwi fruit picking mechanical claw with adaptive gripping force, It is characterized in that include Shell (3); A mechanical gripper mechanism, which includes a limit component, a control component and a clamping component; The control component comprises a conveying hose connection shell (16), the conveying hose connection shell (16) is movably sleeved in the outer shell (3), a brushless reduction motor (15) is fixedly sleeved inside the conveying hose connection shell (16), the upper end of the brushless reduction motor (15) is transmission-connected with a pinion (12), the outer surface of the pinion (12) is meshingly connected with a large gear ring (8), the inner surface of the large gear ring (8) is fixedly sleeved with an upper flange (5), the bottom of the upper flange (5) is fixedly connected with a middle flange (6), the outer surface of the middle flange (6) is fixedly sleeved with the inner wall of the outer shell (3), the pinion (12) is movably sleeved inside the middle flange (6), the brushless reduction motor (15) is driven by a driver, and forms a control system with a single-chip microcomputer controller; The clamping assembly includes a transmission assembly and a soft clamping assembly; The transmission assembly includes a screw (14), a round nut (17) and a small screw sleeve (4); The outer surface of the round nut (17) is movably sleeved with the inner wall of the pinion gear (12), and the outer surface of the screw rod (14) is fixedly sleeved with the inner wall of the round nut (17) to form a screw rod nut pair, and the upper end of the screw rod (14) extends to the inner wall of the small screw rod screw sleeve (4) and is threadedly sleeved and fixed with the inner wall of the small screw rod screw sleeve (4); The soft clamping assembly comprises a gripper shaft seat (7), a gripper shaft block (26), a flexible bionic finger (2) and a kiwi fruit body (1); A screw hole at one end of the gripper shaft seat (7) is hinged to the upper flange (5) and fixed by screws; a hole at one end of the gripper shaft block (26) is hinged to the hole of the small screw thread sleeve (4); an upper end hole of the gripper shaft block (26) is fixedly connected and hinged to a hole of the flexible bionic finger (2); another hole of the flexible bionic finger is hinged to a hole of the gripper shaft seat (7); and the kiwi fruit body (1) is arranged between the rings formed by the three flexible bionic fingers (2); The brushless reduction motor (15) is driven by a driver and forms a control system with a single-chip microcomputer controller to detect the magnitude of the motor's operating current at any time, and when the current exceeds a set value, the current is adaptively reduced.

2. A kiwi fruit picking mechanical claw with adaptive gripping force according to claim 1, Features: The limit assembly includes a proximity switch (13); The proximity switch (13) is arranged on the middle flange (6), and the proximity switch (13) is located on the left side of the screw rod (14).

3. The kiwifruit picking mechanical claw with adaptive clamping force according to claim 1, Features: It also includes a buffering drop mechanism; Wherein, the buffering blanking mechanism comprises a fixed connection component, a fixed component and a buffering blanking component; The fixed connection assembly includes a connecting screw (9), a delivery pipe (10) and a clamp (11); The outer surface of the connecting screw (9) is threadedly sleeved with the inner wall of the middle flange (6), the lower end of the connecting screw (9) extends into the interior of the delivery hose connection shell (16) and is threadedly sleeved with the inner wall of the delivery hose connection shell (16), and the inner surface of the delivery pipe (10) is fixedly clamped on the delivery hose connection shell (16) by a clamp (11).

4. The kiwifruit picking mechanical claw with adaptive gripping force according to claim 3, Features: The buffering drop assembly comprises a sleeve cloth (18), a rubber block (21) and a rubber ring (20); The upper end of the sleeve cloth (18) is fixedly connected to the delivery pipe (10), the rubber ring (20) is equidistantly arranged inside the sleeve cloth (18), and the rubber block (21) is annularly equidistantly arranged on the rubber ring (20).

5. The kiwifruit picking mechanical claw with adaptive clamping force according to claim 3, Features: The fixing assembly includes a clamping assembly, a rotating assembly and an anti-falling assembly; The rotating assembly comprises a convex rod (22), a rotating rod (23) and a bottom ring (19); The outer surface of the convex rod (22) is movably connected to the inner wall of the bottom ring (19), the inner surface of the bottom ring (19) is fixedly connected to the outer surface of the sleeve cloth (18), the other end of the convex rod (22) is fixedly connected to the rotating rod (23), and the other end of the rotating rod (23) is fixedly connected to the clamping assembly.

6. The kiwifruit picking mechanical claw with adaptive gripping force according to claim 5, Features: The clamping assembly comprises a limit rod (25); The side surface of the limiting rod (25) is fixedly connected to the side surface of the rotating rod (23), and the limiting rod (25) is located below the anti-falling component.

7. The kiwifruit picking mechanical claw with adaptive gripping force according to claim 6, Features: The anti-fall-off assembly comprises a spring clip (24); One end of the spring clip (24) is fixedly connected to the delivery pipe (10), and the other end of the spring clip (24) is clamped and connected to the limiting rod (25).

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