Mechanical picking end effector

Abstract

The utility model relates to the field of robot picking, in particular to a mechanical picking end effector which comprises a fixing seat fixed at the lower end of a mechanical arm, an angle motor, two double-rocker mechanisms and an opening and closing motor, the angle motor is fixed on the outer side of the fixing seat, and the two double-rocker mechanisms are symmetrically arranged at the two ends of the fixing seat. The end of one rocker of each double-rocker mechanism is fixedly connected with an output shaft of the angle motor, the end of the other rocker of each double-rocker mechanism is hinged to the fixing base, a connecting rod of each double-rocker mechanism extends outwards and is connected with an opening and closing motor, an opening and closing rack is fixed to the bottom of the opening and closing motor, and a plurality of clamping jaw petals are hinged to the outer side of the opening and closing rack in the circumferential direction. A cam part in transmission connection with an output shaft of the opening and closing motor and an elastic part elastically connected between the opening and closing rack and the clamping jaw petals are arranged on the inner side of the opening and closing rack, and the cam part is driven by the opening and closing motor to drive the clamping jaw petals to be opened and closed at the same time. The flower picking device is high in stability and good in flower picking quality in the picking process.

Description

Technical Field

[0001] The utility model relates to the technical field of robot picking, in particular to a mechanical picking end effector. Background Art

[0002] Chrysanthemum, safflower, marigold and other herbaceous plants of the genus Chrysanthemum in the Asteraceae family are widely planted due to their herbal properties. Currently, they mostly rely on manual picking, which is labor-intensive and inefficient. In order to effectively reduce the labor intensity of picking, improve the picking efficiency and thus meet large-scale planting needs, picking robots for Asteraceae crops have emerged. For example, CN213718787U discloses a chrysanthemum picking vehicle, wherein a picking actuator is installed on the top of the main platform of the picking vehicle, and a conveyor belt is installed on the bottom of the main platform. The picking actuator transfers the picked chrysanthemums to the conveyor belt and collects them in a collecting bin.

[0003] The above-mentioned picking actuator includes a mechanical arm that moves along three axes and a mechanical claw installed at the lower end of the mechanical arm, and the mechanical claw includes an angle motor, a mounting plate, an opening and closing motor, a first connecting rod, a second connecting rod and a clamping claw. The angle motor is fixed to the lower end of the mechanical arm, and the output end of the angle motor is connected to one end of the mounting plate. An opening and closing motor is provided on the bottom surface of the other end of the mounting plate. A sleeve is sleeved on the driving screw of the opening and closing motor, and the outer wall of the sleeve is symmetrically rotated and connected to the first connecting rod. A clamping claw is provided at the bottom end of the first connecting rod, and one end of the second connecting rod is rotationally connected to the bottom end of the screw, and the other end is slidably assembled on the inner wall of the first connecting rod.

[0004] However, it was found in actual production that the angle motor of the above-mentioned mechanical claw has poor stability in the simple pendulum motion. The deadweight of the opening and closing motor and the clamping claw can easily cause the mounting plate to tilt and fall, thereby increasing the maintenance cycle of the entire picking vehicle. At the same time, when the opening and closing motor drives the clamping claw to open and close to pick crop flowers, the vertical effective space in the clamping claw decreases as the clamping claw merges. Under the mechanical interference of the driving screw, the stamens of the flowers, especially for full and large flowers, are easily squeezed by the bottom of the driving screw, resulting in a decrease in picking quality. Utility Model Content

[0005] In order to solve the above-mentioned deficiencies in the prior art, the utility model provides a mechanical picking end effector with a high-stability angle swing function and sufficient gripping space.

[0006] The technical solution of the utility model is: a mechanical picking end actuator, comprising a fixed seat fixed at the lower end of a mechanical arm, an angle motor, a double rocker mechanism and an opening and closing motor, the angle motor being fixed on the outside of the fixed seat, the double rocker mechanisms being two, symmetrically arranged at both ends of the fixed seat, one rocker end of each double rocker mechanism being fixedly connected to the output shaft of the angle motor, and the other rocker end being hinged to the fixed seat, the connecting rod of each double rocker mechanism extending outwardly and connected to the opening and closing motor, an opening and closing frame being fixed to the bottom of the opening and closing motor, a plurality of clamping claw petals being hinged circumferentially on the outside of the opening and closing frame, a cam member being transmission-connected to the output shaft of the opening and closing motor and an elastic member being elastically connected between the opening and closing frame and the melon clamping petals being provided on the inside of the opening and closing frame, the cam member drives each of the clamping claw petals to open and close simultaneously under the drive of the opening and closing motor. By setting up two double rocker mechanisms that are symmetrically arranged up and down, the stability of the entire actuator is effectively improved when the angle motor swings, and the even support up and down prevents the swing end from tilting and falling; the cam parts and elastic parts are used in conjunction to realize the opening and closing of the claw petals. During the entire opening and closing process, there is no mechanical interference in the space enclosed by the claw petals, thereby ensuring the picking quality of the flowers.

[0007] The cam member is a plum blossom cam, the middle part of which is rotatably connected to the inner wall of the opening and closing frame via a rotating shaft, the outer edge of the plum blossom cam is evenly provided with arc-shaped protrusions with the same number as the clamping claw petals, a driven rod is fixed on the clamping claw petals, the middle part of the driven rod is hinged to the ear plate on the outer side of the opening and closing frame via a hinge shaft, and the end of the driven rod is fixed with a driven round head that cooperates with the surface of the plum blossom cam for sliding contact.

[0008] The elastic member is a torsion spring, a receiving groove is provided at the hinge of the driven rod, the torsion spring is sleeved on the hinge shaft inside the receiving groove, and the two ends of the torsion spring are respectively fixedly connected to the driven rod and the opening and closing frame.

[0009] The output shaft of the opening and closing motor passes through the opening and closing frame and is rotatably connected to the opening and closing frame. A driving gear is fixed on the end face of the output shaft of the opening and closing motor, and a driven gear meshing with the driving gear is fixed on the top of the plum blossom cam.

[0010] The clamping claw petals are in an inwardly concave arc-shaped structure, and the lower end of the clamping claw petals is provided with an arc-shaped notch. The clamping claw petals are combined to form a chamber for wrapping the flower, and the arc-shaped notches of the clamping claw petals are combined to form a channel for the flower branches to pass through.

[0011] The length of the rocker connected to the angle motor on the double rocker mechanism is not less than the length of the connecting rocker connected to the fixing seat.

[0012] The opening and closing frame, the plum blossom cam and the clamping claw petal are provided with hollow parts, which can reduce the deadweight of the entire actuator, thereby further reducing the risk of the swing end of the actuator tilting and falling.

[0013] The beneficial effects of the utility model are as follows: the present scheme effectively improves the stability of the entire actuator when the angle motor swings by arranging two double rocker mechanisms that are symmetrically arranged up and down, and the upper and lower evenly supported prevents the swinging end from tilting and falling; the opening and closing of the clamping petals are realized by adopting the cooperation of cam parts and elastic parts, and during the entire opening and closing process, there is no mechanical interference in the space enclosed by the clamping petals, thereby ensuring the picking quality of flowers. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a structural schematic diagram of the double rocker mechanism in another state of the utility model;

[0016] Figure 3 It is a schematic diagram of the structure of the utility model after the clamping claws and petals are closed;

[0017] Figure 4 It is a schematic diagram of the structure of an embodiment of the utility model without the fixing seat, the angle motor and part of the double rocker mechanism;

[0018] Figure 5 It is a structural schematic diagram of another embodiment of the utility model in which the fixing base, the angle motor and part of the double rocker mechanism are removed;

[0019] Figure 6 yes Figure 4 A top view of

[0020] Figure 7 yes Figure 4 Schematic diagram of the internal structure of the central opening and closing rack;

[0021] Figure 8 It is a structural schematic diagram of a single clamping claw petal in the utility model.

[0022] Figure numerals: 1. Robotic arm; 2. Conveyor belt; 3. Fixed seat; 4. Angle motor; 5. Double rocker mechanism; 501. Rocker; 502. Connecting rod; 503. Auxiliary rod; 6. Opening and closing motor; 601. Driving gear; 7. Opening and closing frame; 701. Ear plate; 8. Clamping claw petal; 801. Follower rod; 802. Accommodating groove; 803. Follower round head; 804. Arc-shaped notch; 9. Connecting seat; 10. Plum blossom cam; 1001. Arc-shaped protrusion; 1002. Driven gear; 11. Torsion spring; 12. Hollow part. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solution in the utility model, the technical solution in the utility model is clearly and completely described below in conjunction with the accompanying drawings. Other embodiments obtained by those skilled in the art without making any creative work should all fall within the protection scope of the utility model.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the utility model provides a mechanical picking end effector, including a fixed seat 3 fixed at the lower end of a mechanical arm 1, an angle motor 4, a double rocker mechanism 5 and an opening and closing motor 6. The angle motor 4 is fixed on the outside of the fixed seat 3. There are two double rocker mechanisms 5, which are symmetrically arranged at both ends of the fixed seat 3. In this embodiment, the angle motor 4 adopts a double-headed motor. One end of a rocker 501 of each double rocker mechanism 5 is fixedly connected to the output shaft of the angle motor 4, and the other end 501 of the rocker 501 is hinged to the fixed seat 3. In order to ensure that the double rocker mechanism 5 has a sufficient swing angle, the double The length of the rocker 501 connected to the angle motor 4 on the rocker mechanism 5 is not less than the length of the rocker 501 connected to the fixed seat 3; the connecting rod 502 of each double rocker mechanism 5 extends outward and is connected to the opening and closing motor 6, and an opening and closing frame 7 is fixed to the bottom of the opening and closing motor 6. A plurality of clamping claws 8 are hinged circumferentially on the outer side of the opening and closing frame 7. A cam member drivingly connected to the output shaft of the opening and closing motor 6 and an elastic member elastically connected between the opening and closing frame 7 and the clamping melon flaps are provided on the inner side of the opening and closing frame 7. The cam member drives the clamping claws 8 to open and close simultaneously under the drive of the opening and closing motor 6. When the actuator is swung in the direction away from / approaching the conveyor belt 2, due to the provision of two double rocker mechanisms 5 symmetrically arranged up and down, its stability is effectively improved compared with the single pendulum mode of the prior art, and at the same time, the tilting and falling of the swing end is effectively avoided by uniformly supporting the upper and lower parts; in order to further ensure the stability and strength between the two double rocker mechanisms 5, an auxiliary rod 503 is also fixed between the rockers 501 of each double rocker mechanism 5 and between the connecting rods 502 of each double rocker mechanism 5; the opening and closing of the claw petals 8 are realized by the cooperation of the cam parts and the elastic parts, so that during the entire opening and closing process, there is no mechanical interference in the space enclosed by the claw petals 8, thereby ensuring the picking quality of the flowers.

[0025] like Figure 8 As shown, the claw petals 8 in this embodiment are of an inwardly concave arc structure, and the lower end of the claw petals 8 has an arc-shaped notch 804. The claw petals 8 together form a chamber for wrapping the flower, and the arc-shaped notches 804 of the claw petals 8 together form a channel for the flower branches to pass through.

[0026] like Figure 7As shown, the cam member is a plum blossom cam 10, the middle part of the plum blossom cam 10 is rotatably connected to the upper and lower inner walls of the opening and closing frame 7 via a rotating shaft, the outer edge of the plum blossom cam 10 is evenly provided with arc-shaped protrusions 1001 with the same number as the clamping claw petals 8, a driven rod 801 is fixed on the clamping claw petals 8, the middle part of the driven rod 801 is hinged to the ear plate 701 on the outer side of the opening and closing frame 7 via a hinge shaft, the end of the driven rod 801 can move laterally in and out of the opening and closing frame 7, and the end of the driven rod 801 is fixed with a driven round head 803 that cooperates with the surface of the plum blossom cam 10 for sliding contact; the elastic member is a torsion spring 11, and a receiving groove 802 is provided at the hinge of the driven rod 801, the torsion spring 11 is sleeved on the hinge shaft inside the receiving groove 802, and the two ends are respectively fixedly connected to the driven rod 801 and the opening and closing frame 7. The plum blossom cam 10 rotates, and its surface is always in contact with each driven round head 803, thereby driving each driven round head 803 to approach / move away from the arc-shaped protrusion 1001. Under the action of the lever and the elastic force of the torsion spring 11, each clamping claw 8 completes the closing / opening operation together.

[0027] like Figure 4 As shown, in one embodiment, the housing of the opening and closing motor 6 is fixed between the connecting rods 502 of the two double rocker mechanisms 5, and the connecting rod 502 located at the bottom is fixedly connected to the upper surface of the opening and closing frame 7 via the connecting seat 9, thereby realizing indirect fixation of the opening and closing motor 6 and the opening and closing frame 7, the central axis of the rotating shaft on the plum blossom cam 10 coincides with the central axis of the opening and closing frame 7, and the output shaft of the opening and closing motor 6 is located at an eccentric position of the opening and closing frame 7, as shown in FIG. Figure 4 and Figure 7 As shown, the output shaft of the opening and closing motor 6 passes through the opening and closing frame 7 and is rotatably connected to the opening and closing frame 7 via a bearing. A driving gear 601 is fixed to the end face of the output shaft of the opening and closing motor 6. A driven gear 1002 meshing with the driving gear 601 is fixed to the top of the plum blossom cam 10. The opening and closing motor 6 drives the plum blossom cam 10 to rotate through gear transmission. In other embodiments, as Figure 5 As shown, the opening and closing motor 6 has one end of the output shaft which can be located between the connecting rods 502 of the two double rocker mechanisms 5, and the housing at this end is fixedly connected to the connecting rod 502, and the housing at the other end is fixedly connected to the opening and closing frame 7 via the connecting seat 9. The output shaft of the opening and closing motor 6 successively passes through the connecting rod 502 located below and the opening and closing frame 7, and is fixedly connected to the rotating shaft on the plum blossom cam 10, and the plum blossom cam 10 is directly driven to rotate by the opening and closing motor 7.

[0028] In order to reduce the deadweight of the entire actuator, thereby further reducing the risk of the swing end of the actuator tilting and falling and the burden on the robot arm 1 when driving the actuator, a hollow portion 12 is provided on the opening and closing frame 7, the plum blossom cam 10 and the clamping claw 8.

[0029] When implementing the technical solution, the actuator is installed at the lower end of the mechanical arm 1, and a visual camera is installed in the picking vehicle or on the mechanical arm 1. Taking the picking of marigolds as an example, the picking vehicle walks across the ridge. After the visual camera recognizes the marigold flowers and collects the relative position information, the angle motor 4 controls the double rocker mechanism 5 to swing, and the swing end of the actuator is withdrawn from the top of the conveyor belt (such as Figure 1 The actuator is moved downward by the robot arm 1, so that the marigold flower is contained inside the clamping claw petal 8. Then, the driving gear 601 of the opening and closing motor 6 is meshed with the driven gear 1002 above the plum blossom cam 10 to control the plum blossom cam 10 to rotate, and the driven round head 803 of the driven rod 801 moves close to the arc-shaped protrusion 1001, driving the clamping claw petal 8 to gradually close from the open state to catch the marigold flower (as shown in the figure). Figure 3 The robot arm 1 then moves upwards, and the marigold flower is torn apart by pulling force. When the actuator moves upwards to the upper side of the conveyor belt 2, the double rocker mechanism 5 is controlled by the angle motor 4 to make the swing end of the actuator swing back to the top of the conveyor belt (as shown in the figure). Figure 2 The position is shown), and finally the plum blossom cam 10 is driven to continue to rotate by the opening and closing motor 6, and the driven round head 803 of the driven rod 801 moves away from the arc-shaped protrusion 1001. At this time, the torsion spring 11 is reset in a compressed state and drives the clamping claw petals 8 to open, and the marigold flower falls on the conveyor belt, completing a single picking operation; during the entire picking process, the actuator has high stability, the flower stamens are not damaged, and the picking quality is good.

[0030] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. Mechanical picking end effector, characterized in that: It includes a fixed seat fixed at the lower end of the mechanical arm, an angle motor, a double rocker mechanism and an opening and closing motor, the angle motor is fixed on the outside of the fixed seat, there are two double rocker mechanisms, which are symmetrically arranged at both ends of the fixed seat, one rocker end of each double rocker mechanism is fixedly connected to the output shaft of the angle motor, and the other rocker end is hinged to the fixed seat, the connecting rod of each double rocker mechanism extends outward and is connected to the opening and closing motor, an opening and closing frame is fixed to the bottom of the opening and closing motor, a plurality of clamping claws are hinged along the circumferential direction on the outside of the opening and closing frame, a cam member drivingly connected to the output shaft of the opening and closing motor and an elastic member elastically connected between the opening and closing frame and the clamping melon flaps are provided on the inside of the opening and closing frame, and the cam member drives the clamping claws to open and close simultaneously under the drive of the opening and closing motor.

2. The mechanical picking end effector according to claim 1, characterized in that: The cam member is a plum blossom cam, the middle part of which is rotatably connected to the inner wall of the opening and closing frame via a rotating shaft, the outer edge of the plum blossom cam is evenly provided with arc-shaped protrusions with the same number as the clamping claw petals, a driven rod is fixed on the clamping claw petals, the middle part of the driven rod is hinged to the ear plate on the outer side of the opening and closing frame via a hinge shaft, and the end of the driven rod is fixed with a driven round head that cooperates with the surface of the plum blossom cam for sliding contact.

3. The mechanical picking end effector according to claim 2, characterized in that: The elastic member is a torsion spring, a receiving groove is provided at the hinge of the driven rod, the torsion spring is sleeved on the hinge shaft inside the receiving groove, and the two ends of the torsion spring are respectively fixedly connected to the driven rod and the opening and closing frame.

4. The mechanical picking end effector according to claim 2 or 3, characterized in that: The output shaft of the opening and closing motor passes through the opening and closing frame and is rotatably connected to the opening and closing frame. A driving gear is fixed on the end face of the output shaft of the opening and closing motor, and a driven gear meshing with the driving gear is fixed on the top of the plum blossom cam.

5. The mechanical picking end effector according to any one of claims 1 to 3, characterized in that: The clamping claw petals are in an inwardly concave arc-shaped structure, and the lower end of the clamping claw petals is provided with an arc-shaped notch. The clamping claw petals are combined to form a chamber for wrapping the flower, and the arc-shaped notches of the clamping claw petals are combined to form a channel for the flower branches to pass through.

6. The mechanical picking end effector according to any one of claims 1 to 3, characterized in that: The length of the rocker connected to the angle motor on the double rocker mechanism is not less than the length of the rocker connected to the fixing seat.

7. The mechanical picking end effector according to claim 2 or 3, characterized in that: The opening and closing frame, the plum blossom cam and the clamping claw petals are provided with hollow parts.

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