Picking robot and clamping and shearing combined mechanism thereof

Abstract

The utility model provides a picking robot and a clamping and shearing combined mechanism. The picking robot comprises a movable base, a mechanical arm and the clamping and shearing combined mechanism. A fixing frame of the clamping and shearing combined mechanism is installed at the tail end of the mechanical arm. The clamping and shearing combined mechanism comprises a support, a shear mechanism and a clamping mechanism. A guide rail is arranged on the bracket; the scissor mechanism and the clamping mechanism are installed on the guide rail in a sliding mode. The support is provided with a first driving mechanism used for driving the scissor mechanism and the clamping mechanism to slide close to each other or away from each other, and the first driving mechanism comprises a first motor, a rotating piece, a first connecting rod and a second connecting rod. According to the technical scheme, the clamping and shearing combined mechanism drives the first connecting rod and the second connecting rod to be in linkage with the shear mechanism and the clamping mechanism through the rotating piece so as to drive the shear mechanism and the clamping mechanism to slide close to each other or away from each other, the rotating pulling speed of the connecting rods is high, the instant pulling force is large, fruit stems after shearing can be separated easily, and the picking efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to a harvesting robot and its clamping and shearing combination mechanism. Background Technology

[0002] Existing fruit-harvesting robots use a combination of clamping and shearing mechanisms, such as the clamping and shearing mechanism disclosed in a Chinese invention application, which is installed at the end of a harvesting robot. This mechanism includes a scissor mechanism and a clamping mechanism slidably mounted on a guide rail. The scissor mechanism and the clamping mechanism are driven by a screw and nut to move closer or further apart. This type of drive method results in a relatively slow speed at which the scissor mechanism and the clamping mechanism move closer or further apart, affecting harvesting efficiency. Utility Model Content

[0003] The purpose of this utility model is to provide a clamping and shearing combination mechanism for a harvesting robot. The clamping and shearing combination mechanism includes a support, a scissor mechanism for cutting the fruit stalk connecting the fruit to the fruit tree, and a clamping mechanism for selectively clamping or releasing the fruit. The support is provided with a guide rail. The scissor mechanism and the clamping mechanism are slidably mounted on the guide rail. The support is provided with a first driving mechanism for driving the scissor mechanism and the clamping mechanism to slide closer to or further away from each other.

[0004] The first driving mechanism includes a first motor, a rotating component, a first connecting rod, and a second connecting rod. The rotating component is rotatably mounted on a bracket for forward or reverse rotation. The rotation axis of the rotating component is perpendicular to the extension direction of the guide rail. The first motor is fixed on the bracket, and its output shaft is linked to the rotating component to drive it to rotate forward or reverse. The rotating component includes a first connecting end and a second connecting end. The first connecting rod includes a first fixed end and a first free end. The first fixed end is hinged to the first connecting end. The first free end is hinged to a scissor mechanism. The second connecting rod includes a second fixed end and a second free end. The second fixed end is hinged to the second connecting end. The second free end is hinged to a clamping mechanism. The first free end and the second free end move closer to each other when the rotating component rotates forward. The first free end and the second free end move further apart when the rotating component rotates in the reverse direction.

[0005] Another objective of this invention is to provide a harvesting robot, comprising a mobile base, a robotic arm, and the aforementioned clamping and shearing combination mechanism; the robotic arm is mounted on the mobile base, and the fixing frame of the clamping and shearing combination mechanism is mounted on the end of the robotic arm.

[0006] The clamping and shearing combination mechanism of this technical solution drives the first and second connecting rods through a rotating component to link the shearing mechanism and the clamping mechanism, thereby causing the shearing mechanism and the clamping mechanism to slide closer or further apart. Compared with the existing screw-type drive, the connecting rod rotates and pulls faster and has a larger instantaneous pulling force, which helps to separate the fruit stems after shearing and can improve harvesting efficiency. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the harvesting robot of this utility model.

[0008] Figure 2 This is a side view of the harvesting robot of this utility model.

[0009] Figure 3 This is a schematic diagram of the clamping and shearing combination mechanism of this utility model.

[0010] Figure 4 This is a partial structural diagram of the clamping and shearing combination mechanism of this utility model.

[0011] Figure 5 This is a schematic diagram of the cooperation structure between the bracket and the first drive mechanism of this utility model.

[0012] Figure 6 and Figure 7 These are schematic diagrams showing different usage states of the clamping and shearing combination mechanism of this utility model.

[0013] Figure 8 and Figure 9 This is a schematic diagram of the scissor mechanism of this utility model.

[0014] Figure 10 and Figure 11 This is a schematic diagram of the clamping mechanism of this utility model.

[0015] Explanation of icon numbers:

[0016] Mobile base 1, robotic arm 11, rotating seat 111, first arm 112, second arm 113; tracked walking mechanism 13, collection basket 12;

[0017] Clamping and shearing combination mechanism 2;

[0018] Fixture 3, fixed shaft 31;

[0019] 4. Bracket 41, guide rail 42, first motor 43, rotating component 43, first connecting end 431, second connecting end 432, first connecting rod 44, first fixed end 441, first free end 442, second connecting rod 45, second fixed end 451, second free end 452, drive wheel 46, transmission wheel 47;

[0020] Scissor mechanism 5, first slide plate 51, first sleeve 52, first connecting rod 53, blade rod 54, first rocker arm 55, blade 56, first rocker arm gear 57, second motor 58, output shaft 581 of the second motor;

[0021] Clamping mechanism 6, second slide plate 61, second sleeve 62, second connecting rod 63, claw rod 64, second rocker arm 65, claw part 66, second rocker arm gear 67, third motor 68, output shaft 681 of the third motor. Detailed Implementation

[0022] The following description, in conjunction with the accompanying drawings, further illustrates the proposed solution:

[0023] See appendix Figure 1-11 A harvesting robot includes a mobile base 1, a robotic arm 11, and a clamping and shearing combination mechanism.

[0024] The mobile base 1 is provided with tracked walking mechanisms 13 on both sides, and a collection basket 12 for collecting the harvested fruits is provided on the top of the mobile base 1; the robotic arm 11 is rotatably mounted on the top of the mobile base 1 and can drive the clamping and shearing combination mechanism to move closer to or away from the collection basket 12.

[0025] The robotic arm 11 includes, from bottom to top, a rotating base 111, a first arm 112, and a second arm 113; the rotating base 111 is rotatably mounted on the top of the movable base 1; one end of the first arm 112 is hinged to the rotating base 111, and the other end is hinged to the second arm 113.

[0026] The clamping and shearing combination mechanism includes a fixed frame 3, a support 4, a shearing mechanism 5 for cutting the fruit stalk connecting the fruit to the fruit tree, and a clamping mechanism 6 for selectively clamping or releasing the fruit. The fixed frame 3 is mounted on the end of the robotic arm 11. The support 4 is rotatably mounted on the fixed frame 3. The support 4 is provided with a guide rail 41, on which the shearing mechanism 5 and the clamping mechanism 6 are slidably mounted. The guide rail 41 is perpendicular to the rotation axis of the support 4.

[0027] The fixed frame 3 is provided with a drive mechanism for driving the support 4 to rotate. This drive mechanism is prior art and can be referred to as the clamping and shearing combination mechanism installed at the end of the harvesting robot 11 disclosed in invention publication CN118556511A, which drives the rotating frame to rotate.

[0028] The rotation axis of the rotating seat 111 is parallel to the Z-axis; the hinge axis of the first arm 112 and the second arm 113 of the robotic arm 11 is parallel to the Y-axis; the rotation axis of the bracket 4 is parallel to the X-axis; the X-axis, Y-axis and Z-axis constitute a spatial rectangular coordinate system.

[0029] The robotic arm 11 is used to drive the clamping and shearing combination mechanism to move up and down to perform picking operations, and to rotate left and right to put the picked fruits into the collection basket 12.

[0030] The bracket 4 is equipped with a first driving mechanism for driving the scissor mechanism 5 and the clamping mechanism 6 to slide closer to or further apart. The first driving mechanism includes a first motor 42, a rotating component 43, a first connecting rod 44, and a second connecting rod 45. The rotating component 43 is rotatably mounted on the bracket 4 for forward or reverse rotation; the axis of rotation of the rotating component 43 is perpendicular to the extension direction of the guide rail 41; the fixed frame 3 is provided with a fixed shaft 31; the bracket 4 and the rotating component 43 are rotatably mounted on the fixed shaft 31. The first motor 42 is fixed on the bracket 4. The output shaft of the first motor 42 is linked with the rotating component 43 to drive the rotating component 43 to rotate forward or backward. The rotating component 43 includes a first connecting end 431 and a second connecting end 432. The first connecting rod 44 includes a first fixed end 441 and a first free end 442. The first fixed end 441 is hinged to the first connecting end 431. The first free end 442 is hinged to the scissor mechanism 5. The second connecting rod 45 includes a second fixed end 451 and a second free end 452. The second fixed end 451 is hinged to the second connecting end 432. The second free end 452 is hinged to the clamping mechanism 6. When the rotating component 43 rotates forward, the first free end 442 and the second free end 452 move closer to each other, thereby causing the scissor mechanism 5 and the clamping mechanism 6 to move closer to each other. Figure 7 As shown; the first free end 442 and the second free end 452 move away from each other when the rotating member 43 rotates in the opposite direction, thereby causing the scissor mechanism 5 and the clamping mechanism 6 to move away from each other, as shown. Figure 6 As shown.

[0031] The clamping and shearing combination mechanism of this technical solution drives the first connecting rod 44 and the second connecting rod 45 through the rotating part 43 to link the shearing mechanism 5 and the clamping mechanism 6, so as to drive the shearing mechanism 5 and the clamping mechanism 6 to slide closer or further apart. Compared with the existing screw drive, the connecting rod rotates and pulls faster and has a large instantaneous pulling force, which helps to separate the fruit stems after cutting and can improve the harvesting efficiency.

[0032] A gear transmission mechanism is provided between the first motor 42 and the rotating component 43; the gear transmission mechanism includes a driving wheel 46 and a transmission wheel 47 that mesh with each other, the driving wheel 46 is fixed on the output shaft of the first motor 42, and the transmission wheel 47 is fixed on the rotating component 43.

[0033] In this embodiment, the first motor 42 includes two components, and the gear transmission mechanism includes two drive wheels 46. The two drive wheels 46 are respectively fixed on the output shafts of the two first motors 42. The two first motors 42 are arranged opposite to each other, and the two drive wheels 46 mesh with the two sides of the transmission wheel 47. The drive wheels 46 and the transmission wheel 47 are helical bevel gears. The transmission structure of this solution is reasonably laid out, compact in structure, and can save space.

[0034] The scissor mechanism 5 includes a first slide plate 51 and a scissor assembly. The first slide plate 51 is slidably mounted on the guide rail 41, and the scissor assembly is mounted on the first slide plate 51. The first connecting rod 44 is hinged to the first slide plate 51.

[0035] The first slide plate 51 is provided with a second drive mechanism for driving the scissor assembly to switch between an open state and a closed state; the clamping mechanism 6 includes a second slide plate 61 and a gripper assembly, the second slide plate 61 is slidably mounted on the guide rail 41, the gripper assembly is mounted on the second slide plate 61, and the second connecting rod 45 is hinged to the second slide plate 61.

[0036] The second slide plate 61 is provided with a third drive mechanism for switching the gripper assembly between an open state and a closed state.

[0037] The scissor mechanism 5 and clamping mechanism 6 of this technical solution adopt independent drive mechanisms, which can independently control the sequence and opening / closing degree of the cutting and clamping operations according to different harvesting needs. For example, the fruit can be clamped first and then the cutting operation can be performed. The opening / closing degree of the scissor assembly and the clamping claw assembly can be set according to the size of different fruits and the difficulty of cutting the fruit stems.

[0038] In this embodiment, two guide rails 41 are arranged side by side, and the first slide plate 51 is provided with two first sleeves 52 that are slidably sleeved with the two guide rails 41 respectively; the second slide plate 61 is provided with two second sleeves 62 that are slidably sleeved with the two guide rails 41 respectively.

[0039] Specifically:

[0040] The scissor assembly includes two sets of symmetrically distributed first planar four-bar linkages; each first planar four-bar linkage includes a first connecting rod 53, a blade rod 54, and a first rocker arm 55. The tail end of the first connecting rod 53 is hinged to a first sliding plate 51, and the head end of the first connecting rod 53 is hinged to the middle of the blade rod 54. The tail end of the first rocker arm 55 is hinged to the first sliding plate 51, and the head end of the first rocker arm 55 is hinged to the tail end of the blade rod 54. The head end of the blade rod 54 is provided with a blade 56; the first rocker arm 55... The tail end is provided with a first rocker gear 57; the first rocker gears 57 of the two sets of first planar four-bar linkages mesh with each other; the second drive mechanism includes a second motor 58, the second motor 58 is fixed on the first slide plate 51, and the output shaft 581 of the second motor is connected to one of the first rocker gears 57 to drive the first rocker gear 57 to rotate, thereby driving the first rocker 55 to link the first connecting rod 53 and the blade rod 54 to make the blades 56 move closer or further apart, so as to realize the switching of the scissor assembly between the open state and the closed state.

[0041] The gripper assembly includes two symmetrically distributed second planar four-bar linkages; each second planar four-bar linkage includes a second connecting rod 63, a gripper rod 64, and a second rocker arm 65. The tail end of the second connecting rod 63 is hinged to the second sliding plate 61, and the head end of the second connecting rod 63 is hinged to the middle of the gripper rod 64. The tail end of the second rocker arm 65 is hinged to the second sliding plate 61, and the head end of the second rocker arm 65 is hinged to the tail end of the gripper rod 64. The head end of the gripper rod 64 forms a gripper portion 66; the second rocker arm 65... The tail end is provided with a second rocker gear 67; the second rocker gears 67 of the two sets of second planar four-bar linkages mesh with each other; the third drive mechanism includes a third motor 68, which is fixed on the second slide plate 61. The output shaft 681 of the third motor is connected to one of the second rocker gears 67 to drive the second rocker gear 67 to rotate, thereby driving the second rocker 65 to link the second connecting rod 63 and the claw rod 64 to make the claw parts 66 move closer or further apart, so as to realize the switching of the gripper assembly between the open state and the closed state.

[0042] The above preferred embodiments should be regarded as illustrative examples of the embodiments of the present application. Any technical deductions, substitutions, improvements, etc. that are similar to or based on the present application should be considered within the scope of protection of this patent.

Claims

1. A clamping and shearing combination mechanism for a harvesting robot, the clamping and shearing combination mechanism comprising a support, a shearing mechanism for cutting the fruit stalk connecting the fruit to the fruit tree, and a clamping mechanism for selectively clamping or releasing the fruit; the support is provided with a guide rail; the shearing mechanism and the clamping mechanism are slidably mounted on the guide rail; the support is provided with a first driving mechanism for driving the shearing mechanism and the clamping mechanism to slide closer to or further away from each other; Its features are: The first drive mechanism includes a first motor, a rotating component, a first connecting rod, and a second connecting rod; The rotating component is rotatably mounted on the bracket to rotate in the forward or reverse direction; the axis of rotation of the rotating component is perpendicular to the extension direction of the guide rail. The first motor is fixed on the bracket, and the output shaft of the first motor is linked with the rotating part to drive the rotating part to rotate in the forward or reverse direction. The rotating component includes a first connecting end and a second connecting end; The first connecting rod includes a first fixed end and a first free end; the first fixed end is hinged to the first connecting end; the first free end is hinged to the scissor mechanism; The second connecting rod includes a second fixed end and a second free end; the second fixed end is hinged to the second connecting end; the second free end is hinged to the clamping mechanism; The first free end and the second free end move closer to each other when the rotating member rotates in the forward direction; the first free end and the second free end move further apart when the rotating member rotates in the reverse direction.

2. The clamping and shearing combination mechanism of the harvesting robot according to claim 1, characterized in that: A gear transmission mechanism is provided between the first motor and the rotating component; The gear transmission mechanism includes a driving wheel and a transmission wheel that mesh with each other. The driving wheel is fixed on the output shaft of the first motor, and the transmission wheel is fixed on the rotating component.

3. The clamping and shearing combination mechanism of the harvesting robot according to claim 1 or 2, characterized in that: The scissor mechanism includes a first slide plate and a scissor assembly. The first slide plate is slidably mounted on a guide rail, the scissor assembly is mounted on the first slide plate, and the first connecting rod is hinged to the first slide plate. The first slide plate is provided with a second drive mechanism for driving the scissor assembly to switch between an open state and a closed state; the clamping mechanism includes a second slide plate and a gripper assembly, the second slide plate is slidably mounted on a guide rail, the gripper assembly is mounted on the second slide plate, and the second connecting rod is hinged to the second slide plate; The second slide plate is provided with a third drive mechanism for switching the gripper assembly between an open state and a closed state.

4. The clamping and shearing combination mechanism of the harvesting robot according to claim 3, characterized in that: The scissor assembly includes two sets of symmetrically distributed first planar four-bar linkages; each first planar four-bar linkage includes a first connecting rod, a blade rod, and a first rocker arm. The tail end of the first connecting rod is hinged to a first sliding plate, and the head end of the first connecting rod is hinged to the middle of the blade rod. The tail end of the first rocker arm is hinged to the first sliding plate, and the head end of the first rocker arm is hinged to the tail end of the blade rod. The head end of the blade rod is provided with a blade. The tail end of the first rocker arm is provided with a first rocker gear. The first rocker gears of the two sets of first planar four-bar linkages mesh with each other. The second drive mechanism includes a second motor, which is fixed to the first sliding plate. The output shaft of the second motor is connected to one of the first rocker gears to drive the first rocker gear to rotate. The gripper assembly includes two sets of symmetrically distributed second planar four-bar linkages; each second planar four-bar linkage includes a second connecting rod, a gripper rod, and a second rocker arm. The tail end of the second connecting rod is hinged to the second sliding plate, and the head end of the second connecting rod is hinged to the middle of the gripper rod. The tail end of the second rocker arm is hinged to the second sliding plate, and the head end of the second rocker arm is hinged to the tail end of the gripper rod. The head end of the gripper rod forms a gripper portion. The tail end of the second rocker arm is provided with a second rocker gear. The second rocker gears of the two sets of second planar four-bar linkages mesh with each other. The third drive mechanism includes a third motor, which is fixed to the second sliding plate. The output shaft of the third motor is connected to one of the second rocker gears to drive the second rocker gear to rotate.

5. The clamping and shearing combination mechanism of the harvesting robot according to claim 1, characterized in that: It also includes a mounting bracket; the bracket is rotatably mounted on the mounting bracket, and the guide rail is perpendicular to the rotation axis of the bracket.

6. A harvesting robot, characterized in that, Includes a movable base, a robotic arm, and the clamping and shearing combination mechanism as described in any one of claims 1-5; The robotic arm is mounted on a mobile base, and the fixing frame of the clamping and shearing combination mechanism is mounted on the end of the robotic arm.

7. The harvesting robot according to claim 6, characterized in that: The mobile base is equipped with tracked walking mechanisms on both sides, and a collection basket for collecting the harvested fruits is provided on the top of the mobile base. The robotic arm is rotatably mounted on top of the mobile base.

8. The harvesting robot according to claim 7, characterized in that: The robotic arm, from bottom to top, includes a rotating base, a first arm, and a second arm; The rotating base is rotatably mounted on top of the movable base; one end of the first arm is hinged to the rotating base, and the other end is hinged to the second arm; The mounting bracket is installed on the second arm.

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