Robot sensor protection device

Abstract

The utility model discloses a robot sensor protection device, which relates to the technical field of sensor protection and comprises a robot body, a visual sensor and a mechanical arm, the visual sensor is positioned on one side of the robot body, and the mechanical arm is positioned at the top of the robot body. The robot body is provided with a mechanical arm, a visual sensor, a mounting plate, a telescopic rod, a device plate, a mechanical gripper, blades and the like, a detection part is arranged on the inner wall of the mechanical gripper, a linkage part is arranged between the blades, and the position of the mechanical gripper can be adjusted according to the detected force when the mechanical gripper grabs tomatoes, so that the tomatoes can be grabbed by the mechanical gripper, and meanwhile, the mechanical gripper can be driven to rotate. The tomato picking device is simple in structure and convenient to use, the skin of tomatoes cannot be damaged due to too large force, selling is not affected, the blades are driven to be close to one another through the linkage assembly when the tomatoes are grabbed, and therefore mature tomatoes can be rapidly picked down, the picking speed can be increased, and the working efficiency is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of sensor protection, in particular to a robot sensor protection device. Background Art

[0002] Robotic tomato picking can realize automated and precise picking operations, improve work efficiency, reduce labor costs, and alleviate the problem of labor shortage. At the same time, it can reduce errors in human operations, ensure the quality of picked tomatoes, and avoid damage or waste caused by human factors. Sensors are an important part of robots' safe work. Through sensors, obstacles, collisions and other dangerous situations can be detected in time, and corresponding measures can be taken to avoid accidents.

[0003] When picking tomatoes, special attention should be paid to not damage the appearance of the tomatoes, otherwise the quality of the product will be reduced. Especially when picking tomatoes, too much force will damage the outer skin of the tomatoes, affecting the selling price. Too little force will make it difficult to pick the tomatoes from the branches, especially for mature tomatoes. When picking, special attention should be paid to controlling the strength, otherwise the skin will be damaged. Utility Model Content

[0004] The utility model provides a robot sensor protection device, which has the beneficial effect of flexibly adjusting the grasping force in the process of picking tomatoes to ensure that the tomato skin is not damaged.

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

[0006] A robot sensor protection device comprises a robot body, a visual sensor and a mechanical arm, wherein the visual sensor is located at one side of the robot body, the mechanical arm is located at the top of the robot body, a mounting plate is arranged at the end of the mechanical arm, a telescopic rod is fixedly installed at one side of the mounting plate, an outer wall of one end of the telescopic rod close to the mounting plate is fixedly connected with a device plate, and the other end is fixedly connected with a limiting plate, a plurality of mechanical grippers are arranged on the side wall of the device plate, the mechanical grippers are distributed in a circular array with the center of the device plate as the center point, the mechanical grippers are movably connected to the limiting plate, a detection part is arranged on the inner wall of the mechanical gripper, a plurality of blades are arranged at the end of the mechanical gripper, a linkage component is arranged between the plurality of blades, and the linkage component is used to drive the plurality of blades to approach each other for cutting.

[0007] Optionally, the linkage assembly includes a gear 2 rotatably connected to the end of the telescopic rod, a plurality of limiting holes are provided on the gear 2, and the plurality of limiting holes are distributed in a circular array with the center of the circle of the gear 2 as the center point. A movable plate is fixedly connected to the blade, and an L-shaped rod is movably connected inside the device plate, one end of the L-shaped rod is fixedly connected to the movable plate, and the other end slides in the limiting hole.

[0008] Optionally, a gear 1 is rotatably connected to the mounting plate, and the gear 1 is meshed with the gear 2.

[0009] Optionally, the detection component includes a piezoelectric sensor fixedly connected to the inner wall of the mechanical gripper, and the piezoelectric sensor is connected to the robot body signal.

[0010] Optionally, the mechanical gripper is arranged to be inclined.

[0011] Optionally, the mechanical gripper is made of an elastic material.

[0012] Optionally, the blade is arranged in a one-to-one correspondence with the mechanical gripper and is located outside the mechanical gripper.

[0013] Optionally, a through hole is configured on the mounting plate at a position corresponding to the L-shaped rod.

[0014] The utility model provides a robot sensor protection device, which has the following beneficial effects compared with the prior art:

[0015] The robot body is provided with a mechanical arm, a visual sensor, a mounting plate, a telescopic rod, a device plate, a mechanical gripper and blades. The inner wall of the mechanical gripper is provided with a detection part, and a linkage part is provided between the blades. When the mechanical gripper grabs tomatoes, the position of the mechanical gripper can be adjusted according to the detected force, so that the tomato can be grabbed without damaging the tomato skin due to excessive force, which affects the sale. When grabbing tomatoes, multiple blades are driven close to each other through the linkage assembly, so that the ripe tomato fruits can be quickly picked off, which can speed up the picking speed and improve the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 It is a partial three-dimensional structural schematic diagram of the utility model;

[0018] Figure 3 For this utility model Figure 2 A three-dimensional cross-sectional view of

[0019] Figure 4It is another partial three-dimensional structural schematic diagram of the utility model.

[0020] In the figure: 1. Robot body; 2. Visual sensor; 3. Mechanical arm; 4. Mounting plate; 5. Telescopic rod; 6. Device plate; 7. Limiting plate; 8. Mechanical gripper; 9. Blade; 10. Gear 2; 11. Limiting hole; 12. Moving plate; 13. L-shaped rod; 14. Gear 1; 15. Piezoelectric sensor; 16. Through hole. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figures 1 to 4 The utility model provides a technical solution: a robot sensor protection device, comprising a robot body 1, a visual sensor 2 and a mechanical arm 3, the visual sensor 2 is located at one side of the robot body 1, the mechanical arm 3 is located at the top of the robot body 1, a mounting plate 4 is arranged at the end of the mechanical arm 3, a telescopic rod 5 is fixedly installed at one side of the mounting plate 4, a device plate 6 is fixedly connected to the outer wall of one end of the telescopic rod 5 close to the mounting plate 4, and a limiting plate 7 is fixedly connected to the other end, a plurality of mechanical grippers 8 are arranged on the side wall of the device plate 6, the mechanical grippers 8 are distributed in a circular array with the center of the device plate 6 as the center point, the mechanical grippers 8 are movably connected to the limiting plate 7, a detection part is arranged on the inner wall of the mechanical gripper 8, a plurality of blades 9 are arranged at the end of the mechanical gripper 8, a linkage component is arranged between the plurality of blades 9, and the linkage component is used to drive the plurality of blades 9 to approach each other for cutting.

[0023] The robot body 1 is also equipped with ultrasonic sensors, ranging sensors, etc., which are prior art and will not be described in detail here. The telescopic rod 5 is electrically driven. When in use, the robot body 1 is first moved to the desired position. When the visual sensor 2 detects the signal of the tomato fruit to be picked, the signal is transmitted to the robot body 1. After receiving the signal, the robot body 1 controls the mechanical arm 3 to move to the appropriate position, and makes several mechanical grippers 8 located outside the tomato fruit to be picked. Then, the telescopic rod 5 is started to extend the telescopic rod 5, drive the limiting plate 7 to move, and at the same time drive several mechanical grippers 8 to close, and the tomato fruit is picked. Wrap it, when the mechanical gripper 8 touches the tomato fruit, the detection part will detect the specific force between the mechanical gripper 8 and the tomato fruit, and then transmit the signal to the robot body 1, and the robot body 1 controls the length of the telescopic rod 5 to achieve the purpose of controlling the grasping force of the mechanical gripper 8, and then drives several blades 9 to approach and close together at the same time through the linkage component to cut the tomato fruit from the tomato seedling. In this way, the grasping force of the mechanical gripper 8 can be flexibly adjusted so that it will not damage the skin of the tomato. At the same time, the tomato fruit can be quickly picked from the tomato seedling. It is also suitable for other agricultural products with easily damaged outer skin.

[0024] Furthermore, the linkage assembly includes a gear 2 10 rotatably connected to the end of the telescopic rod 5, and a plurality of limiting holes 11 are provided on the gear 2 10. The plurality of limiting holes 11 are distributed in a circular array with the center of the circle of the gear 2 10 as the center point. A movable plate 12 is fixedly connected to the blade 9, and an L-shaped rod 13 is movably connected inside the device plate 6. One end of the L-shaped rod 13 is fixedly connected to the movable plate 12, and the other end slides in the limiting hole 11.

[0025] See also Figure 2 , Figure 3 , Figure 4 When in use, first drive gear 2 10 to rotate, and when gear 2 10 rotates, it drives the limiting hole 11 to rotate, thereby driving one end of the L-shaped rod 13 to move in the limiting hole 11, and at the same time, the other end of the L-shaped rod 13 moves inside the device plate 6, driving the moving plate 12 and the blade 9 to move, and the positions of several blades 9 can be flexibly adjusted at the same time.

[0026] Furthermore, a gear 14 is rotatably connected to the mounting plate 4 , and the gear 14 is meshed with the gear 2 10 .

[0027] See also Figure 3 The motor can be used to drive the gear 14 to rotate, and when the gear 14 rotates, the meshing gear 2 10 is driven to rotate, thereby achieving the driving purpose.

[0028] Furthermore, the detection component includes a piezoelectric sensor 15 fixedly connected to the inner wall of the mechanical gripper 8 , and the piezoelectric sensor 15 is connected to the robot body 1 for signal.

[0029] See also Figure 3 The piezoelectric sensor 15 has the advantages of high sensitivity and high reliability. The output signal of the piezoelectric sensor 15 is stable and responds very quickly to changes in environmental conditions such as temperature and humidity.

[0030] Furthermore, the mechanical gripper 8 is arranged in an inclined shape.

[0031] See also Figure 3 In this way, when the limiting plate 7 moves, the distance between the plurality of mechanical grippers 8 can be changed, thereby achieving the purpose of changing the gripping force of the mechanical grippers 8.

[0032] Furthermore, the mechanical gripper 8 is made of an elastic material.

[0033] See also Figure 3 In this way, the movement of the limiting plate 7 can drive the mechanical gripper 8 to move, and the outer skin of the tomato will not be damaged when the mechanical gripper 8 grabs the tomato fruit.

[0034] Furthermore, the blade 9 is arranged in a one-to-one correspondence with the mechanical gripper 8 and is located outside the mechanical gripper 8 .

[0035] See also Figure 2 The blade 9 and the movable plate 12 are arranged vertically to avoid damaging the skin of the tomato during movement.

[0036] Furthermore, a through hole 16 is configured on the mounting plate 4 at a position corresponding to the L-shaped rod 13 .

[0037] See also Figure 3 The through hole 16 is provided to facilitate the L-shaped rod 13 to slide in the mounting plate 4 .

[0038] Working principle: When the robot sensor protection device is used, the robot body 1 is first moved to the desired position. When the visual sensor 2 detects the signal of the tomato fruit to be picked, the signal is transmitted to the robot body 1. After receiving the signal, the robot body 1 controls the mechanical arm 3 to move to the appropriate position, and makes several mechanical grippers 8 located outside the tomato fruit to be picked. Then the telescopic rod 5 is started to extend the telescopic rod 5, driving the limiting plate 7 to move, and at the same time driving several mechanical grippers 8 to close and wrap the tomato fruit. When the inner wall of the mechanical gripper 8 touches the tomato fruit, the piezoelectric sensor 15 detects the force between the mechanical gripper 8 and the tomato fruit, and transmits the signal to the robot body 1. After receiving the signal, the robot body 1 controls the extension length of the telescopic rod 5 to make the gripping force of the mechanical gripper 8 at a suitable value to avoid damaging the outer skin of the tomato.

[0039] Then the robot body 1 controls the motor to start, driving the gear 14 to rotate. When the gear 14 rotates, it drives the meshing gear 2 10 to rotate, and at the same time drives the limiting hole 11 to rotate, thereby driving one end of the L-shaped rod 13 to move in the limiting hole 11, and the other end to move inside the device plate 6, driving the moving plate 12 and the blade 9 to move, so that multiple blades 9 are close together at the same time, cutting the tomato fruits from the tomato seedlings, so that the tomatoes can be picked quickly and the tomato skin can be prevented from being damaged during picking.

[0040] The standard parts used in this embodiment can be purchased directly from the market, and the non-standard structural components recorded in the specification and the drawings can also be directly processed according to the existing technical common sense. At the same time, the connection method of each component adopts the mature conventional means in the prior art, and the machinery, parts and equipment all adopt the conventional models in the prior art, so no specific description will be given here.

[0041] Although 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 robot sensor protection device, comprising a robot body (1), a visual sensor (2) and a robot arm (3), characterized in that: The visual sensor (2) is located on one side of the robot body (1), the mechanical arm (3) is located on the top of the robot body (1), a mounting plate (4) is arranged at the end of the mechanical arm (3), a telescopic rod (5) is fixedly installed on one side of the mounting plate (4), an outer wall of one end of the telescopic rod (5) close to the mounting plate (4) is fixedly connected to a device plate (6), and the other end is fixedly connected to a limiting plate (7), a side wall of the device plate (6) is provided with a plurality of mechanical grippers (8), the mechanical grippers (8) are distributed in a circular array with the center of the device plate (6) as the center point, the mechanical grippers (8) are movably connected to the limiting plate (7), a detection part is arranged on the inner wall of the mechanical gripper (8), a plurality of blades (9) are arranged at the end of the mechanical gripper (8), and a linkage component is arranged between the plurality of blades (9), and the linkage component is used to drive the plurality of blades (9) to approach each other for cutting.

2. The robot sensor protection device according to claim 1, characterized in that: The linkage assembly comprises a second gear (10) rotatably connected to the end of the telescopic rod (5), the second gear (10) is provided with a plurality of limiting holes (11), the plurality of limiting holes (11) are distributed in a circular array with the center of the circle of the second gear (10) as the center point, the blade (9) is fixedly connected to a movable plate (12), the inside of the device plate (6) is movably connected to an L-shaped rod (13), one end of the L-shaped rod (13) is fixedly connected to the movable plate (12), and the other end slides in the limiting hole (11).

3. The robot sensor protection device according to claim 2, characterized in that: The mounting plate (4) is rotatably connected to a gear 1 (14), and the gear 1 (14) is meshed with the gear 2 (10).

4. The robot sensor protection device according to claim 1 or 2, characterized in that: The detection component comprises a piezoelectric sensor (15) fixedly connected to the inner wall of the mechanical gripper (8), and the piezoelectric sensor (15) is connected to the robot body (1) for signal.

5. The robot sensor protection device according to claim 1 or 2, characterized in that: The mechanical gripper (8) is arranged in an inclined shape.

6. The robot sensor protection device according to claim 1 or 2, characterized in that: The mechanical gripper (8) is made of an elastic material.

7. The robot sensor protection device according to claim 1 or 2, characterized in that: The blades (9) are arranged in one-to-one correspondence with the mechanical grippers (8) and are located outside the mechanical grippers (8).

8. The robot sensor protection device according to claim 2, characterized in that: A through hole (16) is configured on the mounting plate (4) at a position corresponding to the L-shaped rod (13).

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