Pineapple profiling picking manipulator
By utilizing the underactuated principle and gripping mechanism of the pineapple-shaped harvesting robot, adaptive gripping of pineapple fruits is achieved, solving the problem of unstable gripping in existing equipment and improving harvesting efficiency and automation.
Patent Information
- Application Number
- CN202422796373.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-15
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-11-15
Smart Images
Figure CN223515357U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to pineapple picking technical field, concretely relates to a pineapple profiled picking manipulator. BACKGROUND
[0002] At present, pineapple picking still depends on the mode of manual harvesting. Because the outer skin of pineapple has obvious grid texture, the upper crown bud and the edge of leaf have more physical characteristics such as burrs, protective equipment needs to be worn during manual picking to avoid scratches, there are problems such as great picking difficulty and low operation efficiency, and the development needs of modern pineapple industry cannot be met.
[0003] In order to solve the above problems, the pineapple automatic picking is realized through the pineapple picking equipment, but the pineapple picking end execution mechanism of the existing pineapple picking equipment cannot be self-adaptive to different sizes of pineapple fruits, cannot effectively envelope the pineapple fruits and stably clamp the pineapple fruits, therefore, mechanical damage to the pineapple fruits is caused during the picking process, and the storage life of the pineapple fruits is reduced. UTILITY MODEL CONTENTS
[0004] The utility model aims at overcoming the above problems, providing a pineapple profiled picking manipulator, the manipulator can self-adaptively clamp according to the size of pineapple fruits, can effectively envelope the pineapple fruits, realizes stable clamping, realizes low-loss and lossless harvesting of pineapple, and improves picking efficiency.
[0005] The utility model aims at overcoming the above problems, providing a pineapple profiled picking manipulator, the manipulator can self-adaptively clamp according to the size of pineapple fruits, can effectively envelope the pineapple fruits, realizes stable clamping, realizes low-loss and lossless harvesting of pineapple, and improves picking efficiency.
[0006] A pineapple profiled picking manipulator, including fixed support, palm that is set on the fixed support, sliding plate that is slidably arranged between the fixed support and palm, a plurality of clamping fingers for clamping pineapple fruits that are arranged between the palm and the sliding plate and clamping drive mechanism that is arranged on the fixed support and is used for driving the sliding plate to move to drive a plurality of clamping fingers to move synchronously, a plurality of clamping fingers are distributed along the circumferential direction, wherein,
[0007] Each clamping finger includes proximal phalanx, distal phalanx, drive link, long link, short link and torsional spring, wherein the palm is hinged with one end of the proximal phalanx and one end of the short link, the other end of the short link is hinged with one end of the long link and one end of the drive link, the other end of the proximal phalanx is hinged with the inner side end of the distal phalanx, the other end of the long link is hinged with the outer side end of the distal phalanx, the other end of the drive link is hinged with the sliding plate, one end of the torsional spring acts on the distal phalanx, and the other end of the torsional spring acts on the proximal phalanx.
[0008] The working principle of the above-mentioned pineapple profiled picking manipulator is as follows:
[0009] The utility model discloses a pineapple profiled picking manipulator is based on the under -actuated principle, realizes the picking of pineapple fruit. When working, the clamping drive mechanism drives the sliding plate to move towards the direction of approaching the palm, drives the drive connecting rod to move, under the action of long connecting rod and short connecting rod, the near finger gradually closes inwards, the far finger will also overcome the elastic force of torsional spring and close inwards, and the near finger and the far finger will self-adaptingly clamp the pineapple fruit, and the palm, the near finger and the far finger can effectively envelope the pineapple fruit, realize stable clamping, and the mechanical characteristic of under -actuated can make the clamping finger automatically adapt to the shape of pineapple fruit, realize self-adapting size grip of pineapple fruit, when pineapple fruit needs to be loosened after picking, the clamping drive mechanism drives the sliding plate to move towards the direction of moving away from the palm, and the near finger and the far finger will open outwards, and the far finger will also reset under the elastic force of torsional spring, and finally realize the opening action of the clamping finger.
[0010] One preferred scheme of the utility model, wherein, the clamping drive mechanism includes the stepper motor who sets up on the fixed support, the screw rod who sets up on the main shaft of the stepper motor and the screw rod nut who sets up on the sliding plate and is connected with the screw rod cooperation, in the pineapple mechanization harvest, the clamping finger is in the open state, the stepper motor rotates, drives the screw rod to rotate, and then drives the screw rod nut to move along the axis of the screw rod towards the direction of approaching the palm, and then drives the sliding plate to move, thereby driving the drive connecting rod to move, and the drive connecting rod pushes the long connecting rod, the near finger and the far finger to do the shrinkage envelope action under the hinged action of the short connecting rod, and the near finger is fixed after the shrinkage action until the pineapple fruit no longer moves, and the long connecting rod and the far finger can still do the shrinkage envelope action under the action of the drive connecting rod until the far finger also clamps the pineapple fruit and no longer moves, and the clamping of the pineapple fruit is completed, when pineapple fruit needs to be loosened after picking, the stepper motor reverses, and the screw rod nut drives the sliding plate to move away from the direction of the palm, drives the drive connecting rod to move, and the clamping finger will gradually open under the action of the drive connecting rod.
[0011] Preferably, a plurality of guide rods are arranged parallel between the palm and the fixed support, one end of the guide rod is fixedly connected with the palm, and the other end of the guide rod is fixedly connected with the fixed support; a guide hole is arranged on the sliding plate and slidably connected with the guide rod. By adopting the above structure, the guide rod can not only fix the palm, but also guide the sliding plate to ensure the stability of the sliding plate.
[0012] Preferably, the inner side of the near finger is provided with a flexible body. The purpose is to buffer the pineapple fruit when clamping the pineapple fruit, and further reduce the damage of the pineapple fruit.
[0013] Preferably, the upper computer is further included, and the upper computer is connected with the stepping motor.
[0014] Preferably, the distal finger is provided with a mounting hole, and a pressure sensor is arranged on the mounting hole; and the pressure sensor is connected with the upper computer.
[0015] Preferably, the palm is provided with a rubber pad.
[0016] Preferably, the number of the clamping fingers is four.
[0017] Preferably, the proximal finger and the distal finger are both arc-shaped, and the proximal finger and the distal finger form a pineapple profile curve structure.
[0018] Preferably, the mechanical arm is further included, and the fixing support is installed at the end of the mechanical arm.
[0019] Compared with the prior art, the pineapple profile picking manipulator has the following beneficial effects:
[0020] 1. The pineapple profile picking manipulator based on the underactuated principle realizes the picking of pineapple fruits, and the mechanical characteristics of underactuation can make the clamping fingers automatically adapt to the shape of the pineapple fruits, thereby realizing the self-adaptive size gripping of the pineapple fruits.
[0021] 2. The pineapple profile picking manipulator can effectively envelope the pineapple fruits by clamping the pineapple fruits through the proximal finger and the distal finger, thereby realizing the profile picking of the pineapple fruits, self-adapting to the size of the pineapple fruits, having high clamping stability, and realizing the low-loss and lossless picking of pineapples.
[0022] 3. The pineapple profile picking manipulator has the advantages of simple mechanism, small size and light weight.
[0023] 4. The pineapple profiled picking manipulator can realize automatic picking, improve the possibility of large-scale unmanned operation of pineapple picking, improve the operation efficiency, and promote the automation degree of the pineapple picking industry. BRIEF DESCRIPTION OF DRAWINGS
[0024] Figure 1 Fig. 3 is a perspective view of one of the specific embodiments of the pineapple profiled picking manipulator of the utility model.
[0025] Figure 2 Fig. 4 is a perspective view of another visual direction of the pineapple profiled picking manipulator of the utility model.
[0026] Figure 3 Fig. 5 is a structural schematic view of the pineapple profiled picking manipulator in an open state.
[0027] Figure 4 Fig. 6 is a structural schematic view of the pineapple profiled picking manipulator in a retracted state.
[0028] Figure 5 Fig. 7 is a perspective view of part of the structure of the pineapple profiled picking manipulator of the utility model.
[0029] Figure 6 Fig. 8 is a perspective view of the clamping fingers of the utility model. DETAILED DESCRIPTION
[0030] In order to enable those skilled in the art to better understand the technical scheme of the utility model, the utility model will be further described below in combination with embodiments and drawings, but the embodiments of the utility model are not limited to this.
[0031] Embodiment 1
[0032] Referring to Figures 1-3 The embodiment discloses a pineapple profiled picking manipulator, which comprises a fixed support 1, a palm 2 arranged on the fixed support 1, a sliding plate 3 arranged between the fixed support 1 and the palm 2, a plurality of clamping fingers 4 arranged between the palm 2 and the sliding plate 3 and used for clamping pineapple fruits, and a clamping driving mechanism 5 arranged on the fixed support 1 and used for driving the sliding plate 3 to move so as to drive the plurality of clamping fingers 4 to move synchronously, wherein the plurality of clamping fingers 4 are distributed along a circumferential direction.
[0033] Referring to Figures 1-6Each of the clamping fingers 4 comprises a proximal finger 41, a distal finger 42, a driving link 43, a long link 44, a short link 45 and a torsion spring 46; wherein the palm 2 is hinged to one end of the proximal finger 41 and one end of the short link 45; the other end of the short link 45 is hinged to one end of the long link 44 and one end of the driving link 43; the other end of the proximal finger 41 is hinged to the inner end of the distal finger 42; the other end of the long link 44 is hinged to the outer end of the distal finger 42; the other end of the driving link 43 is hinged to the sliding plate 3; one end of the torsion spring 46 acts on the distal finger 42 and the other end of the torsion spring 46 acts on the proximal finger 41.
[0034] Referring to Figures 1-6 In the above structure, the proximal finger 41, the driving link 43 and the short link 45 are hinged to each other through a first hinge shaft, and the palm 2, the proximal finger 41 and the short link 45 are hinged through a second hinge shaft. The palm 2 and the sliding plate 3 are coaxially arranged.
[0035] Referring to Figures 1-4 The clamping driving mechanism 5 comprises a stepping motor 51 arranged on the fixed support 1, a lead screw 52 arranged on the main shaft of the stepping motor 51 and a lead screw nut 53 arranged on the sliding plate 3 and cooperatively connected with the lead screw 52, and the lead screw 52 is coaxially arranged with the sliding plate 3. In the above structure, when the pineapple is mechanically harvested, the clamping fingers 4 are in an open state, the stepping motor 51 rotates to drive the lead screw 52 to rotate, and then drive the lead screw nut 53 to move along the axis of the lead screw 52 towards the palm 2, and then drive the sliding plate 3 to move, thereby driving the driving link 43 to move, and the driving link 43 pushes the long link 44, the proximal finger 41 and the distal finger 42 to perform a shrinking envelope action under the hinging action of the short link 45. The shrinking action continues until the proximal finger 41 clamps the pineapple fruit tightly and no longer moves, and then the proximal finger 41 is fixed due to the action of the torsion spring 46. The driving link 43 can still drive the long link 44 and the distal finger 42 to perform a shrinking envelope action until the distal finger 42 also clamps the pineapple fruit and no longer moves; the clamping of the pineapple fruit is completed; after the harvesting is completed, when the pineapple fruit needs to be loosened, the stepping motor 51 is reversed, the lead screw nut 53 drives the sliding plate 3 to move away from the palm 2, thereby driving the driving link 43 to move, and under the action of the driving link 43, the clamping fingers 4 will gradually open.
[0036] Referring to Figures 1-4The palm 2 is provided with a plurality of guide rods 6 arranged in parallel, one end of the guide rod 6 is fixedly connected with the palm 2, and the other end of the guide rod 6 is fixedly connected with the fixed support 1; and the sliding plate 3 is provided with a guide hole in sliding connection with the guide rod 6. By adopting the above structure, the guide rod 6 can not only fix the palm 2, but also guide the sliding plate 3, so that the stability of the sliding plate 3 is ensured.
[0037] Referring to Figures 1-4 The number of the guide rods 6 is four, which are distributed along the circumferential direction.
[0038] Referring to Figures 1-5 The inner side of the proximal finger 41 is provided with a flexible body 7. The purpose is to buffer the pineapple fruit when clamping the pineapple fruit, and further reduce the damage of the pineapple fruit. The flexible body 7 can be made of rubber.
[0039] Referring to Figure 6 The inner side of the proximal finger 41 is provided with a slot hole 8 for mounting the flexible body 7. The number of the slot holes 8 on each proximal finger 41 is four, which are symmetrically and uniformly distributed on the two side edges of the proximal finger 41.
[0040] Referring to Figures 1-4 The pineapple profiled picking manipulator further comprises a host computer, and the host computer is connected with the stepping motor 51. When the pineapple is mechanically harvested, the pineapple profiled picking manipulator is in an open state. When the host computer sends a command to the stepping motor 51, the stepping motor 51 rotates in the forward direction, and under the action of the lead screw 52 and the lead screw nut 53, the sliding plate 3 moves linearly to the palm 2, and the clamping fingers 4 are synchronously retracted, so that the clamping of the clamping fingers 4 and the enveloping of the pineapple fruit are completed.
[0041] Referring to Figure 6 The distal finger 42 is provided with a mounting hole 9, and the mounting hole 9 is provided with a pressure sensor; and the pressure sensor is connected with the host computer. The mounting hole 9 is used for mounting the pressure sensor, and the number of the mounting holes 9 is two. By arranging the pressure sensor, the pressure when clamping the pineapple fruit can be detected, and then fed back to the host computer to control the action of the stepping motor 51, so that the purpose of low-loss or lossless picking of the pineapple fruit is achieved through force feedback closed-loop control.
[0042] Referring to Figures 1-5 The palm 2 is provided with a rubber pad 10. The purpose is to buffer the pineapple fruit when clamping the pineapple fruit, and further reduce the damage of the pineapple fruit.
[0043] Referring to Figures 1-6, the number of the clamping fingers 4 is 4. The pineapple fruits can be enveloped by using the 4 clamping fingers 4, and the stability of clamping is improved. In the embodiment, the mode that the screw rod nut 53 drives the four clamping fingers 4 is underdrive, and the clamping ranges of the near fingers 41 and the far fingers 42 can be self-adaptively adjusted according to the sizes of different pineapple fruits.
[0044] Referring to Figures 1-6 , the 4 clamping fingers 4 can be uniformly distributed along the circumferential direction or non-uniformly distributed, and the adjacent two clamping fingers 4 are symmetrically arranged with the other two clamping fingers 4.
[0045] Referring to Figures 1-6 , the near fingers 41 and the far fingers 42 are arc-shaped, and the near fingers 41 and the far fingers 42 form a pineapple profile curve structure. By arranging the arc-shaped near fingers 41 and the far fingers 42, the profile picking of the pineapple fruits can be realized. The pineapple profile curve structure refers to that the shapes of the near fingers 41 and the far fingers 42 are arranged in a profile mode, which is similar to the profile of the pineapple fruits and conforms to the agricultural properties of the pineapple.
[0046] Referring to Figure 1 , the pineapple profile picking manipulator further comprises a mechanical arm, and the fixed support 1 is installed at the end of the mechanical arm. By the movement of the mechanical arm, the accurate picking of the pineapple fruits can be realized.
[0047] The working principle of the pineapple profile picking manipulator is as follows:
[0048] The pineapple profile picking manipulator in the embodiment is based on the underdrive principle to realize the picking of the pineapple fruits. When working, the clamping driving mechanism 5 drives the sliding plate 3 to move towards the palm 2, drives the driving connecting rod 43 to move, and under the action of the long connecting rod 44 and the short connecting rod 45, the near fingers 41 gradually move inward, the far fingers 42 also move inward against the elastic force of the torsional spring 46, the near fingers 41 and the far fingers 42 self-adaptively clamp the pineapple fruits, the palm 2, the near fingers 41 and the far fingers 42 effectively envelop the pineapple fruits, and stable clamping is realized; the mechanical characteristics of underdrive can make the clamping fingers 4 automatically adapt to the shape of the pineapple fruits, and self-adaptive size gripping of the pineapple fruits is realized; after picking is completed, when the pineapple fruits need to be released, the clamping driving mechanism 5 drives the sliding plate 3 to move away from the palm 2, the near fingers 41 and the far fingers 42 open outward, the far fingers 42 also reset under the elastic force of the torsional spring 46, and finally the opening action of the clamping fingers 4 is realized.
[0049] Embodiment 2
[0050] Different from the embodiment 1, the clamping driving mechanism 5 is an electric push rod, the movable rod of the electric push rod is connected with the sliding plate 3, the sliding plate 3 is driven to move through the extension and retraction movement of the movable rod, and thus the clamping of the clamping fingers 4 is realized.
[0051] The above is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above, any change, modification, replacement, combination, simplification made without departing from the spirit and principles of the present application should be an equivalent replacement method, which is included in the protection scope of the present application.
Claims
1. A pineapple profiled picking robot characterized by, The device comprises a fixed support, a palm arranged on the fixed support, a sliding plate arranged between the fixed support and the palm, a plurality of clamping fingers arranged between the palm and the sliding plate for clamping pineapple fruits, and a clamping driving mechanism arranged on the fixed support for driving the sliding plate to move so as to drive the plurality of clamping fingers to move synchronously, wherein the plurality of clamping fingers are distributed along a circumferential direction. Each of the clamping fingers comprises a proximal finger, a distal finger, a driving connecting rod, a long connecting rod, a short connecting rod, and a torsion spring, wherein one end of the proximal finger and one end of the short connecting rod are hingedly connected to the palm, the other end of the short connecting rod is hingedly connected to one end of the long connecting rod and one end of the driving connecting rod, the other end of the proximal finger is hingedly connected to an inner end of the distal finger, the other end of the long connecting rod is hingedly connected to an outer end of the distal finger, the other end of the driving connecting rod is hingedly connected to the sliding plate, and one end of the torsion spring acts on the distal finger and the other end of the torsion spring acts on the proximal finger.
2. A pineapple profiled picking robot as claimed in claim 1, characterized in that, The clamping driving mechanism comprises a stepping motor arranged on the fixed support, a lead screw arranged on a main shaft of the stepping motor, and a lead screw nut arranged on the sliding plate and cooperatively connected with the lead screw.
3. The pineapple profiled picking robot hand according to claim 1, wherein, A plurality of guide rods are arranged between the palm and the fixed support in parallel, one end of each of the guide rods is fixedly connected to the palm, and the other end of each of the guide rods is fixedly connected to the fixed support, and a guide hole is arranged on the sliding plate and slidably connected with the guide rods.
4. The pineapple profiled picking robot of claim 1, wherein, A flexible body is arranged on the inner side of the proximal finger.
5. A pineapple profiled picking robot as claimed in claim 2, wherein, An upper computer is further arranged, and the upper computer is connected with the stepping motor.
6. A pineapple profiled picking robot according to claim 5, wherein, A mounting hole is arranged on the distal finger, and a pressure sensor is arranged on the mounting hole, and the pressure sensor is connected with the upper computer.
7. The pineapple profiled picking robot hand according to claim 1, wherein, A rubber pad is arranged on the palm.
8. The pineapple profiled picking robot of claim 1, wherein, The number of the clamping fingers is four.
9. The pineapple profiled picking robot of claim 1, wherein, The proximal finger and the distal finger are both arc-shaped, and the proximal finger and the distal finger form a pineapple profiled curve structure.
10. The pineapple profiled picking robot hand according to claim 1, wherein, A mechanical arm is further arranged, and the fixed support is arranged at the end of the mechanical arm.