Picking robot

Abstract

The picking robot comprises a shearing unit, the shearing unit comprises a fixing support, a clamping part and a shearing part, the clamping part and the shearing part are fixed to the two sides of the fixing support respectively, the shearing part comprises two shearing blades which are oppositely arranged, and the shearing blades are in running fit with the fixing support through pin shafts. Two hydraulic cylinders are further arranged on the fixing support, the telescopic ends of the two hydraulic cylinders are in transmission connection with the two shearing blades respectively, the two hydraulic cylinders can drive the two shearing blades to rotate with the axis of the pin shaft as a rotating shaft, and cutting edges of the two shearing blades are arranged in a staggered or opposite mode. According to the shearing device, due to the arrangement of the shearing blades and the hydraulic cylinder, the two shearing blades can rotate by taking the axis of the pin shaft as a rotating shaft, and the cutting edges of the two shearing blades are staggered or oppositely arranged, so that the two shearing blades can be crossed, and the shearing effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of picking robot equipment, and more specifically to a picking robot. Background Art

[0002] The current harvesting robots have the following defects:

[0003] 1) The terrain of different orchards may be different. Some may be hillsides, while others may be plains. The plant morphology of different orchards may also be different. Some vines may grow densely, while others may grow sparsely, or even cross-entangled. The density and distribution of fruits in different orchards may also vary greatly. Some orchards may have dense fruits, while others may be sparse. Therefore, intelligent grape picking technology needs to have high adaptability and be able to work normally under different terrains, plant morphologies, and fruit densities.

[0004] 2) Low precision of mechanical arm operation: The mechanical arm operation of the robot needs to have high precision and stability to cooperate with the picking device to avoid damaging or missing grapes. However, the current grape picking requires the fruit to be clamped and sheared, but the current shearing adopts the center-set shearing method, which has a limited shearing range, which is only the distance between two center-set shearing blades, and the effect is not good. Utility Model Content

[0005] The technical problem to be solved by the utility model is how to improve the cutting effect of the picking robot.

[0006] The utility model solves the above-mentioned technical problems through the following technical means: a picking robot, including a shearing unit, the shearing unit including a fixed bracket and a clamping part and a shearing part respectively fixed on both sides of the fixed bracket, the shearing part including two oppositely arranged shearing blades, the shearing blades rotatably cooperate with the fixed bracket through a pin shaft, and two hydraulic cylinders are also provided on the fixed bracket, the telescopic ends of the two hydraulic cylinders are respectively connected to the two shearing blades in a transmission manner, the two hydraulic cylinders can drive the two shearing blades to rotate with the pin shaft axis as the rotating shaft, and cause the cutting edges of the two shearing blades to be staggered or oppositely arranged.

[0007] As a preferred technical solution, the shear blade includes shear knife 1 and shear knife 2 arranged on one side of the fixed bracket, and the hydraulic cylinder includes hydraulic cylinder 1 and hydraulic cylinder 2, the telescopic end of hydraulic cylinder 1 is rotatably connected to the fixed bracket, and the other end is rotatably connected to shear knife 1, the telescopic end of hydraulic cylinder 2 is rotatably connected to the fixed bracket, and the other end is rotatably connected to shear knife 2.

[0008] As a preferred technical solution, the clamping part includes two clamping fingers that can be opened and closed and an electric telescopic rod that drives the two clamping fingers to open and close. The electric telescopic rod is fixedly connected to the other side of the fixed bracket, and the telescopic end of the electric telescopic rod is transmission-connected to the two clamping fingers.

[0009] As a preferred technical solution, the clamping part also includes an active rocker, a slave rocker, a driving block, and a transmission short rod. The telescopic end of the electric telescopic rod is fixedly connected to the driving block. Two active rockers are rotatably connected to the fixed bracket. The two active rockers are respectively rotatably connected to the driving block through a transmission short rod. The two active rockers are respectively rotatably connected to the two clamping fingers. The fixed bracket is also movably connected to the clamping fingers through the slave rocker.

[0010] As a preferred technical solution, a limiting bracket is fixedly connected to the fixed bracket, one end of the slave rocker is rotatably connected to the clamping finger, and the other end is rotatably connected to the limiting bracket, the active rocker is rotatably connected to the limiting bracket, and one end of the limiting bracket is provided with a U-shaped groove that matches the active rocker.

[0011] As a preferred technical solution, the end of the clamping finger is also fixedly connected with a finger surface rubber pad.

[0012] As a preferred technical solution, the opening and closing angle of the clamping fingers is smaller than the opening and closing angle of the shearing blade.

[0013] As a preferred technical solution, the cutting edge of the shear blade is arc-shaped.

[0014] As a preferred technical solution, the shearing knife 1 is rotatably connected to the fixed bracket via a pin 1, and the shearing knife 2 is rotatably connected to the fixed bracket via a pin 2.

[0015] As a preferred technical solution, it also includes a walking unit and a multi-axis robotic arm. The multi-axis robotic arm is fixedly connected to the walking unit, and the output end of the multi-axis robotic arm is fixedly connected to the shearing unit.

[0016] The advantages of the utility model are:

[0017] (1) In the present invention, by arranging the shear blades and the hydraulic cylinder, the two shear blades can rotate with the pin axis as the rotation axis, and the cutting edges of the two shear blades are staggered or arranged opposite to each other, so that the two shear blades can cross each other, thereby improving the shearing effect.

[0018] (2) In the present invention, by arranging the clamping part and the fixing part on both sides of the fixing bracket, the use of one mechanical arm is reduced, thereby saving costs.

[0019] (3) In the present invention, a harmonic reducer is selected as the reducer of the multi-axis robot arm, thereby improving the accuracy of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structural diagram provided for the embodiment 1 of the utility model;

[0021] Figure 2 A schematic diagram of the shearing portion structure provided in Example 1 of the utility model;

[0022] Figure 3 A schematic diagram of the structure of the clamping portion provided in Example 1 of the utility model;

[0023] Figure 4 A schematic diagram of the limit bracket structure provided in Example 1 of the utility model;

[0024] Figure 5 A schematic diagram of the structure of a multi-axis mechanical arm provided in Example 1 of the utility model;

[0025] Figure 6 A schematic diagram of the structure of a shock absorbing unit provided in Example 2 of the utility model;

[0026] Figure numbers: 1, walking unit; 2, shock absorbing unit; 21, connecting block 1; 211, driving wheel 1; 212, spring 1; 213, connecting shaft 1; 22, connecting block 2; 221, driving wheel 2; 222, connecting shaft 2; 223, spring 2; 23, connecting block 3; 231, driving wheel 3; 232, connecting shaft 3; 233, spring 3; 24, outer fixing frame; 25, crawler driving wheel; 26, connecting Block four; 261, transmission wheel four; 262, spring four; 27, crawler; 3, multi-axis robot arm; 4, shearing unit; 41, fixed bracket; 42, hydraulic cylinder; 43, shearing knife one; 44, shearing knife two; 45, pin shaft one; 46, pin shaft two; 47, active rocker; 48, slave rocker; 49, clamping finger; 410, driving block; 411, transmission short rod; 412, telescopic rod; 413, limit bracket. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are 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.

[0028] Example 1

[0029] See also Figure 1 A picking robot comprises a walking unit 1, a multi-axis mechanical arm 3, and a shearing unit 4. The multi-axis mechanical arm 3 is fixedly connected to the walking unit 1, and the output end or the end of the multi-axis mechanical arm 3 is fixedly connected to the shearing unit 4. The shearing unit 4 comprises a fixed bracket 41 and a clamping part and a shearing part respectively fixed on both sides of the fixed bracket 41. The shearing part comprises two oppositely arranged shearing blades, and the cutting edges of the shearing blades are arranged in an arc shape. The shearing blades are rotatably matched with the fixed bracket 41 through a pin shaft. Two hydraulic cylinders are also arranged on the fixed bracket 41. The telescopic ends of the two hydraulic cylinders 42 are respectively connected to the two shearing blades in a transmission manner. The two hydraulic cylinders 42 can drive the two shearing blades to rotate with the pin shaft axis as the rotating axis, and cause the cutting edges of the two shearing blades to be staggered or oppositely arranged.

[0030] See also Figure 2 The shear blades include a shear blade 1 43 and a shear blade 2 44 which are arranged on one side of a fixed bracket 41. The shear blade 1 43 and the shear blade 2 44 are of different heights and are staggered in the height direction, that is, the plane where the top of the shear blade 1 43 and the plane where the bottom of the shear blade 2 44 are located are located in the same plane. The shear blade 1 43 is rotatably connected to the fixed bracket 41 through a pin shaft 1 45, and the shear blade 2 44 is rotatably connected to the fixed bracket 41 through a pin shaft 2 46. The pin shaft 1 45 and the pin shaft 2 46 are both fixedly connected to one side of the fixed bracket 41 and are symmetrically arranged about the center line of the fixed bracket 41.

[0031] The hydraulic cylinder 42 includes a hydraulic cylinder 1 and a hydraulic cylinder 2. The telescopic end of the hydraulic cylinder 1 is rotatably connected to the fixed bracket 41, and the other end is rotatably connected to the shear knife 1 43. The telescopic end of the hydraulic cylinder 2 is rotatably connected to the fixed bracket 41, and the other end is rotatably connected to the shear knife 2 44. The shear blades are driven separately by two hydraulic cylinders to provide sufficient shearing force. Since the shear knife 1 43 and the shear knife 2 44 can be staggered or crossed, the shearing range is increased, thereby improving the shearing effect.

[0032] See also Figure 3 , Figure 4 The clamping part includes two clamping fingers 49 that can be opened and closed, an electric telescopic rod 412 that drives the two clamping fingers 49 to open and close, an active rocker 47, a slave rocker 48, a driving block 410, a transmission short rod 411, and a limit bracket 413. The electric telescopic rod 412 is fixedly connected to the other side of the fixed bracket 41, and the telescopic end of the electric telescopic rod 412 is transmission-connected to the two clamping fingers 49. The end of the clamping finger 49 is also fixedly connected to a finger surface rubber pad to increase the friction force. The opening and closing angle of the clamping finger 49 is smaller than the opening and closing angle of the shear blade, thereby avoiding the inability to shear the plant rhizome clamped by the clamping finger 49 due to the small opening and closing angle of the shear blade. In this embodiment, the plant rhizome takes the rhizome of grapes as an example, but is not limited to this;

[0033] The telescopic end of the electric telescopic rod 412 is fixedly connected to a driving block 410, and two active rockers 47 are rotatably connected to the fixed bracket 41, and the two active rockers 47 are rotatably connected to the driving block 410 respectively through a transmission short rod 411, wherein one end of the transmission short rod 411 is rotatably connected to the active rocker 47, and the other end of the transmission short rod 411 is rotatably connected to the driving block 410, and the two driving blocks 410 are respectively located at both ends of the transmission short rod 411, and the two active rockers 47 are respectively rotatably connected to the two clamping fingers 49, and the fixed bracket 41 is also movably connected to the clamping fingers 49 through a slave rocker 48, one end of the slave rocker 48 is rotatably connected to the clamping fingers 49, and the other end is rotatably connected to the limit bracket 413, the active rocker 47 is rotatably connected to the limit bracket 413, and a U-shaped groove adapted to the active rocker 47 is provided on one end of the limit bracket 413, thereby allowing the active rocker 47 to rotate, and the slave rocker 48 can rotate relative to the limit bracket 413.

[0034] See also Figure 5 In this embodiment, the multi-axis robot arm 3 adopts a commercially available six-axis robot arm, and the reducer of the multi-axis robot arm 3 uses a harmonic reducer to improve the accuracy of the robot arm. The six-axis robot arm can be a commercially available turkeybro carbon fiber shell TR400 intelligent integrated joint module.

[0035] Example 2

[0036] See also Figure 1 The difference between this embodiment and embodiment 1 is that it also includes a shock absorbing unit 2 arranged on both sides of the walking unit 1. The walking unit 1 includes a vehicle body, an outer fixing frame 24, a track 27, and a track driving wheel 25. A driving motor is fixedly connected to the vehicle body, and the output shaft of the driving motor is fixedly connected to the track driving wheel 25 through a reducer. In this embodiment, two track driving wheels 25 are provided on one side of the vehicle body, and two outer fixing frames 24 are provided on one side of the vehicle body. The two outer fixing frames 24 form a frame. The two track driving wheels 25 are both rotatably connected to the two outer fixing frames 24 and are located in the frame. The two track driving wheels 25 are transmission-connected through the track 27.

[0037] See also Figure 6 , a connecting block 21 is rotatably connected to the outer fixing frame 24, and the connecting block 21 is a V-shaped structure, one end of which cooperates with the crawler 27 is rotatably connected to a transmission wheel 211, and the other end is elastically connected to a connecting shaft 213 through a spring 212; waist holes adapted to the connecting shaft 1 213, the connecting shaft 222, and the connecting shaft 3 232 are opened on the two outer fixing frames 24, and the connecting shaft 1 213, the connecting shaft 222, and the connecting shaft 3 232 are all passed through their corresponding waist holes, stuck between the two outer fixing frames 24, and can slide along the waist holes to increase the rotation space of the connecting block 1 21, the connecting block 22, and the connecting block 3 23;

[0038] The outer fixing frame 24 is rotatably connected to a connecting block 26 via a rotating shaft, one end of the connecting block 26 that cooperates with the crawler 27 is rotatably connected to a transmission wheel 261, and the other end is elastically connected to the outer fixing frame 24 via a spring 262;

[0039] The middle part of the outer fixing frame 24 is rotatably connected with a connecting block 22 and a connecting block 3 23 through a rotating shaft, wherein the connecting block 22 and the connecting block 3 23 share a rotating shaft, one end of the connecting block 22 that cooperates with the crawler 27 is rotatably connected with a transmission wheel 221, and one end of the connecting block 3 23 that cooperates with the crawler 27 is rotatably connected with a transmission wheel 3 231, the other end of the connecting block 22 is elastically connected to the connecting shaft 222 through a spring 223, and the other end of the connecting block 3 23 is elastically connected to the connecting shaft 3 232 through a spring 3 233;

[0040] Among them, the second connection block 22, the third connection block 23, and the fourth connection block 26 are all generally V-shaped structures.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A picking robot, characterized in that: The invention comprises a shearing unit (4), the shearing unit (4) comprising a fixed bracket (41) and a clamping part and a shearing part respectively fixed on both sides of the fixed bracket (41); the shearing part comprises two shearing blades arranged opposite to each other, the shearing blades are rotatably matched with the fixed bracket (41) via a pin shaft, the fixed bracket (41) is also provided with two hydraulic cylinders, the telescopic ends of the two hydraulic cylinders (42) are respectively connected to the two shearing blades in a transmission manner, the two hydraulic cylinders (42) can drive the two shearing blades to rotate with the pin shaft axis as the rotation axis, and cause the cutting edges of the two shearing blades to be staggered or arranged opposite to each other.

2. A picking robot according to claim 1, characterized in that: The shear blade comprises a shear blade 1 (43) and a shear blade 2 (44) arranged on one side of a fixed bracket (41); the hydraulic cylinder (42) comprises a hydraulic cylinder 1 and a hydraulic cylinder 2; the telescopic end of the hydraulic cylinder 1 is rotatably connected to the fixed bracket (41), and the other end is rotatably connected to the shear blade 1 (43); the telescopic end of the hydraulic cylinder 2 is rotatably connected to the fixed bracket (41), and the other end is rotatably connected to the shear blade 2 (44).

3. The picking robot according to claim 1, characterized in that: The clamping portion comprises two clamping fingers (49) that can be opened and closed and an electric telescopic rod (412) that drives the two clamping fingers (49) to open and close, the electric telescopic rod (412) being fixedly connected to the other side of the fixed bracket (41), and the telescopic end of the electric telescopic rod (412) being transmission-connected to the two clamping fingers (49).

4. A picking robot according to claim 3, characterized in that: The clamping part also includes an active rocker (47), a slave rocker (48), a driving block (410), and a transmission short rod (411); the telescopic end of the electric telescopic rod (412) is fixedly connected to the driving block (410); two active rockers (47) are rotatably connected to the fixed bracket (41); the two active rockers (47) are respectively rotatably connected to the driving block (410) through a transmission short rod (411); the two active rockers (47) are respectively rotatably connected to two clamping fingers (49); and the fixed bracket (41) is also movably connected to the clamping fingers (49) through the slave rocker (48).

5. The picking robot according to claim 4, characterized in that: The fixed bracket (41) is fixedly connected to a limiting bracket (413); one end of the slave rocker (48) is rotatably connected to a clamping finger (49), and the other end is rotatably connected to the limiting bracket (413); the active rocker (47) is rotatably connected to the limiting bracket (413); and one end of the limiting bracket (413) is provided with a U-shaped groove adapted to the active rocker (47).

6. The picking robot according to claim 3, characterized in that: The end of the clamping finger (49) is also fixedly connected with a finger surface rubber pad.

7. The picking robot according to claim 3, characterized in that: The opening and closing angle of the clamping fingers (49) is smaller than the opening and closing angle of the shearing blade.

8. The picking robot according to claim 2, characterized in that: The cutting edge of the shearing blade is arranged in an arc shape.

9. The picking robot according to claim 2, characterized in that: The shearing knife 1 (43) is rotatably connected to the fixed bracket (41) via a pin shaft 1 (45), and the shearing knife 2 (44) is rotatably connected to the fixed bracket (41) via a pin shaft 2 (46).

10. The harvesting robot according to claim 1, characterized in that: It also comprises a walking unit (1) and a multi-axis mechanical arm (3), wherein the multi-axis mechanical arm (3) is fixedly connected to the walking unit (1), and the output end of the multi-axis mechanical arm (3) is fixedly connected to the shearing unit (4).

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