3D printing picking device

Abstract

The 3D printing picking device comprises a four-wheel platform and a liftable picking hand, a mounting plate is arranged on one side of the top of the four-wheel platform, a monitoring camera is fixedly connected to the upper portion of the mounting plate, a rotating seat is arranged in the center of the other side of the top of the four-wheel platform, and a driving motor is arranged in the rotating seat. A rotating shaft is arranged at the top of the driving motor, the top of the rotating shaft is connected with the center of the bottom of a rotating plate, and a liftable picking hand is arranged at the top of the rotating plate; the flexible picking hand is printed in a 3D printing mode, the grabbing air bag is adopted for driving in the wrist bending process, the swallowing air bag is adopted for driving in the fruit grabbing and swallowing process, the two air bags are driven in a coordinated mode, the flexible fingers are driven to apply clamping force to a picked object, and the picking effect is achieved. In the grabbing and clamping process, the flexible fingers conduct automatic bending deformation adjustment according to the shapes of the fruits, and self-adaptive grabbing and clamping in the picking process are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of picking devices, in particular to a 3D printing picking device. Background Art

[0002] my country has a large fruit-growing area, but the fruit picking process mostly relies on manual or semi-manual methods, which is labor-intensive and has high production costs. Therefore, a mechanized fruit picking device has been designed to improve the automation and intelligence level of the fruit picking process.

[0003] However, there is a rigid contact between the picking device and the fruit in the prior art. The fruit is grasped and clamped by squeezing the surface of the fruit during picking. However, the surface of the fruit is easily damaged, resulting in damage to the surface of the fruit, which is not only not conducive to fruit storage, but also affects the sale of the fruit. Utility Model Content

[0004] The purpose of the utility model is to provide a 3D printing picking device to solve the problems raised in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A 3D printing picking device comprises a four-wheel platform and a lifting picking hand, a mounting plate is arranged on one side of the top of the four-wheel platform, a lifting column is arranged at the top center of the mounting plate, the top of the lifting column is connected to the bottom center of the mounting rod, placement blocks are arranged at both ends of the front of the mounting rod, a monitoring camera is fixedly connected to the top of the placement block, a rotating seat is arranged at the center of the other side of the top of the four-wheel platform, an inner cavity is arranged at the top of the rotating seat, a driving motor is arranged at the bottom center of the inner cavity, the top output end of the driving motor is connected to the rotating shaft, a through hole is arranged at the top center of the rotating seat, a rotating shaft is arranged inside the through hole, the top of the rotating shaft is located at the top of the rotating seat, and the rotating shaft is rotated. The top of the rotating shaft is connected to the bottom center of the rotating plate, and a liftable picking hand is arranged on the top of the rotating plate. The liftable picking hand includes a stand, a lifting cylinder, a lifting rod, and a lifting plate. The bottom of the stand is fixedly connected to the top of the rotating plate, and a stand inner cavity is opened inside the stand. A lifting rod is arranged on the top of the stand inner cavity, and the lifting rod is connected to the stand through a damping rotating shaft. Second fixed blocks are arranged on both sides of the other end of the lifting rod, and a rotating block is arranged between the two second fixed blocks. The rotating block is connected to the two second fixed blocks through a damping rotating shaft. The top of the rotating block is connected to the bottom center of the lifting plate, and a flexible picking hand is arranged at the top center of the lifting plate.

[0007] Preferably, a rotating slot is provided on the top of the rotating seat, and a snap ring is snap-fittedly connected to the rotating slot, and the top of the snap ring is connected to the rotating plate.

[0008] Preferably, a lifting cylinder is provided at the bottom of the inner cavity of the stand, the lifting cylinder is connected to the stand via a damping shaft, and the other end of the lifting cylinder is located at the bottom of the lifting rod.

[0009] Preferably, first fixing blocks are provided at both ends of the middle of the bottom of the lifting rod, the other end of the lifting cylinder is located between the two first fixing blocks, and the lifting cylinder is connected to the first fixing blocks via a damping shaft.

[0010] Compared with the prior art, the beneficial effects of the utility model are:

[0011] The utility model discloses a 3D printed picking device, which prints a flexible picking hand by 3D printing. A grasping airbag is used for driving during the bending process of the wrist, and a swallowing airbag is used for driving during the grasping and swallowing process of the fruit. The two airbags are driven in a coordinated manner to drive the flexible fingers to apply clamping force to the picking object. During the grasping and clamping process, the flexible fingers are automatically bent and deformed according to the shape of the fruit, thereby realizing adaptive grasping and clamping in the picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the structure of the liftable picking hand of the utility model;

[0014] Figure 3 This is a schematic diagram of the structure of the four-wheel platform of the utility model.

[0015] In the figure: 1. four-wheel platform; 2. mounting plate; 3. lifting column; 4. mounting rod; 5. placement block; 6. monitoring camera; 7. rotating seat; 8. rotating plate; 9. stand; 10. inner cavity of stand; 11. lifting cylinder; 12. lifting rod; 13. lifting plate; 14. flexible picking hand; 15. first fixed block; 16. second fixed block; 17. rotating block; 18. driving motor; 19. retaining ring; 20. through hole; 21. rotating slot. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] See also Figure 1-3 , the utility model provides a technical solution:

[0020] A 3D printing picking device, comprising a four-wheel platform 1 and a lifting picking hand, a mounting plate 2 is arranged on one side of the top of the four-wheel platform 1, a lifting column 3 is arranged at the top center of the mounting plate 2, the top of the lifting column 3 is connected to the bottom center of the mounting rod 4, placement blocks 5 are arranged at both ends of the front of the mounting rod 4, a monitoring camera 6 is fixedly connected to the top of the placement block 5, a rotating seat 7 is arranged at the center of the other side of the top of the four-wheel platform 1, an inner cavity is opened at the top of the rotating seat 7, a driving motor 18 is arranged at the bottom center of the inner cavity, the top output end of the driving motor 18 is connected to the rotating shaft, a through hole 20 is opened at the top center of the rotating seat 7, a rotating shaft is arranged inside the through hole 20, the top of the rotating shaft is located at the top of the rotating seat 7, and the top of the rotating shaft is connected to the rotating plate 8 is connected to the bottom center of the rotating plate 8, and a liftable picking hand is arranged on the top of the rotating plate 8, and the liftable picking hand includes a stand 9, a lifting cylinder 11, a lifting rod 12, and a lifting plate 13. The bottom of the stand 9 is fixedly connected to the top of the rotating plate 8, and a stand inner cavity 10 is opened inside the stand 9. A lifting rod 12 is arranged on the top of the stand inner cavity 10, and the lifting rod 12 is connected to the stand 9 through a damping shaft. Second fixed blocks 16 are arranged on both sides of the other end of the lifting rod 12, and a rotating block 17 is arranged between the two second fixed blocks 16. The rotating block 17 is connected to the two second fixed blocks 16 through a damping shaft. The top of the rotating block 17 is connected to the bottom center of the lifting plate 13, and a flexible picking hand 14 is arranged at the top center of the lifting plate 13.

[0021] Specifically, the flexible picking hand 14 is obtained by 3D printing. The flexible picking hand 14 includes a wrist, fingers, a grasping airbag, a swallowing airbag, and a base. The flexible picking hand 14 is driven pneumatically. The grasping airbag is used for driving during the bending of the wrist, and the swallowing airbag is used for driving during the grasping and swallowing of the fruit. The two airbags are driven in a coordinated manner to drive the flexible fingers to apply clamping force to the picking object. During the grasping and clamping process, the flexible fingers automatically bend and deform according to the shape of the fruit to achieve adaptive grasping and clamping in the picking process. When grasping begins, there is negative pressure gas in the grasping airbag and the swallowing airbag, the airbag is in a compressed state, and the flexible fingers are fully opened. When in contact with the picking object, the swallowing airbag continues to remain in a compressed state, and the grasping airbag is filled with positive pressure gas, which drives the lower part of the wrist to begin to bend, and drives the lower part of the flexible fingers to begin to gather, so as to clamp the picking object. The flexible fingers adaptively change their appearance shape to maintain a close fit with the picking object to complete the grasping.

[0022] It should also be noted that the base and wrist are made of titanium-magnesium alloy, which can meet the strength requirements during use, while reducing the weight of the structural design and the processing allowance during the manufacturing process. The flexible fingers are printed with aluminum alloy to ensure the elasticity and flexibility of the fingers during the picking process.

[0023] Finally, it should be noted that after printing is completed, the flexible picking hand 14 is fixedly connected to the lifting plate 13 .

[0024] Furthermore, a rotating slot 21 is provided on the top of the rotating seat 7 , and a snap ring 19 is snap-fittedly connected to the rotating slot 21 , and the top of the snap ring 19 is connected to the rotating plate 8 .

[0025] Furthermore, a lifting cylinder 11 is provided at the bottom of the seat inner cavity 10 , and the lifting cylinder 11 is connected to the seat 9 via a damping shaft, and the other end of the lifting cylinder 11 is located at the bottom of the lifting rod 12 .

[0026] Furthermore, first fixing blocks 15 are provided at both ends of the middle of the bottom of the lifting rod 12, and the other end of the lifting cylinder 11 is located between the two first fixing blocks 15, and the lifting cylinder 11 and the first fixing blocks 15 are connected via a damping shaft.

[0027] Working principle: When in use,

[0028] S1: The staff can control the four-wheel platform 1 to move forward, backward and turn, thereby making the new type of vehicle move.

[0029] S2: After moving to a suitable place, the staff can control the driving motor 18 to rotate through the controller. The rotation of the driving motor 18 will rotate the rotating shaft, and the rotation of the rotating shaft will rotate the rotating plate 8. The rotation of the rotating plate 8 will rotate the liftable picking hand, thereby rotating the liftable picking hand to a certain place.

[0030] S3: After rotating to a certain position, the staff can control the lifting cylinder 11 to extend through the controller. The extension of the lifting cylinder 11 will change the angle between the lifting rod 12 and the stand 9, and then lift the lifting plate 13, thereby moving the flexible picking hand 14 to a certain height for picking.

[0031] S4: During the picking process, the lifting plate 13 may touch objects around the picked objects, and then the lifting plate 13 will be acted upon by a force, so that the angle between the lifting plate 13 and the lifting rod 12 changes to a certain extent, so that the picked objects can be picked better.

[0032] Finally, it should be noted that the utility model can achieve remote control through two monitoring cameras 6, wherein how to achieve communication between the monitoring cameras 6 and the remote controller is a prior art, and its specific structure and working principle will not be described in detail here.

[0033] Although the 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 3D printing picking device, comprising a four-wheel platform (1), a lifting picking hand, Features: A mounting plate (2) is provided on one side of the top of the four-wheel platform (1), a lifting column (3) is provided at the top center of the mounting plate (2), the top of the lifting column (3) is connected to the bottom center of the mounting rod (4), placement blocks (5) are provided at both ends of the front of the mounting rod (4), the top of the placement block (5) is fixedly connected to a monitoring camera (6), a rotating seat (7) is provided at the center of the other side of the top of the four-wheel platform (1), an inner cavity is provided at the top of the rotating seat (7), a driving motor (18) is provided at the bottom center of the inner cavity, the top output end of the driving motor (18) is connected to a rotating shaft, a through hole (20) is provided at the top center of the rotating seat (7), a rotating shaft is provided inside the through hole (20), the top of the rotating shaft is located at the top of the rotating seat (7), the top of the rotating shaft is connected to the bottom center of the rotating plate (8), the rotating plate ( A liftable picking hand is arranged on the top of the rotating plate (8), and the liftable picking hand comprises a stand (9), a lifting cylinder (11), a lifting rod (12), and a lifting plate (13). The bottom of the stand (9) is fixedly connected to the top of the rotating plate (8). A stand inner cavity (10) is provided inside the stand (9). A lifting rod (12) is arranged on the top of the stand inner cavity (10). The lifting rod (12) is connected to the stand (9) through a damping shaft. Second fixed blocks (16) are arranged on both sides of the other end of the lifting rod (12). A rotating block (17) is arranged between the two second fixed blocks (16). The rotating block (17) is connected to the two second fixed blocks (16) through a damping shaft. The top of the rotating block (17) is connected to the bottom center of the lifting plate (13). A flexible picking hand (14) is arranged at the top center of the lifting plate (13).

2. A 3D printing picking device according to claim 1, Features: A rotating slot (21) is provided on the top of the rotating seat (7), and a snap ring (19) is snap-fitted to the rotating slot (21), and the top of the snap ring (19) is connected to the rotating plate (8).

3. A 3D printing picking device according to claim 1, Features: A lifting cylinder (11) is provided at the bottom of the inner cavity (10) of the stand. The lifting cylinder (11) is connected to the stand (9) via a damping shaft. The other end of the lifting cylinder (11) is located at the bottom of the lifting rod (12).

4. A 3D printing picking device according to claim 3, Features: First fixing blocks (15) are provided at both ends of the middle of the bottom of the lifting rod (12), the other end of the lifting cylinder (11) is located between the two first fixing blocks (15), and the lifting cylinder (11) and the first fixing blocks (15) are connected via a damping shaft.

Images