A portable open and clamping force adjustable screwing gripping device

Abstract

The technology discloses a kind of portable opening and adjustable clamping force screwing grabbing device, including clamping mechanism, spiral groove mechanism, clamping force adjusting mechanism and driving mechanism;Clamping mechanism includes multiple clamping fingers and finger seat;Spiral groove mechanism includes spiral seat, ring sleeve;Clamping force adjusting mechanism includes rack, adjusting bolt, friction block, elastic frame and fixed nut;Driving mechanism includes motor, shaft sleeve one and long shaft sleeve;The output shaft of motor is connected with shaft sleeve one, and shaft sleeve one is connected with long shaft sleeve;Long shaft sleeve is externally sleeved with friction ring, spiral seat, ring sleeve, and the end of long shaft sleeve is connected with finger seat, and finger seat can be relatively rotated with ring sleeve and spiral seat, and finger seat is rotatably connected with clamping finger, and the end of each clamping finger is provided with ball head, the spiral seat is opened with multiple arc grooves, and the ball head is slidably connected with the arc groove.Finger seat has multiple groups of pin holes.The technology can realize opening and clamping force adjustment, and has simple structure, light weight and high picking efficiency.

Description

TECHNICAL FIELD

[0001] The present technology relates to the technical field of picking spherical fruit, and particularly relates to a portable twist and grab device with adjustable opening and clamping force. BACKGROUND

[0002] In fruit picking operations, manual picking is low in efficiency and high in labor intensity. With the development of robot technology and computer technology, picking robots have gradually shown great potential in picking operations. The picking device directly contacts the picked fruit, and the structure and principle of the picking device directly determine the success rate and efficiency of picking. The current twist and grab device is mainly complex in structure and multiple driving picking. The series of picking actions of grabbing and twisting the fruit need to be realized through multiple driving sources, and the overall structure is complex, heavy in quality, or the opening size and the gripping force of the fruit cannot be adjusted, the applicable range is narrow, or the adjustment method is complicated, the reliability is not enough, and time and effort are wasted. Therefore, the ultimate goal of the robot picking device is to pursue the lightest weight and the least time without damaging the fruit. SUMMARY

[0003] The present technology aims to solve the technical problems of the prior art. The present technology provides a portable twist and grab device with adjustable opening and clamping force. The twist and grab device with adjustable opening and clamping force can realize the picking actions of grabbing and twisting through a single driving source (motor), and can adjust the gripping force and the maximum opening size. The device is suitable for picking fruits of different sizes and different anti-extrusion forces, and has a simple overall structure, light quality and high picking efficiency.

[0004] To achieve the above technical purpose, the technical solution adopted by the present technology is as follows:

[0005] A portable twist and grab device with adjustable opening and clamping force, comprising a clamping mechanism, a spiral groove mechanism, a clamping force adjusting mechanism and a driving mechanism.

[0006] The clamping mechanism comprises a plurality of clamping fingers, a finger seat and a flexible material. The spiral groove mechanism comprises a spiral seat, a ring sleeve and a friction ring. The clamping force adjusting mechanism comprises a rack, an adjusting bolt, a friction block, an elastic frame and a fixed nut. The driving mechanism comprises a motor, a shaft sleeve and a long shaft sleeve.

[0007] The output shaft of the motor is connected with the shaft sleeve one, and the shaft sleeve one is connected with the long shaft sleeve; the front end of the frame is provided with a ring frame, a through hole is formed in the bottom center of the ring frame, the shaft shoulder of the long shaft sleeve is slidingly connected with the outer bottom surface of the ring frame, and sequentially passes through the ring frame, the friction ring, the spiral seat and the ring sleeve; the ring frame, the friction ring, the spiral seat and the ring sleeve can rotate relative to the long shaft sleeve; the end of the long shaft sleeve is connected with the finger seat; the long shaft sleeve is used for driving the finger seat to rotate; the finger seat can rotate relative to the ring sleeve and the spiral seat; a plurality of circumferentially uniformly distributed finger grooves are arranged on the finger seat; a plurality of groups of pin holes are arranged in the finger grooves in the radial direction; a clamping finger is rotatably connected in each finger groove; a ball head is arranged at the end of each clamping finger; the spiral seat is provided with a plurality of arc grooves which are the same in number as the ball heads; the ball heads are slidingly connected with the arc grooves; the spiral seat is connected with the friction ring; the friction block is located between the elastic frame and the friction ring; the shell of the motor is connected with the frame; the inner side wall and the bottom surface of the ring frame are slidingly connected with the outer side surface of the ring sleeve and the bottom surface of the spiral seat respectively; a groove is formed in the bottom of the ring frame; the elastic frame, the friction block and the friction ring are located in the groove; a through adjusting screw hole is formed in the inner wall of the groove; the screw rod of the adjusting screw sequentially passes through the square counterbore in the outer bottom surface of the ring frame and the adjusting screw hole, penetrates into the groove and abuts against one end of the elastic frame; the adjusting screw is threadedly connected with a fixing nut located in the square counterbore.

[0008] Further, the front end of the long shaft sleeve is inserted into the inner hole of the finger seat through the through hole in the center of the bottom of the ring frame, and the front end of the long shaft sleeve is circumferentially connected with the finger seat and can drive the finger seat to rotate.

[0009] Further, the inner hole of the long shaft sleeve comprises a shaft sleeve one mounting hole, a counterbore and a screw hole which are sequentially communicated; the output shaft of the motor is connected with the shaft sleeve one; the shaft sleeve one is connected with the shaft sleeve one mounting hole of the long shaft sleeve; the screw head of the long screw is located in the counterbore; the screw rod of the long screw is connected with the nut after sequentially passing through the screw hole of the long shaft sleeve and the inner hole of the finger seat; the nut is located in the central counterbore of the finger seat; the finger seat, the ring sleeve, the spiral seat, the friction ring and the long shaft sleeve are prevented from being scattered in the axial direction, and the finger seat and the long shaft sleeve are allowed to rotate relative to the spiral seat.

[0010] Further, the clamping fingers are three; the finger seat is provided with three circumferentially uniformly distributed finger grooves; each finger groove has a plurality of groups of pin holes; the clamping fingers are rotatably connected with one group of pin holes through pins. The pitch circles where the centers of each group of pin holes are located are different in size; the maximum opening of the screwing and grabbing device is adjusted by selecting to rotatably connect the clamping fingers with different groups of pin holes to adapt to different sizes of fruits to be picked; the overall length of the arc grooves must meet the smooth sliding when the clamping fingers are connected with different groups of pin holes.

[0011] Further, the center of the screw seat is provided with a waist-shaped hole for passing through the inner hole of the long shaft sleeve and the circumferential connecting friction ring, the waist-shaped hole is a counterbore, the screw seat has three arc-shaped grooves, one end of each arc-shaped groove is close to the inner hole of the screw seat, and the other end is close to the outer circumferential surface of the screw seat; when the screw seat and the finger seat rotate relative to the rack together, the arc-shaped groove is subjected to a screwing torque applied by the ball head of the clamping finger, and the screwing torque is greater than the resistance torque of the friction ring to the screw seat; otherwise, the screw seat and the friction ring are stationary relative to the rack.

[0012] Further, the shell of the motor is fixedly connected to the rack through a bolt passing through a motor mounting hole, and a mounting hole for connecting a robot wrist is formed in the rear end surface of the rack.

[0013] Further, the friction block is an arc-shaped friction block, the fixing nut is a square nut, the adjusting bolt moves axially in the adjusting bolt hole while rotating relative to the fixing nut, pushes the elastic frame to swing the friction block forward and backward, and cooperates with the elastic restoring force of the elastic frame to increase or decrease the resistance torque applied to the friction ring, so as to adjust the clamping force of the screwing and grabbing device on the fruit.

[0014] Further, the friction block, the adjusting bolt and the fixing nut are all two, and the friction block is fixed on the inner side surface of the two arms of the elastic frame.

[0015] Further, the clamping surface of the clamping finger and the upper surface of the finger seat are pasted with flexible materials.

[0016] Further, the size of the clamping force of the clamping finger is adjusted by changing the length of the clamping finger part between the pin and the ball head.

[0017] The beneficial effects of the present technology are as follows:

[0018] The motor of the technology drives the finger seat to rotate relative to the spiral seat through the shaft sleeve one and the long shaft sleeve in turn, and then drives the clamping fingers to open and close. When the three claws close to grip the target fruit, the motor continues to operate. Since the clamping fingers cannot close again after gripping the target fruit, the ball head of the clamping fingers cannot continue to slide along the inner side surface of the arc-shaped groove of the spiral seat. When the locked-rotor torque of the motor is greater than the resistance torque of the friction ring, the clamping fingers and the spiral seat will rotate relative to the rack with the rotation of the motor, realizing the action of twisting the fruit, so as to twist and break the fruit from the fruit branch, and realize the picking of the fruit. By adjusting the resistance torque of the friction block applied to the friction ring through the adjusting bolt, the gripping force of the clamping fingers applied to the target fruit can be adjusted. On the other hand, the maximum opening of the clamping fingers can be adjusted by rotating and fixing the clamping fingers in different groups of pin holes in the finger groove, so that the opening and clamping of the two important parameters can be adjusted. The twisting and grabbing device provided by the technology can also realize continuous picking by twisting and grabbing through a single drive (i.e. a single motor), and has small overall structure, light weight and high picking efficiency. In summary, the technology realizes the twisting and grabbing device which can adjust the opening and gripping force and drive the two actions of grabbing and twisting by a single motor, and the adjustment of the gripping force is simpler and more reliable than the prior art. The weight is reduced and the efficiency is increased compared with other picking claws. The twisting and picking action saves more than one-third of the time, and the weight saved due to the saving of a motor allows the mechanical arm to move at a greater speed, saving time and effort, being simple and reliable, and being suitable for a wide range of fruit sizes and fruit compression resistance. The technology truly makes it possible for a single robot to perform fruit picking work with a higher efficiency than a person. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of embodiment 1.

[0020] Figure 2 It is a schematic diagram of the overall structure of embodiment 1.

[0021] Figure 3 It is a schematic diagram of the overall structure of embodiment 1.

[0022] Figure 4 It is a schematic diagram of the overall structure of embodiment 1.

[0023] Figure 5 It is a schematic diagram of the overall structure of embodiment 1.

[0024] Figure 6 It is a schematic diagram of the overall structure of embodiment 1.

[0025] Figure 7 It is a schematic diagram of the overall structure of embodiment 1.

[0026] Figure 8 It is a schematic diagram of the overall structure of embodiment 1.

[0027] Figure 9 is the relative position relationship of the frame, friction ring, friction block, elastic frame, etc.

[0028] Figure 10 is the relative position relationship of the friction ring, friction block, elastic frame, adjusting bolt, etc.

[0029] Figure 11 is the relative position relationship of the ring sleeve, friction ring, elastic frame, screw seat, etc.

[0030] Figure 12 is another relative position relationship of the ring sleeve, friction ring, elastic frame, screw seat, long bolt, etc.

[0031] Figure 13 is the relative position relationship of the two clamping fingers, finger seat, friction ring, long shaft sleeve, long bolt, etc.

[0032] Figure 14 is the relative position relationship of the two clamping fingers, finger seat, etc.

[0033] Figure 15 is the structure of the embodiment 2 Figure 1 .

[0034] Figure 16 is the structure of the embodiment 2 Figure 2 .

[0035] Figure 17 is the side view of the structure of the embodiment 2.

[0036] Figure 18 is the front view of the structure of the embodiment 2.

[0037] Figure 19 is Figure 18 the B-B cross-sectional view in the

[0038] Figure 20 is the structure of the embodiment 2 hidden motor, frame and screw shell

[0039] Figure 21 is the structure of the screw shell Figure 1 .

[0040] Figure 22 is the structure of the screw shell Figure 2 . DETAILED DESCRIPTION

[0041] The specific embodiments of the present technology will be further described below according to the accompanying drawings:

[0042] Embodiment 1:

[0043] As Figures 1-14 shown in the figure, a portable open and clamping force adjustable screwing grabbing device, characterized in that, comprising clamping mechanism, spiral groove mechanism, clamping force adjusting mechanism and driving mechanism;

[0044] The clamping mechanism comprises a plurality of clamping fingers 1, finger seats 2 and flexible materials 17; the spiral groove mechanism comprises a spiral seat 3, a ring sleeve 15 and a friction ring 16; the clamping force adjusting mechanism comprises a rack 6, an adjusting bolt 8, a friction block 11, an elastic frame 10 and a fixed nut 9; the driving mechanism comprises a motor 7, a shaft sleeve 5 and a long shaft sleeve 4;

[0045] The output shaft 7-1 of the motor 7 is connected with the shaft sleeve 5, and the shaft sleeve 5 is connected with the long shaft sleeve 4; the front end of the rack 6 is provided with a ring frame 6-1, a through hole is opened at the bottom center position of the ring frame 6-1, the shaft shoulder of the long shaft sleeve 4 is slidingly connected with the outer bottom surface of the ring frame 6-1, and the long shaft sleeve 4 passes through the ring frame 6-1, the friction ring 16, the spiral seat 3 and the ring sleeve 15 in sequence, the ring frame 6-1, the friction ring 16, the spiral seat 3 and the ring sleeve 15 can rotate relative to the long shaft sleeve 4, the end of the long shaft sleeve 4 is connected with the finger seat 2, the long shaft sleeve 4 is used to drive the finger seat 2 to rotate, the finger seat 2 can rotate relative to the ring sleeve 15 and the spiral seat 3, and the ring sleeve 15 is fixedly connected with the spiral seat 3. Three radially extending finger grooves 2-1 are evenly distributed on the finger seat 2, three groups of pin holes 2-2 are arranged in the finger grooves 2-1 in the radial direction, a clamping finger 1 is rotationally connected in each finger groove 2-1 through a pin 14, a ball head 1-1 is arranged at the end of each clamping finger 1, and the ball head 1-1 extends into an arc-shaped groove 3-1 on the spiral seat 3. The first end of each clamping finger 1 extends out of the finger seat 2.

[0046] The spiral seat 3 is provided with three arc-shaped grooves 3-1, and the ball head 1-1 is slidingly connected with the arc-shaped grooves 3-1; the spiral seat 3 is connected with the friction ring 16, and the friction block 11 is located between the elastic frame 10 and the friction ring 16. The shell of the motor 7 is connected with the rack 6, the inner side wall and the bottom surface of the ring frame 6-1 are slidingly connected with the outer side surface of the ring sleeve 15 and the bottom surface of the spiral seat 3 respectively, a recess 6-2 is opened at the bottom of the ring frame 6-1, the elastic frame 10, the friction block 11 and the friction ring 16 are located in the recess 6-2, a radial through adjusting bolt hole 6-3 is opened in the inner wall of the recess 6-2, the bolt rod of the adjusting bolt 8 passes through a square counterbore 6-4 on the outer bottom surface of the ring frame 6-1 and the adjusting bolt hole 6-3 in sequence, penetrates into the recess 6-2 and abuts against one end of the elastic frame 10, and the adjusting bolt 8 is threadedly connected with the fixed nut 9 located in the square counterbore 6-4.

[0047] The front end of the long shaft sleeve 4 passes through the central through hole at the bottom of the ring frame 6-1 and is inserted into the inner hole of the finger seat 2, and the front end of the long shaft sleeve 4 is circumferentially connected with the finger seat 2.

[0048] The inner hole of the long shaft sleeve 4 comprises a sleeve one mounting hole, a counterbore and a bolt hole in sequence, the output shaft 7-1 of the motor 7 is connected with the sleeve one 5, the sleeve one 5 is connected with the sleeve one mounting hole of the long shaft sleeve 4, the bolt head of the long bolt 12 is located in the counterbore, the bolt rod of the long bolt 12 is connected with the nut 13 after passing through the bolt hole of the long shaft sleeve 4 and the inner hole of the finger seat 2 in sequence, and the nut 13 is located in the central counterbore 2-3 of the finger seat 2.

[0049] The clamping fingers 1 are three, the finger seat 2 is provided with three circumferentially uniformly distributed finger grooves 2-1, each finger groove 2-1 is provided with three groups of pin holes 2-2, and the clamping fingers 1 are rotationally connected to one group of pin holes 2-2 through the pin 14.

[0050] The central part of the spiral seat 3 is provided with a waist-shaped hole 3-3 for passing through the inner hole 3-2 of the long shaft sleeve 4 and circumferentially connecting the friction ring 16, the waist-shaped hole 3-3 is a counterbore, the arc-shaped grooves 3-1 on the spiral seat 3 are three, one end of each arc-shaped groove 3-1 is close to the inner hole of the spiral seat 3, and the other end is close to the outer circumferential surface of the spiral seat 3.

[0051] The shell of the motor 7 is fixedly connected to the rack 6 through the bolt passing through the motor mounting hole 6-6.

[0052] The friction block 11 is an arc-shaped friction block, the fixed nut 9 is a square nut, and the adjusting bolt 8 rotates relative to the fixed nut 9 while moving axially in the adjusting bolt hole 6-3.

[0053] The friction block 11, the adjusting bolt 8 and the fixed nut 9 are two.

[0054] The clamping surface of the clamping finger 1 and the surface of the finger seat 2 in contact with the fruit are pasted with flexible materials 17, so as to avoid scratching the surface of the fruit with thin and easy-to-damage skin, increase the friction between the fingers and the fruit, and reliably grasp the fruit.

[0055] The frame 6 of the portable openable and adjustable clamping force screwing grabbing device of the embodiment 1 can be installed on the picking robot wrist joint by installing the support of the required length through the frame seat 6-5. The controller and power supply of the screwing grabbing device can be integrated with the picking robot for control or can be independently controlled. The driver matched with the motor is used to drive the motor 7 to work. The 24V or 12V DC power supply is used to supply power to the motor 7. After the picking robot moves to the picking destination, the mechanical arm of the picking robot drives the portable openable and adjustable clamping force screwing grabbing device to move. The initial state of the screwing grabbing device is the open state (i.e. the ball head 1-1 of the clamping finger is located in the arc-shaped groove 3-1 close to the axis of the spiral seat 3). When it moves to the position of the target fruit, the target fruit can be just enveloped by the inside of the clamping finger 1. The screwing grabbing device starts to close. The controller drives the motor 7 to work. The motor 7 drives the finger seat 2 to rotate through the shaft sleeve one 5 and the long shaft sleeve 4 in turn. The finger seat 2 drives the three clamping fingers 1 to rotate. Since the ball head 1-1 of the three clamping fingers 1 is located in the three arc-shaped grooves 3-1 of the spiral seat 3, the ball head 1-1 slides along the arc-shaped groove 3-1 to the direction away from the axis of the spiral seat (or to the position close to the outer circumferential surface of the spiral seat 3). The middle part of the clamping finger 1 swings in the finger groove 2-1 of the finger seat 2 around the pin 14. The first end of the three clamping fingers 1 gradually realizes the closed state and grabs the target fruit. Before that, the friction ring 16 cannot rotate relative to the frame 6 due to the friction torque exerted by the friction block 11, so that the spiral seat 3 connected with the friction ring 16 through the waist-shaped hole counterbore in the bottom center of the spiral seat 3 cannot rotate. In the next moment, because the clamping finger 1 cannot continue to close and the spiral seat 3 cannot rotate, the motor 7 is in the locked-rotor state. The torque output by the motor will increase. When it is greater than the resistance torque exerted by the friction block 11 on the friction ring 16, the finger seat 2 continues to rotate together with the grabbed fruit, realizing the action of twisting off the fruit stem to pick down the fruit. Then the controller controls the motor 7 to reverse, so that the clamping finger 1 resets and releases the picked fruit, completing a picking cycle. The primary rotation of the embodiment 1 refers to the rotation of the clamping finger 1 and the finger seat 2 relative to the spiral seat 3 to grab the fruit. The secondary rotation refers to the rotation of the clamping finger 1, the finger seat 2, the ring sleeve 15 and the spiral seat 3 together relative to the frame 6 to twist down the fruit.

[0056] The friction block 11 is fixed on the inner side of the elastic frame 10, the inner side of the friction block 11 is in contact with the outer surface of the friction ring 16, when it is needed to adjust the friction between the friction block 11 and the friction ring 16, the bolt head of the adjusting bolt 8 is rotated by a tool, the adjusting bolt 8 is rotated relative to the fixed nut 9 and the frame 6, the fixed nut 9 is square, which is matched with the square counterbore 6-4 on the bottom surface of the ring frame 6-1, and cannot rotate with the adjusting bolt 8, so that the adjusting bolt 8 is rotated and moved in the adjusting bolt hole 6-3, the end of the adjusting bolt 8 pushes one of the arms of the elastic frame 10 to the friction ring 16, the elastic frame 10 presses the friction block 11, and the friction between the friction block 11 and the friction ring 16 is increased, and the adjusting method of the adjusting bolt 8 on the other side is the same. After the friction between the friction block 11 and the friction ring 16 is increased, when the clamping fingers 1 grip the target fruit, the motor 7 needs to further increase the torque to ensure that the clamping fingers 1, the finger seat 2, the ring sleeve 15 and the spiral seat 3 can rotate together relative to the frame 6, and at this time, the clamping force of the clamping fingers 1 on the target fruit is increased. Therefore, the embodiment 1 can adjust the gripping force of the clamping fingers 1 by adjusting the friction between the friction block 11 and the friction ring 16, so as to prevent the clamping fingers 1 from rotating synchronously with the spiral seat 3 and the ring sleeve 15 before the clamping fingers 1 grip the fruit.

[0057] Embodiment 2

[0058] As shown in Figures 15-16 , a single-drive two-stage rotary gripping and twisting type picking hand claw includes a clamping mechanism, a first-stage twisting mechanism, a second-stage twisting mechanism and a driving mechanism.

[0059] As shown in Figures 15-16 , the clamping mechanism includes a plurality of clamping hand claws 1 and finger seats 2; the first-stage twisting mechanism includes a spiral shell 3; the second-stage twisting mechanism includes a frame 6, an adjusting bolt 8, a friction block 11, an adjusting spring 10 and an adjusting nut 9; and the driving mechanism includes a motor 7, a shaft sleeve 1 and a shaft sleeve 2.

[0060] As shown in Figures 15-22The output shaft 7-1 of the motor 7 is connected with the shaft sleeve one 5, the shaft sleeve one 5 is connected with the shaft sleeve two 4, the shaft sleeve two 4 is sleeved with the spiral shell 3, the spiral shell 3 can rotate relative to the shaft sleeve two 4, the end of the shaft sleeve two 4 is connected with the finger seat 2, the shaft sleeve two 4 is used to drive the finger seat 2 to rotate, the finger seat 2 can rotate relative to the spiral shell 3, the front end of the spiral shell 3 is provided with a sleeve 3-3, the rear end of the finger seat 2 is located inside the sleeve 3-3. A plurality of hand claw grooves 2-1 which are uniformly distributed in a circle and extend along the radial direction are arranged on the finger seat 2, the middle part of each clamping hand claw 1 is rotatably connected in each hand claw groove 2-1, the end of each clamping hand claw 1 is provided with a ball head 1-1, a plurality of arc grooves 3-1 which are same in number with the ball heads 1-1 are arranged on the surface of the spiral shell 3 which faces the end of the clamping hand claw 1, and the ball head 1-1 is slidably connected with the arc groove 3-1. The first end of each clamping hand claw 1 extends out of the finger seat 2.

[0061] A circular friction groove 3-2 is arranged on the outer wall of the spiral shell 3, a friction block 11 is arranged inside the friction groove 3-2, the shell of the motor 7 is connected with the rack 6, a ring frame 6-1 is arranged at the front end of the rack 6, the ring frame 6-1 is located outside the friction groove 3-2 of the outer wall of the spiral shell 3, a plurality of mounting grooves 6-2 are arranged on the ring frame 6-1, a bolt hole is arranged in the inside of each mounting groove 6-2, the bolt head of an adjusting bolt 8 is located in the mounting groove 6-2, the bolt rod of the adjusting bolt 8 passes through the bolt hole of the mounting groove 6-2, the friction groove 3-2 and a reserved hole of the friction block 11 in sequence, an adjusting nut 9 is threadedly connected with the adjusting bolt 8, an adjusting spring 10 is sleeved with the bolt rod of the adjusting bolt 8, the adjusting nut 9 and the adjusting spring 10 are located inside the friction groove 3-2, and the adjusting spring 10 is located between the adjusting nut 9 and the friction block 11.

[0062] The ring frame 6-1 is connected with a baffle 14 which is used to block the outward movement of the adjusting bolt 8 in the mounting groove 6-2, and a through hole 14-1 which is communicated with the mounting groove 6-2 is arranged on the baffle 14.

[0063] The front end of the shaft sleeve two 4 is inserted into the inner hole of the finger seat 2, and the front end of the shaft sleeve two 4 is connected with the finger seat 2 in the circumferential direction.

[0064] The inner hole of the shaft sleeve two 4 includes a shaft sleeve one mounting hole, a counterbore and a bolt hole which are communicated in sequence, the output shaft 7-1 of the motor 7 is connected with the shaft sleeve one 5, the shaft sleeve one 5 is connected with the shaft sleeve one mounting hole of the shaft sleeve two 4, the bolt head of a bolt 12 is located in the counterbore, the bolt rod of the bolt 12 is connected with a nut 13 after passing through the bolt hole of the shaft sleeve two 4 and the inner hole of the finger seat 2 in sequence. The bolt 12 can prevent the axial movement of the finger seat 2 and the shaft sleeve one 5. The nut 13 does not tightly contact with the finger seat 2, and does not affect the relative rotation between the finger seat 2 and the spiral shell 3.

[0065] The clamping hand 1 is three, the finger seat 2 is provided with three evenly distributed along the radial extension hand jaw groove 2-1, each hand jaw groove 2-1 is connected with the middle part of the clamping hand 1 through the pin rotation.

[0066] The middle part of the spiral shell 3 is provided with an inner hole for mounting the shaft sleeve two 4, the arc slot 3-1 on the spiral shell 3 has three, one end of each arc slot 3-1 is close to the inner hole of the spiral shell 3, and the other end is close to the outer circumferential surface of the spiral shell 3.

[0067] The shell of the motor 7 is fixedly connected on the frame 6 through screws, and the baffle 14 is fixedly connected on the ring frame 6-1 through screws.

[0068] The friction block 11 is an arc-shaped friction block, the adjusting nut 9 is an arc-shaped nut, and the adjusting nut 9 can slide along the radial direction of the spiral shell 3 in the friction slot 3-2 of the spiral shell 3.

[0069] The friction block 11, the adjusting bolt 8, the adjusting spring 10 and the adjusting nut 9 are all two.

[0070] The clamping surface of the clamping hand 1 is made of flexible material, which has a protective effect on the fruit.

[0071] The frame 6 of the single-drive two-stage rotary gripping and twisting type picking hand claw of the present embodiment 2 can be installed on a picking robot, and a controller and a power supply (which can also be installed on the single-drive two-stage rotary gripping and twisting type picking hand claw) are installed on the picking robot, the controller is used to drive the motor 7 to work, and the power supply supplies power to the motor 7, and a touch sensor is arranged on each concave arc clamping surface of the clamping hand claw 1. After the picking robot runs to the picking destination, the picking robot drives the single-drive two-stage rotary gripping and twisting type picking hand claw to move, so that the target fruit is located inside the clamping hand claw 1, the controller drives the motor 7 to work, and the motor 7 drives the finger seat 2 to rotate in sequence through the shaft sleeve one 5 and the shaft sleeve two 4, and the finger seat 2 drives the three clamping hand claws 1 to rotate (the initial state of the clamping hand claw 1 is an open state, that is, the ball head 1-1 at the end is located in the arc-shaped groove 3-1 close to the axis of the spiral shell 3), and since the ball head 1-1 of the three clamping hand claws 1 is located in the three arc-shaped grooves 3-1 of the spiral shell 3, the ball head 1-1 slides along the arc-shaped groove 3-1, the ball head 1-1 at the end gradually slides in the arc-shaped groove 3-1 to a position away from the axis of the spiral shell 3 (or said to be close to the outer circumferential surface of the spiral shell 3), the middle part of the clamping hand claw 1 swings in the claw groove 2-1 of the finger seat 2, and the first end of the three clamping hand claws 1 gradually realizes the closed state, and after grabbing the target fruit, the touch sensor sends a signal to the controller, and the controller controls the motor 7 to continue to operate and increase the operating torque of the motor 7, since the clamping hand claw 1 cannot be closed again after grabbing the target fruit, the ball head 1-1 of the clamping hand claw 1 cannot continue to slide along the arc-shaped groove 3-1 of the spiral shell 3, at this time, since the driving force received by the spiral shell 3 is greater than the resistance between the spiral shell 3 and the friction block 11, the clamping hand claw 1 drives the spiral shell 3 to rotate circumferentially (at this time, the adjusting bolt 8, the adjusting spring 10 and the friction block 11 do not rotate, and the adjusting bolt 8, the adjusting spring 10 and the friction block 11 rotate relative to the circular ring-shaped friction groove 3-2), and the clamping hand claw 1 and the spiral shell 3 rotate with the rotation of the motor 7, and the clamping hand claw 1 rotates circumferentially after clamping the target fruit, thereby realizing the fruit twisting action, so as to twist the fruit off the fruit branch and realize picking the fruit. Then the controller controls the motor 7 to reset, so as to reset the clamping hand claw 1, and complete a picking round. The first-stage rotation of the present embodiment 2 refers to the rotation of the clamping hand claw 1 and the finger seat 2 to grab the fruit, and the second-stage rotation refers to the rotation of the spiral shell 3 to twist the fruit down.

[0072] When it is necessary to adjust the friction between the friction block 11 and the spiral shell 3, the bolt head of the adjusting bolt 8 is rotated through the through hole 14-1 of the stop block by a tool, the adjusting bolt 8 is rotated, the adjusting nut 9 on the adjusting bolt 8 is in the shape of a long arc and is located in the friction groove 3-2, so the adjusting nut 9 cannot rotate with the adjusting bolt 8, the adjusting nut 9 moves in the direction of the adjusting spring 10 along the thread on the bolt rod of the adjusting bolt 8, the adjusting nut 9 compresses the adjusting spring 10, the adjusting spring 10 compresses the friction block 11, and the friction between the friction block 11 and the spiral shell 3 is increased. After the friction between the friction block 11 and the spiral shell 3 is increased, when the clamping jaw 1 grips the target fruit, the controller needs to control the motor 7, the torque of the motor 7 is increased, and it is ensured that the spiral shell 3 and the clamping jaw 1 can rotate together in the circumferential direction when the motor 7 continues to operate, so that the clamping degree of the clamping jaw 1 to the target fruit is increased. Therefore, the embodiment 2 can adjust the clamping degree of the clamping jaw 1 by adjusting the friction between the friction block 11 and the spiral shell 3, so as to prevent the clamping jaw 1 from idling with the spiral shell 3 before the target fruit is clamped.

[0073] In the embodiment 2, the motor drives the finger seat to rotate relative to the spiral shell through the shaft sleeve one and the shaft sleeve two in turn, and then drives the clamping jaw to open and close. When the three clamping jaws are closed to clamp the target fruit, the motor continues to operate. Since the clamping jaw cannot be closed again after clamping the target fruit, the ball head of the clamping jaw cannot continue to slide in the arc-shaped groove of the spiral shell. At this time, the clamping jaw and the spiral shell rotate with the motor to realize the action of twisting the fruit, so as to twist and break the fruit from the fruit branch, and realize the picking of the fruit. Therefore, the picking jaw provided by the present technology can realize continuous picking by a single drive (i.e. the motor), the overall structure is small and light in weight, and the picking efficiency is high. The present technology can also adjust the clamping degree of the clamping jaw by adjusting the friction between the friction block and the spiral shell. The present technology can replace manual picking, save time and labor, and has high automation level; and can accurately and quickly pick the fruit, and reduce the damage to the fruit in the picking process.

[0074] The protection scope of the present technology includes but is not limited to the above embodiments, and the protection scope of the present technology is subject to the claims, and any replacement, deformation and improvement of the present technology that can be easily thought of by those skilled in the art falls within the protection scope of the present technology.

Claims

1. A portable open and clamping force adjustable screwing gripping device, characterized in that, The device comprises a clamping mechanism, a screw groove mechanism, a clamping force adjusting mechanism and a driving mechanism. The clamping mechanism comprises a plurality of clamping fingers (1) and a finger seat (2); the screw groove mechanism comprises a screw seat (3), a ring sleeve (15) and a friction ring (16); the clamping force adjusting mechanism comprises a rack (6), an adjusting bolt (8), a friction block (11), an elastic frame (10) and a fixing nut (9); the driving mechanism comprises a motor (7), a shaft sleeve (5) and a long shaft sleeve (4); The output shaft (7-1) of the motor (7) is connected with the shaft sleeve (5), and the shaft sleeve (5) is connected with the long shaft sleeve (4); the front end of the rack (6) is provided with a ring frame (6-1), a through hole is formed in the center of the bottom of the ring frame (6-1), the shaft shoulder of the long shaft sleeve (4) is slidably connected with the outer bottom surface of the ring frame (6-1), and the long shaft sleeve (4) penetrates the ring frame (6-1), the friction ring (16), the screw seat (3) and the ring sleeve (15) in sequence; the ring frame (6-1), the friction ring (16), the screw seat (3) and the ring sleeve (15) can rotate relative to the long shaft sleeve (4); the end of the long shaft sleeve (4) is connected with the finger seat (2), the long shaft sleeve (4) is used for driving the finger seat (2) to rotate, the finger seat (2) can rotate relative to the ring sleeve (15) and the screw seat (3); a plurality of finger grooves (2-1) are uniformly distributed on the finger seat (2) in a circumferential direction; a plurality of groups of pin holes (2-2) are arranged in the finger grooves (2-1) in a radial direction; a clamping finger (1) is rotatably connected in each finger groove (2-1); a ball head (1-1) is arranged at the end of each clamping finger (1); a plurality of arc-shaped grooves (3-1) are formed in the screw seat (3) and correspond to the ball heads (1-1); the ball heads (1-1) are slidably connected with the arc-shaped grooves (3-1); the screw seat (3) is connected with the friction ring (16); the friction block (11) is located between the elastic frame (10) and the friction ring (16); the shell of the motor (7) is connected with the rack (6); the inner side wall and the bottom surface of the ring frame (6-1) are slidably connected with the outer side surface of the ring sleeve (15) and the bottom surface of the screw seat (3) respectively; a groove (6-2) is formed in the bottom of the ring frame (6-1); the elastic frame (10), the friction block (11) and the friction ring (16) are located in the groove (6-2); an adjusting bolt hole (6-3) is formed in the inner wall of the groove (6-2); the bolt rod of the adjusting bolt (8) penetrates the square counterbore (6-4) in the bottom of the ring frame (6-1) and the adjusting bolt hole (6-3) in sequence, penetrates into the groove (6-2) and abuts against one end of the elastic frame (10); the adjusting bolt (8) is threadedly connected with the fixing nut (9) located in the square counterbore (6-4); The clamping fingers (1) are three in number; three finger grooves (2-1) are uniformly distributed on the finger seat (2) in a circumferential direction; a plurality of groups of pin holes (2-2) are arranged in each finger groove (2-1); the clamping fingers (1) are rotatably connected with one group of pin holes (2-2) by means of a pin (14). The center of the screw seat (3) is provided with a waist-shaped hole for passing through the inner hole of the long shaft sleeve (4) and the circumferential connecting friction ring (16), the waist-shaped hole is a counterbore, the arc-shaped slots (3-1) on the screw seat (3) are three, one end of each arc-shaped slot (3-1) is close to the inner hole of the screw seat (3), and the other end is close to the outer circumferential surface of the screw seat (3).

2. The portable opening and clamping force adjustable screwing gripping device according to claim 1, characterized in that, The front end of the long shaft sleeve (4) is inserted into the inner hole of the finger seat (2) through the bottom center through hole of the ring frame (6-1), and the front end of the long shaft sleeve (4) is circumferentially connected with the finger seat (2).

3. The portable opening and clamping force adjustable screwing gripping device according to claim 2, characterized in that, The inner hole of the long shaft sleeve (4) includes a sleeve one mounting hole, a counterbore and a bolt hole which are sequentially communicated, the output shaft (7-1) of the motor (7) is connected with the sleeve one (5), the sleeve one (5) is connected with the sleeve one mounting hole of the long shaft sleeve (4), the bolt head of the long bolt (12) is located in the counterbore, the bolt rod of the long bolt (12) is sequentially connected with the nut (13) after passing through the bolt hole of the long shaft sleeve (4) and the inner hole of the finger seat (2), and the nut (13) is located in the center counterbore (2-3) of the finger seat (2).

4. The portable opening and clamping force adjustable screwing gripping device according to claim 1, characterized in that, The shell of the motor (7) is fixedly connected on the rack (6) through the bolt passing through the motor mounting hole (6-6).

5. The portable opening and clamping force adjustable screwing gripping device according to claim 1, characterized in that, The friction block (11) is an arc-shaped friction block, the fixed nut (9) is a square nut, and the adjusting bolt (8) rotates relative to the fixed nut (9) while moving axially in the adjusting bolt hole (6-3).

6. The portable opening and clamping force adjustable screwing gripping device according to claim 5, characterized in that, The friction block (11), the adjusting bolt (8) and the fixed nut (9) are all two.

7. The portable opening and clamping force adjustable screwing gripping device according to claim 1, characterized in that, The clamping surface of the clamping finger (1) and the upper surface of the finger seat (2) are pasted with flexible materials (17).

8. The portable opening and clamping force adjustable screwing gripping device according to claim 1, characterized in that, By changing the length of the clamping finger part between the pin and the ball head, the size of the clamping force of the clamping finger is adjusted. By changing the length of the clamping finger part between the pin and the ball head, the size of the clamping force of the clamping finger is adjusted.

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