Fruit picking manipulator and fruit picking robot

Abstract

The utility model relates to the technical field of fruit picking, and discloses a fruit picking manipulator and a fruit picking robotic.The fruit picking manipulator comprises a base plate, a picking mechanism is installed on the base plate, the picking mechanism comprises a shaft sleeve, pin shafts, clamping jaws, springs, an electric telescopic rod and a driving ring, the multiple clamping jaws are evenly distributed on the base plate, the bottom of each clamping jaw is fixedly provided with one pin shaft, and the shaft sleeves are arranged on the shaft sleeves; the pin shaft is rotationally connected into the shaft sleeve, the shaft sleeve is fixed to the base plate, the outer side of each clamping jaw is provided with a spring connected with the base plate, two electric telescopic rods are fixed to the lower side of the base plate, the output ends of the electric telescopic rods are fixed to the driving ring, two lengthening plates are fixed to the lower side of the base plate, and a transmission shaft is fixed between the two lengthening plates. An adapter frame is arranged below the base plate, the transmission shaft is rotationally connected into the adapter frame, and a rotation adjusting mechanism used for driving the transmission shaft to rotate is installed on the adapter frame. The fruit picking device is convenient to adjust and good in stability, and fruits of different sizes can be conveniently and stably clamped and picked.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to a fruit picking manipulator and a fruit picking robot. Background Art

[0002] With the development of technology, people gradually began to use robots to pick fruits. However, the existing fruit picking robots mostly use two fingers to pick fruits, which are not sufficiently protective of fruits. As a result, fruits may fall off the picking manipulators during picking, causing them to fall to the ground and be broken. Therefore, in view of the above situation, it is urgent to develop fruit picking manipulators and fruit picking robots that are easy to adjust, have good stability, and are convenient for stably gripping and picking fruits of different sizes, so as to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0003] The utility model aims to provide a fruit picking manipulator and a fruit picking robot, which are easy to adjust and have good stability and are convenient for stably clamping and picking fruits of different sizes.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A fruit picking manipulator comprises a base plate, a picking mechanism, an extension plate, a transmission shaft, a rotation adjustment mechanism and an adapter frame, wherein the base plate is provided with a picking mechanism, and the picking mechanism comprises: a shaft sleeve, a pin shaft, a clamping jaw, a spring, an electric telescopic rod and a driving ring, wherein a plurality of clamping jaws are evenly distributed on the base plate, a pin shaft is fixed at the bottom of each clamping jaw, the pin shaft is rotatably connected in the shaft sleeve, the shaft sleeve is fixed on the base plate, a spring connected to the base plate is installed on the outer side of each clamping jaw, two electric telescopic rods are fixed on the lower side of the base plate, the output end of the electric telescopic rod is fixed to the driving ring, the driving ring is located on the outer sides of the plurality of clamping jaws, two extension plates are fixed on the lower side of the base plate, a transmission shaft is fixed between the two extension plates, an adapter frame is arranged below the base plate, the transmission shaft is rotatably connected in the adapter frame, and a rotation adjustment mechanism for driving the transmission shaft to rotate is installed on the adapter frame.

[0006] Preferably, a protective plate is installed on the inner side of the upper end of each clamping jaw, and the protective plate is made of rubber.

[0007] Preferably: a plurality of threaded holes are provided on the adapter frame.

[0008] Preferably: the rotation adjustment mechanism includes: a drive motor, a first gear and a second gear, the drive motor is fixed on the adapter frame, the output shaft of the drive motor is equipped with a first gear, one side of the first gear is equipped with a second gear meshing with the first gear, and the second gear is installed on the transmission shaft.

[0009] A fruit picking robot comprises the above-mentioned fruit picking manipulator.

[0010] The beneficial effects of the utility model are as follows: when the fruit picking manipulator and the fruit picking robot are used, the adapter frame is installed on the picking robot body, the first gear and the second gear are driven to rotate by the driving motor, the transmission shaft is driven to rotate by the second gear, the extension plate and the base plate are driven to rotate by the transmission shaft, the picking mechanism is driven to rotate by the base plate, and then the angle of the picking mechanism is adjusted. When picking, the fruit is placed on the inner upper end of the multiple clamps, and then the driving ring is driven to move upward by the electric telescopic rod, and the multiple clamps are squeezed inward by the upward movement of the driving ring, so that the upper ends of the multiple clamps are gathered together, and then the fruit is clamped, and the fruit is protected by the protective plate to prevent the fruit from being damaged by the clamp, and the fruit is surrounded by multiple clamps to prevent the fruit from accidentally falling after being picked, and finally, the adapter frame is driven to move by the picking robot body, and the base plate and the picking mechanism are driven to move by the adapter frame, and the fruit is picked from the fruit tree when the picking mechanism moves. In summary, the utility model is easy to adjust and has good stability, which is convenient for stable clamping and picking of fruits of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 .

[0012] Figure 2 The three-dimensional structure of the utility model is shown in FIG. Figure 2 .

[0013] Figure 3 It is a partial structure diagram of the utility model Figure 1 .

[0014] Figure 4 It is a partial structure diagram of the utility model Figure 2 .

[0015] Figure 5 It is a partial structure diagram of the utility model Figure 3 .

[0016] Legend:

[0017] 1. Base plate; 2. Picking mechanism; 201. Bushing; 202. Pin; 203. Clamp; 2031. Protective plate; 204. Spring; 205. Electric telescopic rod; 206. Driving ring; 3. Extension plate; 4. Transmission shaft; 5. Rotation adjustment mechanism; 501. Driving motor; 502. First gear; 503. Second gear; 6. Adapter; 601. Threaded hole. DETAILED DESCRIPTION

[0018] 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 of 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.

[0019] Specific examples are given below.

[0020] See also Figure 1 to Figure 5In the embodiment of the utility model, the fruit picking manipulator includes a base plate 1, a picking mechanism 2, an extension plate 3, a transmission shaft 4, a rotation adjustment mechanism 5 and an adapter frame 6. The picking mechanism 2 is installed on the base plate 1. The picking mechanism 2 includes: a sleeve 201, a pin 202, a clamping claw 203, a spring 204, an electric telescopic rod 205 and a driving ring 206. A plurality of clamping claws 203 are evenly distributed on the base plate 1, and a pin 202 is fixed to the bottom of each clamping claw 203. The pin 202 2 is rotatably connected to the shaft sleeve 201, the shaft sleeve 201 is fixed on the base plate 1, a protective plate 2031 is installed on the inner side of the upper end of each clamping jaw 203, and the protective plate 2031 is made of rubber. A spring 204 connected to the base plate 1 is installed on the outer side of each clamping jaw 203, and two electric telescopic rods 205 are fixed on the lower side of the base plate 1. The output end of the electric telescopic rod 205 is fixed to the driving ring 206, and the driving ring 206 is located on the outer side of the plurality of clamping jaws 203. Two extension plates 3 are fixed on the lower side of the base plate 1, and a transmission shaft 4 is fixed between the two extension plates 3. An adapter frame 6 is arranged below the base plate 1, and the transmission shaft 4 is rotatably connected to the adapter frame 6. A rotation adjustment mechanism 5 for driving the transmission shaft 4 to rotate is installed on the adapter frame 6. A plurality of threaded holes 601 are arranged on the adapter frame 6. When in use, the adapter frame 6 is installed on the picking robot body, and the bolts on the picking robot body are screwed into the threaded holes 601 to fix the adapter frame 6. The transmission shaft 4 is driven to rotate by the rotation adjustment mechanism 5, and the extension plates 3 and the base plate 1 are driven to rotate by the transmission shaft 4. The picking mechanism 2 is driven to rotate by the base plate 1, and then the angle of the picking mechanism 2 is adjusted, so that the fruit enters the picking mechanism 2, and then the picking mechanism 2 clamps the fruit. Finally, the adapter frame 6 is driven to move by the picking robot body, and the base plate 1 and the picking mechanism 2 are driven to move by the adapter frame 6. When the picking mechanism 2 moves, the fruit is picked from the fruit tree.

[0021] The rotation adjustment mechanism 5 includes: a driving motor 501, a first gear 502 and a second gear 503. The driving motor 501 is fixed on the adapter frame 6. The first gear 502 is installed on the output shaft of the driving motor 501. A second gear 503 meshing with the first gear 502 is installed on one side of the first gear 502. The second gear 503 is installed on the transmission shaft 4. When in use, the first gear 502 and the second gear 503 are driven to rotate by the driving motor 501, and the transmission shaft 4 is driven to rotate by the second gear 503. The extension plate 3 and the base plate 1 are driven to rotate by the transmission shaft 4, and the picking mechanism 2 is driven to rotate by the base plate 1, thereby adjusting the angle of the picking mechanism 2.

[0022] A fruit picking robot comprises the above-mentioned fruit picking manipulator.

[0023] Working principle: When the fruit picking manipulator and the fruit picking robot are used, the adapter frame 6 is installed on the picking robot body, the first gear 502 and the second gear 503 are driven to rotate by the driving motor 501, the transmission shaft 4 is driven to rotate by the second gear 503, the extension plate 3 and the base plate 1 are driven to rotate by the transmission shaft 4, the picking mechanism 2 is driven to rotate by the base plate 1, and then the angle of the picking mechanism 2 is adjusted. When picking, the fruit is placed on the upper end of the multiple clamps 203, and then the electric telescopic rod 205 is driven to move the fruit. The dynamic driving ring 206 moves upward, and the multiple clamping claws 203 are squeezed inward by the upward movement of the driving ring 206, so that the upper ends of the multiple clamping claws 203 are gathered together, and then the fruit is clamped, and the fruit is protected by the protective plate 2031 to prevent the fruit from being damaged, and the fruit is surrounded by the multiple clamping claws 203 to prevent the fruit from accidentally falling after being picked. Finally, the adapter frame 6 is driven to move by the picking robot body, and the base plate 1 and the picking mechanism 2 are driven to move by the adapter frame 6. When the picking mechanism 2 moves, the fruit is picked from the fruit tree.

[0024] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. Fruit picking robot, characterized in that: The invention comprises a base plate (1), a picking mechanism (2), an extension plate (3), a transmission shaft (4), a rotation adjustment mechanism (5) and an adapter frame (6); the base plate (1) is provided with a picking mechanism (2); the picking mechanism (2) comprises: a shaft sleeve (201), a pin shaft (202), a clamping claw (203), a spring (204), an electric telescopic rod (205) and a driving ring (206); a plurality of clamping claws (203) are evenly distributed on the base plate (1); a pin shaft (202) is fixed at the bottom of each clamping claw (203); the pin shaft (202) is rotatably connected to the shaft sleeve (201); the shaft sleeve (201) is fixed to the base plate (1); and each clamping claw (203) is provided with a plurality of clamping claws (203). A spring (204) connected to the base plate (1) is installed on the outer side of each of the two clamping claws (203); two electric telescopic rods (205) are fixed on the lower side of the base plate (1); the output ends of the electric telescopic rods (205) are fixed to a driving ring (206); the driving ring (206) is located on the outer side of the plurality of clamping claws (203); two extension plates (3) are fixed on the lower side of the base plate (1); a transmission shaft (4) is fixed between the two extension plates (3); an adapter frame (6) is arranged below the base plate (1); the transmission shaft (4) is rotatably connected to the adapter frame (6); a rotation adjustment mechanism (5) for driving the transmission shaft (4) to rotate is installed on the adapter frame (6).

2. The fruit picking robot according to claim 1, characterized in that: A protective plate (2031) is installed on the inner side of the upper end of each clamping jaw (203), and the protective plate (2031) is made of rubber.

3. The fruit picking robot according to claim 1, characterized in that: The adapter frame (6) is provided with a plurality of threaded holes (601).

4. The fruit picking robot according to claim 1, characterized in that: The rotation adjustment mechanism (5) comprises: a driving motor (501), a first gear (502) and a second gear (503); the driving motor (501) is fixed on an adapter frame (6); the first gear (502) is mounted on an output shaft of the driving motor (501); a second gear (503) meshing with the first gear (502) is mounted on one side of the first gear (502); and the second gear (503) is mounted on a transmission shaft (4).

5. A fruit picking robot, characterized in that: It comprises a fruit picking robot as described in any one of claims 1 to 4.

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