Integrated apple spiral picking manipulator

Abstract

The integrated spiral apple picking manipulator is characterized by comprising a picking and grabbing manipulator module, a grabbing lower tray, a central rotor, a central stator, a grabbing base, a driver and a grabbing base, the picking and grabbing manipulator module comprises a flexible mechanical finger, a grabbing connecting rod and a grabbing rotor; the bottom of the mechanical arm is connected with the center rotating module, so that the mechanical arm can achieve the functions of grabbing, twisting and picking in the apple picking operation.

Description

Technical Field

[0001] This invention relates to an integrated apple spiral picking robot, specifically a picking robot with a robotic gripper as the basic structural unit. It is connected by components such as a picking and grasping robot module, a gripper tray, a central rotor, a central stator, a gripper base, a driver, and a gripper base, so that the whole can simultaneously complete the three-step action of "grabbing, twisting, and picking". Background Technology

[0002] This harvesting robot uses a robotic gripper as its basic structural unit. The finger linkage is connected to the gripper rotor to form a harvesting robot module. The gripper tray and gripper connecting rod are then fixedly connected to the robot module to form an integrated apple spiral harvesting robot. This robot integrates the functions of "spiral gripping" and "twisting harvesting" and has the ability to complete the three steps of "grabbing, twisting and picking" simultaneously. Summary of the Invention

[0003] The technical problem this invention aims to solve is that traditional harvesting robots can perform both grasping and picking actions, but these machines have complex structures, which affects their practicality. They cannot achieve high-efficiency and precise harvesting, and cannot realize the functions of "grabbing, twisting, and picking".

[0004] The technical solution of the present invention: An integrated apple spiral picking robot, characterized by: a picking and grasping robot module, a lower gripper tray, a central rotor, a central stator, a gripper base, a driver, and a gripper base; The picking and grasping robotic arm module includes: a first picking finger, a second picking finger, a third picking finger, a first gripping connecting rod, a second gripping connecting rod, a third gripping connecting rod, and a gripping rotor; The first, second, and third picking fingers combine to form a three-finger helical electromechanical gripper with an internal silicone layer. The bottom end of the first picking finger has a second helical mounting hole for connecting and fixing the first mounting hole at the upper end of the gripper rotor; the bottom end of the first picking finger also has a first helical mounting hole for connecting and fixing the first helical mounting hole of the first gripper connecting rod; the structure, dimensions, and connection method of the second and third picking fingers are completely identical to those of the first picking finger. The second spiral mounting hole of the first gripper connecting rod is used to connect to the first spiral mounting hole of the gripper lower tray; the structure, size, and connection method of the second and third gripper connecting rods are exactly the same as those of the first gripper connecting rod. The hand-grip rotor has a fourth spiral mounting hole that connects to the first spiral mounting hole on the fixed center stator; a fifth spiral mounting hole that connects to the second spiral mounting hole on the fixed center stator, so that the surfaces are in contact; a sixth spiral mounting hole that connects to the third spiral mounting hole on the fixed center stator; a seventh spiral mounting hole that connects to the fourth spiral mounting hole on the fixed center stator, so that the surfaces are in contact; and an eighth spiral mounting hole that connects to the fifth spiral mounting hole on the fixed center stator; and a ninth spiral mounting hole that connects to the sixth spiral mounting hole on the fixed center stator, so that the surfaces are in contact. The upper end of the hand-grip lower tray has a first spiral mounting hole, a second spiral mounting hole, and a third spiral mounting hole; The central rotor has a first helical mounting hole at its bottom end, which is used to connect to the fifth helical mounting hole of the driver. The central stator has a first spiral mounting hole and a second spiral mounting hole on one side, a third spiral mounting hole and a fourth spiral mounting hole on another side, and a fifth spiral mounting hole and a sixth spiral mounting hole on yet another side. The bottom of the gripper base is provided with a first spiral mounting hole, a second spiral mounting hole, a third spiral mounting hole, a fourth spiral mounting hole, and a fifth spiral mounting hole; the fifth spiral mounting hole is connected to the fifth spiral mounting hole of the driver and the first spiral mounting hole of the central rotor for joint connection and fixation; the first spiral mounting hole is connected to the first spiral mounting hole of the driver, the second spiral mounting hole is connected to the second spiral mounting hole of the driver, the third spiral mounting hole is connected to the third spiral mounting hole of the driver, and the fourth spiral mounting hole is connected to the fourth spiral mounting hole of the driver, so that the surfaces fit together. The driver is provided with a first spiral mounting hole, a second spiral mounting hole, a third spiral mounting hole, a fourth spiral mounting hole, and a fifth spiral mounting hole; The gripper base and gripper seat are connected by a slot.

[0005] An integrated apple spiral-shaped harvesting robot has the following operational and rotational characteristics: When the driver rotates forward, it drives the central stator and central rotor to rotate spirally upward, and the first, second, and third picking fingers gradually open; when the driver rotates in reverse, it drives the central stator and central rotor to rotate spirally downward, and the first, second, and third picking fingers gradually retract. Attached Figure Description

[0006] Figure 1 3D model of an integrated apple spiral harvesting robot Figure 2 3D model of the picking and grasping robotic arm module Figure 3 3D diagram of the first finger linkage Figure 43D diagram of the second finger linkage Figure 5 3D diagram of the third finger link Figure 6 First-hand grasp of the 3D diagram of the connecting rod Figure 7 Second hand gripping connecting rod 3D diagram Figure 8 3D diagram of the third-hand gripping connecting rod Figure 9 3D diagram of hand-held rotor Figure 10 3D model of hand gripping the tray Figure 11 3D diagram of the central rotor Figure 12 3D diagram of the center stator Figure 13 3D model of hand-held base Figure 14 3D diagram of the driver Figure 15 3D model of the hand-held base Figure 16 (a) Opening hands to grasp a 3D image Figure 16 (b) Closed hand grasping three-dimensional diagram Figure 16 (c) Twisting hand grip 3D diagram Detailed Implementation The present invention will now be described in further detail with reference to the accompanying drawings.

[0007] An integrated apple spiral-shaped robotic arm, such as Figure 1 As shown, the features are: a picking and grasping robotic arm module, a lower gripper tray, a central rotor, a central stator, a gripper base, a driver, and a gripper base; like Figure 2 The picking and grasping robotic arm module shown includes: a first picking finger, a second picking finger, a third picking finger, a first gripping connecting rod, a second gripping connecting rod, a third gripping connecting rod, and a gripping rotor; like Figure 3 , 4 As shown in Figure 5, the first, second, and third picking fingers are combined to form a three-finger helical electromechanical gripper with an internal silicone layer. The first picking finger has a second helical mounting hole at its bottom front end for connecting and fixing the first mounting hole at the upper end of the gripper rotor; the first picking finger also has a first helical mounting hole at its bottom rear end for connecting and fixing the first helical mounting hole of the first gripper connecting rod; the second and third picking fingers have the same structure, size, and connection method as the first picking finger. like Figure 6 , 7As shown in Figure 8, the second spiral mounting hole of the first gripper connecting rod is used to connect to the first spiral mounting hole of the gripper lower tray; the structure, size, and connection method of the second and third gripper connecting rods are exactly the same as those of the first gripper connecting rod. like Figure 9 As shown, the hand-grip rotor has a fourth spiral mounting hole that connects to the first spiral mounting hole on the fixed center stator; a fifth spiral mounting hole that connects to the second spiral mounting hole on the fixed center stator, so that the surfaces are in contact; a sixth spiral mounting hole that connects to the third spiral mounting hole on the fixed center stator; a seventh spiral mounting hole that connects to the fourth spiral mounting hole on the fixed center stator, so that the surfaces are in contact; and an eighth spiral mounting hole that connects to the fifth spiral mounting hole on the fixed center stator; and a ninth spiral mounting hole that connects to the sixth spiral mounting hole on the fixed center stator, so that the surfaces are in contact. like Figure 10 As shown, the upper end of the hand-grip lower tray has a first spiral mounting hole, a second spiral mounting hole, and a third spiral mounting hole; like Figure 11 As shown, the bottom end of the central rotor has a first helical mounting hole for connecting the fifth helical mounting hole of the driver. like Figure 12 As shown, the central stator has a first spiral mounting hole and a second spiral mounting hole on one side, a third spiral mounting hole and a fourth spiral mounting hole on another side, and a fifth spiral mounting hole and a sixth spiral mounting hole on yet another side. like Figure 13 As shown, the bottom of the gripper base is provided with a first spiral mounting hole, a second spiral mounting hole, a third spiral mounting hole, a fourth spiral mounting hole, and a fifth spiral mounting hole; the fifth spiral mounting hole is connected to the fifth spiral mounting hole of the driver and the first spiral mounting hole of the central rotor for joint connection and fixation; the first spiral mounting hole is connected to the first spiral mounting hole of the driver, the second spiral mounting hole is connected to the second spiral mounting hole of the driver, the third spiral mounting hole is connected to the third spiral mounting hole of the driver, and the fourth spiral mounting hole is connected to the fourth spiral mounting hole of the driver, so that the surfaces fit together. like Figure 14 As shown, the driver is provided with a first spiral mounting hole, a second spiral mounting hole, a third spiral mounting hole, a fourth spiral mounting hole, and a fifth spiral mounting hole; like Figure 15 As shown, the gripper base and the gripper seat are connected by a slot; like Figure 16 As shown in (a), when the driver rotates in the forward direction, the driver drives the central stator and the central rotor to rotate and rise in a spiral manner, and the first picking finger, the second picking finger and the third picking finger gradually open. like Figure 16As shown in (b), when the actuator rotates in the reverse direction, the actuator drives the central stator and central rotor to rotate and descend in a spiral motion, and the first picking finger, the second picking finger, and the third picking finger gradually retract; like Figure 16 As shown in (c), the gripper is in a torsional operation state. When the driver rotates forward, the driver drives the central stator and central rotor to rotate and rise in a spiral manner, and the first picking finger, the second picking finger, and the third picking finger gradually open to complete the spiral gripping. When the driver rotates in reverse, the driver drives the central stator and central rotor to rotate and fall in a spiral manner, and the first picking finger, the second picking finger, and the third picking finger gradually retract to complete the torsional gripping.

Claims

1. An integrated apple spiral picking robot, characterized by: Picking and grabbing manipulator module (A), hand grab tray (B), center rotor (C), center stator (D), hand grab base (E), driver (F), hand grab base (G).

2. The integrated apple spiral picking manipulator according to claim 1, characterized in that: The picking and grabbing manipulator module (A) comprises: a first picking finger (A1), a second picking finger (A2), a third picking finger (A3), a first hand grab connecting rod (A4), a second hand grab connecting rod (A5), a third hand grab connecting rod (A6), a hand grab rotor (A7); The first picking finger (A1), the second picking finger (A2), and the third picking finger (A3) are combined into a three-finger spiral electric mechanical claw with an anti-slip layer. The bottom end of the first picking finger (A1) is provided with a second spiral mounting hole (A1-2) for connecting and fixing a first mounting hole (A7-1) at the upper end of the hand grab rotor (A7); the bottom end of the first picking finger (A1) is provided with a first spiral mounting hole (A1-1) for connecting and fixing a first spiral mounting hole (A4-1) of the first hand grab connecting rod (A4); the second picking finger (A2) and the third picking finger (A3) are identical in structure, size, and connection mode to the first picking finger (A1); The second spiral mounting hole (A4-2) of the first hand grab connecting rod (A4) is used to connect a first spiral mounting hole (B1) of the hand grab tray (B); the second hand grab connecting rod (A5) and the third hand grab connecting rod (A6) are identical in structure, size, and connection mode to the first hand grab connecting rod (A4); The hand grab rotor (A7) is provided with a fourth spiral mounting hole (A7-4) on face (A7-11) for connecting and fixing a first spiral mounting hole (D1) on face (D7) of the center stator (D); a fifth spiral mounting hole (A7-5) on face (A7-11) is connected to a second spiral mounting hole (D2) on face (D7) of the center stator (D) to make face (A7-11) adhere to face (D7); a sixth spiral mounting hole (A7-6) on face (A7-12) is connected to a third spiral mounting hole (D3) on face (D8) of the center stator (D); a seventh spiral mounting hole (A7-7) on face (A7-12) is connected to a fourth spiral mounting hole (D4) on face (D8) of the center stator (D) to make face (A7-12) adhere to face (D8); an eighth spiral mounting hole (A7-8) on face (A7-10) is connected to a fifth spiral mounting hole (D5) on face (D9) of the center stator (D); a ninth spiral mounting hole (A7-9) on face (A7-10) is connected to a sixth spiral mounting hole (D6) on face (D9) of the center stator (D) to make face (A7-10) adhere to face (D9); The hand grab tray (B) is provided with a first spiral mounting hole (B1), a second spiral mounting hole (B2), and a third spiral mounting hole (B3) at the upper end; The bottom end of the center rotor (C) has a first screw mounting hole (C1) for connecting the fifth screw mounting hole (F5) of the driver (F); The center stator (D) has a first screw mounting hole (D1), a second screw mounting hole (D2) at face (D7), a third screw mounting hole (D3), a fourth screw mounting hole (D4) at face (D8), a fifth screw mounting hole (D5), and a sixth screw mounting hole (D6) at face (D9); The hand grabbing base (E) is provided with a first screw mounting hole (E1), a second screw mounting hole (E2), a third screw mounting hole (E3), a fourth screw mounting hole (E4), and a fifth screw mounting hole (E5) at the bottom; the fifth screw mounting hole (E5) is through between the fifth screw mounting hole (F5) of the driver (F) and the first screw mounting hole (C1) of the center rotor (C) for common connection and fixation; the first screw mounting hole (E1) is connected with the first screw mounting hole (F1) of the driver (F), the second screw mounting hole (E2) is connected with the second screw mounting hole (F2) of the driver (F), the third screw mounting hole (E3) is connected with the third screw mounting hole (F3) of the driver (F), and the fourth screw mounting hole (E4) is connected with the fourth screw mounting hole (F4) of the driver (F), so that face (E6) is attached to face (F6); The driver (F) is provided with a first screw mounting hole (F1), a second screw mounting hole (F2), a third screw mounting hole (F3), a fourth screw mounting hole (F4), and a fifth screw mounting hole (F5); The hand grabbing base (E) is spliced with the hand grabbing base (G) through a clamping slot.

3. The one-piece apple spiral picking mechanical hand according to claim 1, wherein the running rotation feature is that: When the driver (F) rotates forward, the driver (F) drives the center stator (D) and the center rotor (C) to rotate upward in a spiral manner, and the first picking finger (A1), the second picking finger (A2), and the third picking finger (A3) gradually open; when the driver (F) rotates reversely, the driver (F) drives the center stator (D) and the center rotor (C) to rotate downward in a spiral manner, and the first picking finger (A1), the second picking finger (A2), and the third picking finger (A3) gradually contract.

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