Self-adaptive grabbing bionic manipulator device for sorting

Abstract

The utility model relates to the technical field of sorting devices, and discloses a self-adaptive grabbing bionic manipulator device for sorting, which comprises a base mounted on a mechanical arm, a main frame body fixedly connected to the base, a motor support fixedly connected to the main frame body, fixing pieces fixedly connected to the two ends of the motor support respectively, and a driving device fixedly connected to the fixing pieces. Two driving blocks are rotationally connected to the fixing piece, a lead screw is arranged on the motor support, a sliding block is connected to the lead screw, one ends of connecting rods are hinged to the two ends of the sliding block, and the other ends of the connecting rods are hinged to the driving blocks; the clamping assembly comprises two bionic claws, flexible clamping pieces are arranged on the bionic claws, and the bionic claws clamp fruits through the flexible clamping pieces; and the connecting assembly comprises two connecting pieces, the two connecting pieces are arranged on the two bionic claws correspondingly, and the bionic claws are connected with the driving block in a limiting mode through the connecting pieces. The fruit clamping device is simple in structure, clamping structures of different specifications can be conveniently replaced according to different types of fruits, the fruit clamping device is matched with the shapes of the fruits, stable clamping is guaranteed, and damage to the fruits is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of sorting devices, in particular to an adaptive grabbing bionic manipulator device for sorting. Background Art

[0002] A manipulator is a mechanical device that looks like a hand and can imitate certain movements and functions of human hands and arms. It is an automatic operating device used to grasp, move objects or operate tools according to a fixed procedure.

[0003] The structural dimensions of the bionic manipulators in the prior art are mostly fixed-size designs. Although they can achieve stretching and contraction of the grip, when gripping fruits, due to the large size difference between different types of fruits, the fixed-size bionic manipulators are limited in use, that is, the installed equipment is not suitable for all types of fruits, which results in the need to set up manipulator equipment of different specifications and models for different types of fruits, increasing the cost of use. In addition, the gripping parts of the bionic manipulators in the prior art are mostly fixed structures. Even if different curvature structures are set to adapt to the shape of the fruit, it cannot guarantee that they can fit stably with all fruits, resulting in unstable gripping and the disadvantage of damaging the fruit. Utility Model Content

[0004] The utility model aims to provide an adaptive grabbing bionic manipulator device for sorting, so as to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides the following solution: The utility model provides an adaptive grasping bionic manipulator device for sorting, comprising a base mounted on a manipulator arm,

[0006] The base is fixedly connected to a main frame, the main frame is fixedly connected to a motor bracket, both ends of the motor bracket are respectively fixedly connected to fixing plates, two driving blocks are rotatably connected to the fixing plates, a lead screw is provided on the motor bracket, a slider is connected to the lead screw, one end of a connecting rod is hinged at both ends of the slider, and the other end of the connecting rod is hinged to the driving block;

[0007] A clamping assembly comprises two bionic claws, each of which is provided with a flexible clamping member, and the bionic claws clamp the fruit through the flexible clamping member;

[0008] The connecting component comprises two connecting members, wherein the two connecting members are respectively arranged on the two bionic claws, and the bionic claws are limit-connected with the driving block through the connecting members.

[0009] Preferably, the connecting member includes two grooves opened on both sides of the bionic claw, a connecting block is slidably connected in the groove, a connecting groove is opened on the driving block, two connecting holes are opened on the two opposite inner walls of the connecting groove, the bionic claw is located in the connecting groove, and the connecting block is connected to the connecting hole, and a rear disassembly member is provided on the driving block, and the disassembly member is in contact with the connecting block.

[0010] Preferably, one end of a first spring is fixedly connected to the inner wall of the groove, and the other end of the first spring is fixedly connected to the connecting block.

[0011] Preferably, the disassembly member comprises a top block slidably connected in the connecting hole, one end of the top block is in contact with the connecting block, and the other end of the top block extends out of the connecting hole.

[0012] Preferably, a second spring is sleeved on the top block, and two ends of the second spring are fixedly connected to the top block and the driving block respectively.

[0013] Preferably, the flexible clamping member comprises a flexible frame, one end of the flexible frame is fixedly connected to the bionic claw, and the other end of the flexible frame is in contact with the fruit.

[0014] Preferably, the flexible frame is a silica gel frame, and the flexible frame has a honeycomb structure inside.

[0015] Preferably, a sealing cover is threadedly connected to the driving block, and the top block is located inside the sealing cover.

[0016] Compared with the prior art, the utility model has the following advantages and technical effects:

[0017] The utility model provides an adaptive grabbing bionic manipulator device for sorting, which is installed on the mechanical arm through a base, and the slider is driven to move by a screw, and the slider drives the driving block to rotate when it moves, so as to realize the control of the bionic claws on both sides, and control the flexible clamping parts on the bionic claws to clamp the fruit. For different types of fruits, the size difference is large. By selecting bionic claws of appropriate specifications and corresponding flexible clamping parts, it is installed on the driving block through the provided connecting parts. The provided connecting parts ensure the stability of the connection and facilitate the replacement of bionic claws of different specifications. The application range is wide, and the provided flexible clamping parts are more suitable for the shape of the fruit, ensuring the stable clamping of the fruit, and avoiding damage to the fruit. The present application has a simple structure, and can conveniently replace the clamping structures of different specifications for different types of fruits, and at the same time adapt to the shape of the fruit, ensuring the stability of the clamping, and avoiding damage to the fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor:

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the connection state between the bionic claw and the driving block of the utility model;

[0021] Figure 3 For this utility model Figure 2 A partial enlarged view of the middle part;

[0022] Among them, 1. base; 2. main frame; 3. motor bracket; 4. fixing plate; 5. driving block; 6. lead screw; 7. slider; 8. connecting rod; 9. bionic claw; 10. groove; 11. connecting block; 12. connecting groove; 13. connecting hole; 14. first spring; 15. top block; 16. second spring; 17. flexible frame; 18. sealing cover. DETAILED DESCRIPTION

[0023] 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.

[0024] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0025] Reference Figure 1-Figure 3 The utility model provides an adaptive grasping bionic manipulator device for sorting, comprising a base 1 mounted on a manipulator arm.

[0026] The base 1 is fixedly connected with a main frame 2, the main frame 2 is fixedly connected with a motor bracket 3, both ends of the motor bracket 3 are respectively fixedly connected with fixing plates 4, the fixing plates 4 are rotatably connected with two driving blocks 5, a lead screw 6 is provided on the motor bracket 3, the lead screw 6 is connected with a slider 7, both ends of the slider 7 are hinged with one end of a connecting rod 8, and the other end of the connecting rod 8 is hinged with the driving block 5;

[0027] The clamping assembly comprises two bionic claws 9, on which flexible clamping members are arranged, and the bionic claws 9 clamp the fruit through the flexible clamping members;

[0028] The connecting assembly includes two connecting pieces, which are respectively arranged on the two bionic claws 9 , and the bionic claws 9 are limitedly connected to the driving block 5 through the connecting pieces.

[0029] A further optimized solution is that the connecting part includes two grooves 10 opened on both sides of the bionic claw 9, a connecting block 11 is slidably connected in the groove 10, a connecting groove 12 is opened on the driving block 5, two connecting holes 13 are opened on the two opposite inner walls of the connecting groove 12, the bionic claw 9 is located in the connecting groove 12, and the connecting block 11 is connected to the connecting hole 13, and a rear disassembly part is set on the driving block 5, and the disassembly part is in contact with the connecting block 11.

[0030] The bionic claw 9 of suitable specifications is selected and inserted into the connecting groove 12 , and then the connecting block 11 on the bionic claw 9 is inserted into the connecting hole 13 , so that the bionic claw 9 can be conveniently installed.

[0031] According to a further optimized solution, one end of a first spring 14 is fixedly connected to the inner wall of the groove 10 , and the other end of the first spring 14 is fixedly connected to the connecting block 11 .

[0032] Reference Figure 3 The first spring 14 is provided to realize the extension and retraction of the connecting block 11 , and the extending block 11 is clamped in the connecting hole 13 to realize the connection between the bionic claw 9 and the driving block 5 .

[0033] According to a further optimized solution, the disassembly member includes a top block 15 slidably connected in the connection hole 13 , one end of the top block 15 is in contact with the connection block 11 , and the other end of the top block 15 extends out of the connection hole 13 .

[0034] Reference Figure 3 The top block 15 contacts the connecting block 11 , and the connecting block 11 is pushed to retract into the groove 10 by synchronously pressing the top blocks 15 on both sides toward the middle, thereby realizing the removal of the bionic claw 9 .

[0035] According to a further optimized solution, a second spring 16 is sleeved on the top block 15 , and two ends of the second spring 16 are fixedly connected to the top block 15 and the driving block 5 respectively.

[0036] Reference Figure 3 The second spring 16 is provided to ensure the reset of the top block 15 and prevent the top block 15 from extending into the connecting groove 12 and hindering the bionic claw 9 from extending into the connecting groove 12.

[0037] According to a further optimized solution, the flexible clamping member includes a flexible frame 17, one end of the flexible frame 17 is fixedly connected to the bionic claw 9, and the other end of the flexible frame 17 is in contact with the fruit.

[0038] According to a further optimization scheme, the flexible frame 17 is a silicone frame, and the flexible frame 17 has a honeycomb structure inside.

[0039] Reference Figure 1 The flexible frame 17 is a silicone frame with good softness and elasticity. It can be bent, stretched and deformed within a certain range. The silicone surface also has good adhesion and can effectively form a seal or adhesion with many surfaces, thereby improving the stability of the grasped object. At the same time, its interior is a honeycomb structure to further ensure the elastic effect and stability after deformation, so that it adapts to the curvature of the outer wall of the fruit, ensuring stable clamping of the fruit while avoiding damage to the fruit.

[0040] According to a further optimized solution, a sealing cover 18 is threadedly connected to the driving block 5 , and the top block 15 is located inside the sealing cover 18 .

[0041] Reference Figure 2 , Figure 3 The sealing cover 18 is threadedly connected to the driving block 5. The sealing cover 18 is provided to cover the top block 15 to avoid accidental contact with the top block 15 and squeezing the connecting block 11. The sealing cover 18 is unscrewed when disassembling and replacing the flexible frame 17 and the bionic claw 9 of different specifications.

[0042] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, 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 should not be understood as a limitation on the present invention.

[0043] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An adaptive grasping bionic manipulator device for sorting, comprising a base (1) mounted on a manipulator arm, characterized in that: The base (1) is fixedly connected to a main frame (2), the main frame (2) is fixedly connected to a motor bracket (3), both ends of the motor bracket (3) are respectively fixedly connected to fixing plates (4), the fixing plates (4) are rotatably connected to two driving blocks (5), a lead screw (6) is provided on the motor bracket (3), the lead screw (6) is connected to a slider (7), both ends of the slider (7) are hinged to one end of a connecting rod (8), and the other end of the connecting rod (8) is hinged to the driving block (5); A clamping assembly comprises two bionic claws (9), wherein the bionic claws (9) are provided with flexible clamping members, and the bionic claws (9) clamp the fruit via the flexible clamping members; The connection assembly comprises two connection members, wherein the two connection members are respectively arranged on the two bionic claws (9), and the bionic claws (9) are position-limitingly connected to the driving block (5) via the connection members.

2. The adaptive grasping bionic manipulator device for sorting according to claim 1, characterized in that: The connecting member comprises two grooves (10) provided on both sides of the bionic claw (9), a connecting block (11) being slidably connected in the groove (10), a connecting groove (12) being provided on the driving block (5), two connecting holes (13) being provided on two inner side walls opposite to the connecting groove (12), the bionic claw (9) being located in the connecting groove (12), and the connecting block (11) being connected to the connecting hole (13), and a rear disassembly member being provided on the driving block (5), and the disassembly member being in contact with the connecting block (11).

3. The adaptive grasping bionic manipulator device for sorting according to claim 2, characterized in that: One end of a first spring (14) is fixedly connected to the inner wall of the groove (10), and the other end of the first spring (14) is fixedly connected to the connecting block (11).

4. The adaptive grasping bionic manipulator device for sorting according to claim 3 is characterized in that: The disassembly member comprises a top block (15) slidably connected in the connection hole (13), one end of the top block (15) contacts the connection block (11), and the other end of the top block (15) protrudes from the connection hole (13).

5. The adaptive grasping bionic manipulator device for sorting according to claim 4, characterized in that: A second spring (16) is sleeved on the top block (15), and two ends of the second spring (16) are respectively fixedly connected to the top block (15) and the driving block (5).

6. The adaptive grasping bionic manipulator device for sorting according to claim 1, characterized in that: The flexible clamping member comprises a flexible frame (17), one end of the flexible frame (17) is fixedly connected to the bionic claw (9), and the other end of the flexible frame (17) is in contact with the fruit.

7. The adaptive grasping bionic manipulator device for sorting according to claim 6, characterized in that: The flexible frame (17) is a silica gel frame, and the flexible frame (17) has a honeycomb structure inside.

8. The adaptive grasping bionic manipulator device for sorting according to claim 4, characterized in that: A sealing cover (18) is threadedly connected to the driving block (5), and the top block (15) is located inside the sealing cover (18).

Images