Bricard mechanism driven integrated gripping and cutting mechanical hand for apple picking

Abstract

A kind of Bricard mechanism driven clamping cutting integrated apple picking manipulator, including cutting module, collection module, rack rod.The first cutting edge rod, second cutting edge rod, third cutting edge rod, first connecting rod, second connecting rod, third connecting rod are connected in the cutting module, and collection pipeline is fixedly connected with rack rod, rack rod is fixedly connected with manipulator and mechanical arm, and clamping cutting, fruit collection can be realized during the movement of manipulator.

Description

Technical Field

[0001] This invention relates to an integrated apple-picking robot based on a Bricard mechanism, specifically a picking robot that uses a spatial closed six-bar linkage as the basic power unit and adds a motor drive to the three non-adjacent rotating joints of the Bricard mechanism to achieve simultaneous clamping and cutting. Background Technology

[0002] This harvesting robot is based on the Bricard mechanism. Three connecting rods in a triple-symmetrical Bricard mechanism are designed as blade-shaped rods, while the other three connecting rods are fixedly connected to the drive motor. The three blade-shaped rods and the three connecting rods are connected end-to-end to form a spatial closed-loop motion cutting structure. To achieve smooth movement of the robot, three motors drive the entire power unit mechanism at three non-adjacent revolute joints to complete the clamping and cutting motion of the apples. Summary of the Invention

[0003] The technical problem to be solved by this invention is to address the problems existing in the current apple picking robot and to propose an apple picking robot that can simultaneously grip and cut, thereby reducing the damage to the fruit tree caused by pulling the fruit stem during traditional picking.

[0004] The technical solution of the present invention:

[0005] A Bricard mechanism-driven integrated apple picking robot for clamping and cutting, characterized by: a cutting module, a collecting module, and a frame rod;

[0006] The collection module is a flexible collection pipe with a through hole that is fixedly connected to the frame rod.

[0007] The cutting module includes a first blade rod, a second blade rod, a third blade rod, a first connecting rod, a second connecting rod, and a third connecting rod;

[0008] The left end of the first cutting rod is provided with a through hole and is connected to the first connecting rod in the form of a rotating pair. The cylindrical block at the right end of the cutting rod is provided with a set of threaded holes and is fixedly connected to the rotor of the drive motor on the second connecting rod.

[0009] The first connecting rod has a through hole at its right end, which is connected to the first cutting rod in the form of a rotating pair. The left end of the connecting rod is designed with reference to the size of the drive motor, and a set of threaded holes are provided on the bottom surface for installing the drive motor. The motor and the connecting rod are fixedly connected.

[0010] The first cutting edge bar, the second cutting edge bar, and the third cutting edge bar have the same structure and dimensions.

[0011] The first connecting rod, the second connecting rod, and the third connecting rod have the same structure and dimensions.

[0012] The frame rod is a special structure composed of two rectangular bodies perpendicular to each other. Its upright plate has a threaded hole, and its bottom plate has a set of threaded holes. The threaded hole at the left end of the bottom plate is used to fix it to the robotic arm, and the threaded hole at the upper right corner is used to fix it to the threaded hole on the flexible pipe. The cut apples fall into the collection bin along the pipe, and the threaded hole on the upright plate is used to fix it to the through hole of the first blade rod in the cutting module. Attached Figure Description

[0013] Figure 1 3D model of an integrated apple-gripping and shearing robotic arm driven by a Bricard mechanism

[0014] Figure 2 3D model of the collection module

[0015] Figure 3 3D model of cutting module

[0016] Figure 4 3D diagram of the first cutting edge rod

[0017] Figure 5 3D diagram of the first connecting rod

[0018] Figure 6 3D model of frame pole Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings.

[0020] A gripping and cutting integrated apple-picking robot driven by a Bricard mechanism, such as Figure 1 As shown, the feature is: a cutting module, a collecting module, and a frame rod;

[0021] like Figure 2 As shown, the collection module is a flexible hose with threaded holes for fixed connection with the frame rod;

[0022] like Figure 3 As shown, the cutting module includes a first blade rod, a second blade rod, a third blade rod, a first connecting rod, a second connecting rod, and a third connecting rod;

[0023] like Figure 4 As shown, the left end through hole of the first cutting rod is connected to the first connecting rod in the form of a rotating pair, and the right end cylindrical block is provided with a set of threaded holes and is fixedly connected to the rotor of the drive motor on the second connecting rod;

[0024] like Figure 5As shown, the right end of the first connecting rod is provided with a through hole and is connected to the first cutting rod in the form of a rotating pair. The left end is designed with reference to the size of the drive motor, and the bottom surface is provided with a set of threaded holes for installing the drive motor. The motor and the connecting rod are both fixedly connected.

[0025] like Figure 6 As shown, the frame rod is a special structure composed of two rectangular bodies perpendicular to each other. Its base plate is provided with a set of threaded holes, of which the threaded hole at the left end is used to fix it to the robotic arm, and the threaded hole at the upper right corner is used to fix it to the flexible pipe. The cut apples fall into the collection bin along the pipe, and the threaded hole on the upright plate is used to fix it to the first blade rod in the cutting module.

Claims

1. A gripping and cutting integrated apple-picking robot based on a Bricard mechanism, characterized in that: Cutting module (A), collecting module (B), frame pole (C); The cutting module (A) consists of a blade rod and a connecting rod, wherein the through hole (A1-1) on the first blade rod (A1) and the through hole (A4-1) on the first connecting rod (A4) are fixedly connected to the frame rod (C); The collection module (B) is a flexible collection pipe with a threaded hole (B-1) for fixed connection with the frame rod (C); The frame rod (C) is composed of a base plate and an upright plate, which together form a support structure for assembly. The frame rod (C) is fixedly connected to the robotic arm, the cutting module (A), and the collecting module (B) through the support structure to position the above modules and provide assembly support. The cutting module (A) is a six-bar linkage consisting of a first blade rod (A1), a second blade rod (A2), a third blade rod (A3), a first connecting rod (A4), a second connecting rod (A5), and a third connecting rod (A6). The left end of the first cutting rod (A1) is provided with a through hole (A1-1) and is connected to the first connecting rod (A4) in the form of a rotating pair. The cylindrical block at the right end of the cutting rod (A1) is provided with a set of threaded holes (A1-2, A1-3, A1-4) and is fixedly connected to the rotor of the drive motor on the second connecting rod (A5). The first connecting rod (A4) has a through hole (A4-1) on its right end, which is connected to the first cutting rod (A1) in the form of a rotating pair. The left end of the connecting rod (A4) is designed with reference to the size of the drive motor, and a set of threaded holes (A4-2, A4-3, A4-4, A4-5) are provided on the bottom surface for installing the drive motor. The motor and the connecting rod are fixedly connected. The first cutting edge (A1), the second cutting edge (A2), and the third cutting edge (A3) have the same structure and dimensions; The first connecting rod (A4), the second connecting rod (A5), and the third connecting rod (A6) are completely identical in structure and size; The connection methods of the second cutting rod (A2) and the second connecting rod (A5), and the connection methods of the third cutting rod (A3) and the third connecting rod (A6) are the same as those of the first cutting rod (A1) and the first connecting rod (A4). The connection methods between the second connecting rod (A5) and the third connecting rod (A6) and the drive motor are the same as the connection methods between the first connecting rod (A4) and the drive motor.

2. The integrated apple picking robot based on the Bricard mechanism as described in claim 1, characterized in that: The frame rod (C) is a T-shaped structure composed of two rectangular bodies perpendicular to each other. Its upright plate has a threaded hole (C1), and its bottom plate has a set of threaded holes (C2, C3, C4). The threaded holes (C2, C3) are used for fixed connection with the robotic arm, and the threaded hole (C4) in the upper right corner is used for fixed connection with the threaded hole (B-1) on the flexible pipe. The cut apples fall into the collection bin along the pipe. The threaded hole (C1) is used for fixed connection with the through hole (A1-1) of the first blade rod in the cutting module.

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