Clamping jaw of cutting mechanical arm

Abstract

The utility model relates to a cutting mechanical arm clamping jaw. The cutting mechanical arm clamping jaw comprises a fixed shell, an outward extending clamping jaw and a driving mechanism; the fixing shell comprises a shell body, a sliding rail fixing plate and a limiting plate, the driving mechanism is installed on the rear side of the shell body, the sliding rail fixing plate is installed on the front side of the shell body, the limiting plate is installed at the end of the sliding rail fixing plate, and the limiting plate is perpendicular to the sliding rail fixing plate and is symmetrical to the sliding rail fixing plate on the two sides. The cutting operation can be completed quickly and accurately, the cutting efficiency is greatly improved, and compared with manual cutting, a large amount of time and labor force can be saved; the standardization degree of robot operation is high, uniformity and consistency of cutting operation can be ensured, and the survival rate and growth quality of cutting seedlings can be improved; and on the premise of ensuring the working efficiency and the clamping success rate, seedlings are not damaged and not leaked during clamping and cutting.

Description

Technical Field

[0001] This application relates to the field of automated cutting propagation technology in modern agricultural production, and more particularly to a cutting propagation robotic arm gripper. Background Technology

[0002] With the increasing emphasis placed on agricultural modernization by the country, and the continuous development of automated planting technology, Yunnan Province, as a major province in my country's flower industry, places great importance on highly automated flower planting and high-quality industrialization.

[0003] Traditional flower cutting propagation relies on manual labor, which is labor-intensive and inefficient. The depth of insertion is difficult to guarantee, resulting in inconsistent survival rates and quality of the flowers. Therefore, it is necessary to design an end effector specifically for a robotic arm used in flower cutting propagation. Utility Model Content

[0004] To solve or partially solve the problems existing in the related technologies, this application provides a cutting robotic arm gripper that can ensure work efficiency and success rate while preventing damage or loss of seedlings during gripping and cutting.

[0005] This application provides a gripper for a cutting insertion robotic arm, including a fixed outer shell 1, an extended gripper 2, and a drive mechanism 10; the fixed outer shell 1 includes a housing 11, a slide rail fixing plate 12, and a limiting plate 13. The drive mechanism 10 is installed on the rear side of the housing 11, and the slide rail fixing plate 12 is installed on the front side of the housing 11. The limiting plate 13 is installed at the end of the slide rail fixing plate 12, and the limiting plate 13 is perpendicular to the slide rail fixing plate 12 and symmetrical on both sides.

[0006] A slide rail 7 is installed on the slide rail fixing plate 12, and a slider 6 is slidably installed on the slide rail 7. The slider 6 is connected to the output end of the drive mechanism 10, and a claw connecting plate 3 and a stem push plate 5 are installed on the slider 6. The two ends of the claw connecting plate 3 are symmetrically rotatably connected to the connecting rod 9, and the other end of the connecting rod 9 is rotatably connected to the extended claw 2. The two extended claws 2 are rotatably connected to the two ends of the limiting plate 13 respectively. A bulldozer plate 4 is installed on the upper side of the housing 11. The front end of the bulldozer plate 4 is above the front end of the extended claw 2, and the front end of the extended claw 2 is above the front end of the stem push plate 5.

[0007] Optionally, in some solutions, the extended gripper 2 has a bent structure with a bearing mounting hole 21 at the rear end. The bearing mounting hole 21 is connected to the connecting rod 9 through a bearing. A convex shaft 22 is provided at the bent part of the extended gripper 2. The front end of the extended gripper 2 is the clamping end, and the two clamping ends are close to each other. In the clamping state, the two clamping ends are arranged in parallel, and a gripper flexible pad 23 is provided on the opposite surface of the two clamping ends.

[0008] Optionally, in some embodiments, the stem push plate 5 includes a push handle 51, which is a bent plate consisting of a horizontal plate and a downwardly inclined plate. The length of the horizontal plate matches the slide rail 7. The rear end of the horizontal plate is mounted on the slider 6. The front end of the inclined plate is equipped with a push plate body, and the bottom surface of the push plate body is provided with a push plate flexible stop 52.

[0009] Optionally, in some embodiments, the two ends of the connecting rod 9 are a first connecting end 91 and a second connecting end 92, respectively. The first connecting end 91 is provided with a first rotating shaft and is connected to the bearing mounting hole 21 on the extended gripper 2 through a bearing. The second connecting end 92 is provided with a boss, and a second rotating shaft is provided on the boss and is connected to the gripper connecting plate through a bearing.

[0010] The technical solution provided in this application may include the following beneficial effects:

[0011] This application enables the cutting operation to be completed quickly and accurately, greatly improving the efficiency of cutting. Compared with manual cutting, it can save a lot of time and labor. The robot operation has a high degree of standardization, which can ensure the uniformity and consistency of the cutting operation, and help improve the survival rate and growth quality of the cuttings. While ensuring work efficiency and success rate of picking, it can also ensure that the seedlings are not damaged or missed during picking and cutting.

[0012] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0013] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0014] Figure 1 This is a schematic diagram of the structure of the cutting manipulator gripper shown in the embodiments of this application;

[0015] Figure 2 This is a schematic diagram of the structure of the fixed outer casing shown in the embodiments of this application;

[0016] Figure 3 This is a schematic diagram of the extended gripper structure shown in an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of the structure of the insert push plate shown in the embodiments of this application;

[0018] Figure 5 This is a schematic diagram of the connecting rod structure shown in an embodiment of this application.

[0019] Figure label:

[0020] 1-Fixed outer shell, 11-Shell, 12-Slide rail fixing plate, 13-Limiting plate, 2-Extended gripper, 21-Bearing mounting hole, 22-Pan shaft, 23-Gripper flexible pad, 3-Gripper connecting plate, 4-Bulldozer plate, 5-Stem inserting plate, 51-Push handle, 52-Push plate flexible stop, 6-Slider, 7-Slide rail, 8-Bearing base, 9-Connecting rod, 91-First connecting end, 92-Second connecting end, 10-Drive mechanism. Detailed Implementation

[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0022] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0023] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0024] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] To address the aforementioned issues, this application provides a cutting propagation robotic arm gripper that ensures high work efficiency and a high success rate in gripping, while preventing damage or loss of seedlings during gripping and propagation.

[0026] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0027] See Figure 1-2 The cutting insertion robotic arm gripper includes a fixed outer shell 1, an extended gripper 2, and a drive mechanism 10; the fixed outer shell 1 includes a housing 11, a slide rail fixing plate 12, and a limiting plate 13. The drive mechanism 10 is installed on the rear side of the housing 11, and the slide rail fixing plate 12 is installed on the front side of the housing 11. The limiting plate 13 is installed at the end of the slide rail fixing plate 12, and the limiting plate 13 is perpendicular to the slide rail fixing plate 12 and symmetrical on both sides.

[0028] A slide rail 7 is installed on the slide rail fixing plate 12, and a slider 6 is slidably installed on the slide rail 7. The slider 6 is connected to the output end of the drive mechanism 10, and a claw connecting plate 3 and a stem push plate 5 are installed on the slider 6. The two ends of the claw connecting plate 3 are symmetrically rotatably connected to the connecting rod 9, and the other end of the connecting rod 9 is rotatably connected to the extended claw 2. The two extended claws 2 are rotatably connected to the two ends of the limiting plate 13 respectively. A bulldozer plate 4 is installed on the upper side of the housing 11. The front end of the bulldozer plate 4 is above the front end of the extended claw 2, and the front end of the extended claw 2 is above the front end of the stem push plate 5.

[0029] During operation, the drive mechanism 10 pushes the slider 6 and the cutting push plate 5, while simultaneously driving the connecting rod 9 to control the extended gripper 2 to grab and release. Specifically, the drive mechanism 10 drives the slider 6 to slide on the slide rail 7, which in turn moves the gripper connecting plate 3 and the cutting push plate 5. When the slider 6 is at its rear end, the two connecting rods 9 are on the same straight line. At this time, the extended gripper 2 is in a clamping state. When the slider 6 moves forward, the connecting rod 9 pulls the rear end of the extended gripper 2 closer to each other, and the front end of the extended gripper 2 opens. The drive mechanism 10 uses a small cylinder to control the movement of the slider 6 and uses a solenoid valve to control the air intake. During operation, the end of the bulldozer plate 4 is first inserted into the substrate to support and protect the roots of the cuttings as they extend into the seedling substrate.

[0030] In some implementations, see Figure 3 The extended gripper 2 has a bent structure, with a bearing mounting hole 21 at the rear end. The bearing mounting hole 21 is connected to the connecting rod 9 through a bearing. A convex shaft 22 is provided at the bent part of the extended gripper 2. The front end of the extended gripper 2 is the clamping end, and the two clamping ends are close to each other. In the clamping state, the two clamping ends are arranged in parallel, and a gripper flexible pad 23 is provided on the opposite surface of the two clamping ends.

[0031] During operation, the flexible pad 23 of the gripper can improve the success rate of gripping and ensure the stability and low damage of the gripping.

[0032] In some implementations, see Figure 4 The inserting stem push plate 5 includes a push handle 51, which is a bent plate composed of a horizontal plate and a downward inclined plate. The length of the horizontal plate matches the slide rail 7. The rear end of the horizontal plate is mounted on the slider 6. The front end of the inclined plate is equipped with a push plate body, and the bottom surface of the push plate body is provided with a push plate flexible stop block 52.

[0033] During operation, the flexible stop block 52 of the push plate can ensure the stability and low damage of the clamping.

[0034] In some implementations, see Figure 5 The two ends of the connecting rod 9 are a first connecting end 91 and a second connecting end 92, respectively. The first connecting end 91 is provided with a first rotating shaft and is connected to the bearing mounting hole 21 on the extended gripper 2 through a bearing. The second connecting end 92 is provided with a boss, and a second rotating shaft is provided on the boss and is connected to the gripper connecting plate through a bearing.

[0035] During operation, the first connecting end 91 of the two connecting rods 9 is connected to the corresponding extended gripper 2, and the second connecting end 92 is connected to the gripper connecting plate 3, and then to the slider 6. The second connecting end 92 moves with the movement of the slider 92, thereby driving the extended gripper 2 to rotate as a whole. The second connecting end 92 is provided with a boss to ensure that the connecting rod 9 is in a horizontal state and the connection with the extended gripper 2 and the gripper connecting plate 3 is a horizontal connection to ensure the stability of the connection.

[0036] The working process of this application:

[0037] When not gripping, the piston rod of the cylinder is in an extended state, and the slider 6 moves forward, so that the extended gripper 2 is in an open state. When the robotic arm recognizes and moves to the position to pick up the plant seedling, the piston rod of the cylinder retracts, and the slider 6 connected to the front end of the cylinder, as well as the stem push plate 5 and the gripper connecting plate 3 fixed to the slider 6 by bolts, all move backward on the slide rail 7. The gripper connecting plate 3 drives the connecting rod 9, which in turn causes the extended gripper 2 to rotate counterclockwise around the convex shaft 22 of the gripper, so that the ends of the extended gripper 2 come together to form a clamp to grab the seedling.

[0038] Similarly, when the robotic arm identifies and moves to the designated cutting position, the bulldozer plate 4 penetrates into the substrate at the center of the seedling tray, the piston rod of the cylinder pushes out, and the slider 6 connected to the front end of the cylinder, as well as the cutting push plate 5 and the gripper connecting plate 3 fixed to the slider 6 by bolts, all move forward on the slide rail 7. The extended gripper 2 rotates clockwise around the convex shaft 22 of the gripper. At the same time as the extended gripper 2 releases, the flexible stop 52 on the cutting push plate 5 inserts the seedling into the substrate at a certain speed.

[0039] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "include," "contain," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0040] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0041] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A gripper for a cutting insertion robotic arm, characterized in that: The cutting manipulator gripper includes a fixed outer shell (1), an extended gripper (2), and a drive mechanism (10); the fixed outer shell (1) includes a housing (11), a slide rail fixing plate (12), and a limiting plate (13). The drive mechanism (10) is installed on the rear side of the housing (11), and the slide rail fixing plate (12) is installed on the front side of the housing (11). The limiting plate (13) is installed at the end of the slide rail fixing plate (12). The limiting plate (13) is perpendicular to the slide rail fixing plate (12) and symmetrical on both sides. A slide rail (7) is installed on the slide rail fixing plate (12), and a slider (6) is slidably installed on the slide rail (7). The slider (6) is connected to the output end of the drive mechanism (10), and a claw connecting plate (3) and a stem push plate (5) are installed on the slider (6). The two ends of the claw connecting plate (3) are symmetrically connected to the connecting rod (9), and the other end of the connecting rod (9) is rotatably connected to the extended claw (2). The two extended claws (2) are rotatably connected to the two ends of the limiting plate (13). A bulldozer plate (4) is installed on the upper side of the housing (11). The front end of the bulldozer plate (4) is located above the front end of the extended claw (2), and the front end of the extended claw (2) is located above the front end of the stem push plate (5).

2. The cutting insertion robotic arm gripper according to claim 1, characterized in that: The extended gripper (2) is a bent structure with a bearing mounting hole (21) at the rear end. The bearing mounting hole (21) is connected to the connecting rod (9) through the bearing. A convex shaft (22) is provided at the bent part of the extended gripper (2). Shaft holes are symmetrically opened at both ends of the limiting plate (13). The convex shaft (22) is rotatably connected in the shaft hole. The front end of the extended gripper (2) is the clamping end, and the two clamping ends are close to each other. In the clamping state, the two clamping ends are arranged in parallel, and a gripper flexible pad (23) is provided on the opposite surface of the two clamping ends.

3. The cutting insertion robotic arm gripper according to claim 2, characterized in that: The inserting stem push plate (5) includes a push handle (51), which is a bent plate consisting of a horizontal plate and a downward inclined plate. The length of the horizontal plate matches the slide rail (7). The rear end of the horizontal plate is mounted on the slider (6). The front end of the inclined plate is equipped with a push plate body. The bottom surface of the push plate body is provided with a push plate flexible stop (52).

4. The cutting insertion robotic arm gripper according to claim 2 or 3, characterized in that: The two ends of the connecting rod (9) are a first connecting end (91) and a second connecting end (92). The first connecting end (91) is provided with a first rotating shaft and is connected to the bearing mounting hole (21) on the extended gripper (2) through a bearing. The second connecting end (92) is provided with a boss and a second rotating shaft is provided on the boss and is connected to the gripper connecting plate through a bearing.

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