Double-arm robot gripper

Abstract

The utility model relates to the technical field of agricultural robots, in particular to a double-arm robot gripper which comprises a moving assembly, clamping arm assemblies are symmetrically installed on the top of the moving assembly, and a picking buffer assembly is installed between the two clamping arm assemblies in a matched mode. The picking buffer assembly comprises a first arc-shaped connecting plate and a second arc-shaped connecting plate, a cutting knife is fixedly mounted at the top of the first arc-shaped connecting plate, a connecting ring is fixedly mounted at the bottom of the first arc-shaped connecting plate, and a sliding pipe is fixedly mounted on the side, away from the first arc-shaped connecting plate, of the connecting ring; the inner diameter of the first arc-shaped connecting plate is equal to that of the second arc-shaped connecting plate, the diameter of the inner wall of the first arc-shaped connecting plate is equal to that of the cutting knife, and through mutual cooperation of the components, in the using process of the device, the effects that picked fruits are buffered to fall and are prevented from being damaged are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural robots, in particular to a double-arm robot gripper. Background Art

[0002] With the advancement of science and technology, the automation and intelligence of agricultural equipment have been improved, and the concept of unmanned farms has been promoted, and agricultural robots have also developed; currently, apple picking operations are mainly based on manual picking, but manual picking has problems such as low efficiency and high labor volume. The existing Chinese utility model patent, a lightweight dual-arm apple picking robot (publication number: CN218218382U), provides a device that can automatically pick apples.

[0003] The existing device is not equipped with a buffer mechanism during the picking process, resulting in the picked apples falling directly when the device is in use, which in turn causes the apples to fall and be damaged easily when they fall. Therefore, a dual-arm robot gripper is needed to improve the above problem. Utility Model Content

[0004] The purpose of the utility model is to provide a dual-arm robot gripper 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 dual-arm robot gripper comprises a moving assembly, a clamping arm assembly is symmetrically mounted on the top of the moving assembly, and a picking buffer assembly is mounted between the two clamping arm assemblies.

[0007] The picking buffer assembly includes a first arc-shaped connecting plate and a second arc-shaped connecting plate, a cutting knife is fixedly installed on the top of the first arc-shaped connecting plate, a connecting ring is fixedly installed on the bottom of the first arc-shaped connecting plate, a sliding tube is fixedly installed on the side of the connecting ring away from the first arc-shaped connecting plate, the first arc-shaped connecting plate and the second arc-shaped connecting plate have the same inner diameter, and the inner wall diameter of the first arc-shaped connecting plate is equal to the diameter of the cutting knife.

[0008] As a preferred solution of the utility model, the moving assembly includes track wheels and a connecting platform, track wheels are symmetrically fixedly installed on both sides of the connecting platform, and a motor is fixedly installed on the top of the connecting platform.

[0009] As a preferred solution of the utility model, a connecting disk is fixedly installed on the power output shaft of the motor, a fixing plate is fixedly installed on the side of the connecting disk away from the motor, a control module is fixedly installed on the top of the fixing plate, and a clamping arm assembly is fixedly installed symmetrically at the top center of the fixing plate.

[0010] As a preferred solution of the utility model, the clamping arm assembly includes a first linear module, the first linear module is symmetrically fixed on the top center of the fixed plate, second linear modules are respectively fixed on the top of the middle sliding blocks of the two first linear modules, a third linear module is fixedly installed on the sliding end of the second linear module, and a monitor is fixedly installed on the top of the sliding end of the first linear module.

[0011] As a preferred solution of the utility model, a first arc-shaped connecting plate is fixedly mounted on the sliding end of one of the third linear modules, and a second arc-shaped connecting plate is fixedly mounted on the sliding end of the other third linear module on a side close to the first arc-shaped connecting plate.

[0012] As a preferred solution of the utility model, a wedge-shaped groove is fixedly installed on the side wall of the fixed plate near the discharge end of the sliding tube.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] In the utility model, a picking buffer component is arranged in the gripper of the double-arm robot, and the first arc-shaped connecting plate, the sliding tube, the cutting knife, the connecting ring and the second arc-shaped connecting plate in the component cooperate with each other, so that the device can buffer the landing of picked fruits and avoid damage during use, and solves the problem that the picked fruits directly fall and are easily damaged due to the lack of a picking buffer component in the existing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the assembly structure of the utility model;

[0017] Figure 3 For the utility model Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0018] Figure 4 For the utility model Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0019] In the figure: 1. Moving assembly; 101. Track wheel; 102. Connecting platform; 103. Motor; 104. Connecting plate; 105. Fixed plate; 2. Clamping arm assembly; 201. First linear module; 202. Second linear module; 203. Third linear module; 3. Picking buffer assembly; 301. First arc-shaped connecting plate; 302. Sliding tube; 303. Cutting knife; 304. Connecting ring; 305. Second arc-shaped connecting plate; 4. Control module; 5. Monitor; 6. Wedge groove. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0021] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the relevant drawings. The drawings provide several embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0024] Example: See Figure 1-3 The dual-arm robot gripper shown in the figure comprises a moving assembly 1, a clamping arm assembly 2 is symmetrically mounted on the top of the moving assembly 1, and a picking buffer assembly 3 is mounted between the two clamping arm assemblies 2.

[0025] The picking buffer component 3 includes a first arc-shaped connecting plate 301 and a second arc-shaped connecting plate 305. The picking buffer component 3 has the function of picking apples safely and quickly, and buffering the apples from falling to the ground. A cutting knife 303 is fixedly installed on the top of the first arc-shaped connecting plate 301, and a connecting ring 304 is fixedly installed on the bottom of the first arc-shaped connecting plate 301. A sliding tube 302 is fixedly installed on the side of the connecting ring 304 away from the first arc-shaped connecting plate 301. A flexible material (for example: rubber) is used in the inner wall of the sliding tube 302. The inner diameters of the first arc-shaped connecting plate 301 and the second arc-shaped connecting plate 305 are equal, and the inner wall diameter of the first arc-shaped connecting plate 301 is equal to the diameter of the cutting knife 303.

[0026] In this embodiment, refer to Figure 1 and Figure 2 As shown, the mobile component 1 includes track wheels 101 and a connecting platform 102. The track wheels 101 are symmetrically fixedly installed on both sides of the connecting platform 102, and a motor 103 is fixedly installed on the top of the connecting platform 102. The picking angle of the device can be adjusted by rotating the motor 103.

[0027] In this embodiment, refer to Figure 1 and Figure 2 As shown, a connecting disk 104 is fixedly installed on the power output shaft of the motor 103, a fixing plate 105 is fixedly installed on the side of the connecting disk 104 away from the motor 103, a control module 4 is fixedly installed on the top of the fixing plate 105, and the control module 4 is used to receive the signal transmitted by the control personnel. A clamping arm assembly 2 is fixedly installed symmetrically at the top center of the fixing plate 105. The working principle and structure of the clamping arm assembly 2 are the same as those in a Chinese utility model patent for a lightweight dual-arm apple picking robot (publication number: CN218218382U), and are not described in detail here.

[0028] In this embodiment, refer to Figure 1 and Figure 2 As shown, the clamping arm assembly 2 includes a first linear module 201, the first linear module 201 is symmetrically fixed on the top center of the fixed plate 105, the second linear modules 202 are respectively fixed on the top of the middle sliding blocks of the two first linear modules 201, the third linear module 203 is fixedly installed on the sliding end of the second linear module 202, and the monitor 5 is fixedly installed on the top of the sliding end of the first linear module 201.

[0029] In this embodiment, refer to Figure 1 and Figure 2 As shown, a first arc-shaped connecting plate 301 is fixedly mounted on the sliding end of one third linear module 203 , and a second arc-shaped connecting plate 305 is fixedly mounted on a side of the sliding end of another third linear module 203 close to the first arc-shaped connecting plate 301 .

[0030] In this embodiment, refer to Figure 1 and Figure 2 As shown, a wedge-shaped groove 6 is fixedly installed on the side wall of the fixed plate 105 near the discharge end of the sliding tube 302 .

[0031] Working principle: When in use, the monitor 5 transmits a signal to the control module 4, and the control module 4 transmits the video information to the control personnel. The control personnel observes the received video information, controls the track wheel 101 to move, and controls the motor 103 to rotate, so as to realize the rotation of the connecting plate 104 and the fixing plate 105, and realize the adjustment of the picking angle of the clamping arm assembly 2;

[0032] When the apple is being picked, it will be under the cutting knife 303. When the second linear module 202 moves toward each other, the cutting knife 303 will contact the inner wall of the second arc-shaped connecting plate 305 to pick the apple. The apple will roll downward along the sliding tube 302 and finally fall into the wedge-shaped groove 6. During the use of the device, the picked fruit can be buffered and dropped to avoid damage. This solves the problem that the existing device does not have a picking buffer component 3, so that the picked fruit falls directly and is easily broken.

[0033] 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 dual-arm robot gripper, comprising a moving assembly (1), characterized in that: A clamping arm assembly (2) is symmetrically mounted on the top of the moving assembly (1), and a picking buffer assembly (3) is mounted between the two clamping arm assemblies (2). The picking buffer assembly (3) comprises a first arc-shaped connecting plate (301) and a second arc-shaped connecting plate (305); a cutting knife (303) is fixedly mounted on the top of the first arc-shaped connecting plate (301); a connecting ring (304) is fixedly mounted on the bottom of the first arc-shaped connecting plate (301); a sliding tube (302) is fixedly mounted on a side of the connecting ring (304) away from the first arc-shaped connecting plate (301); the inner diameters of the first arc-shaped connecting plate (301) and the second arc-shaped connecting plate (305) are equal; and the inner wall diameter of the first arc-shaped connecting plate (301) is equal to the diameter of the cutting knife (303).

2. A dual-arm robot gripper according to claim 1, characterized in that: The moving assembly (1) comprises track wheels (101) and a connecting platform (102), the track wheels (101) being symmetrically fixedly mounted on both sides of the connecting platform (102), and a motor (103) being fixedly mounted on the top of the connecting platform (102).

3. A dual-arm robot gripper according to claim 2, characterized in that: A connecting disk (104) is fixedly mounted on the power output shaft of the motor (103); a fixing plate (105) is fixedly mounted on a side of the connecting disk (104) away from the motor (103); a control module (4) is fixedly mounted on the top of the fixing plate (105); and a clamping arm assembly (2) is fixedly mounted symmetrically on the top center of the fixing plate (105).

4. A dual-arm robot gripper according to claim 3, characterized in that: The clamping arm assembly (2) comprises a first linear module (201), the first linear module (201) is fixed symmetrically at the top center of the fixed plate (105), the second linear modules (202) are respectively fixed at the top of the middle sliding blocks of the two first linear modules (201), the third linear module (203) is fixedly mounted on the sliding end of the second linear module (202), and the monitor (5) is fixedly mounted on the top of the sliding end of the first linear module (201).

5. A dual-arm robot gripper according to claim 4, characterized in that: A first arc-shaped connecting plate (301) is fixedly mounted on the sliding end of one of the third linear modules (203), and a second arc-shaped connecting plate (305) is fixedly mounted on the sliding end of the other third linear module (203) on a side close to the first arc-shaped connecting plate (301).

6. A dual-arm robot gripper according to claim 3, characterized in that: A wedge-shaped groove (6) is fixedly mounted on the side wall of the fixed plate (105) near the discharge end of the sliding tube (302).

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