Flexible mechanical claw for picking fruits and vegetables

Abstract

The utility model discloses a flexible mechanical gripper for picking fruits and vegetables, which relates to the field of mechanical grippers and comprises a driving motor, a supporting arm, a sliding sleeve, a driving component and N gripping fingers, and the tail end of the supporting arm is connected with an output shaft of the driving motor; according to the fruit and vegetable grabbing device, the U-shaped rod is driven to slide along the sliding groove through contraction of the electric cylinder, the sliding sleeve is made to be close to the grabbing fingers and extrude the three grabbing fingers, and therefore the fruit and vegetables can be grabbed. According to the manipulator, the electric cylinder is adopted for driving, multi-finger cooperative movement is achieved, grabbing force can be evenly distributed, the structure is simple, the manufacturing cost is low, the failure rate of equipment is reduced, and the maintenance difficulty is lowered.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical claws, specifically relating to a flexible mechanical claw used for picking fruits and vegetables. Background Technology

[0002] With the rapid development of modern agriculture, the demand for mechanization and automation in fruit and vegetable harvesting is increasing. Traditional fruit and vegetable harvesting methods mainly rely on manual labor, which is not only inefficient but also labor-intensive and prone to damaging fruits and vegetables.

[0003] For example, Chinese patent CN108271532B discloses a multi-claw pneumatic non-destructive fruit and vegetable harvesting robot that mimics human-like harvesting movements. It includes a multi-claw harvesting robot mechanism and a non-destructive harvesting pneumatic system. The multi-claw harvesting robot mechanism includes a gripping mechanism and a harvesting mechanism. The gripping mechanism includes a three-claw cylinder, a moving base, a vacuum generator, a pull rod, a moving slider, an upper pull rod, a vacuum suction cup, harvesting claws, and a pressure sensor. The main power unit of the harvesting mechanism is a rotary cylinder, which is fixed to a connecting plate by screws. The connecting plate is fixed to the three-claw cylinder by screws, and the vacuum generator is fixed to the connecting plate. The non-destructive harvesting pneumatic system includes an air compressor, an air source triplet, a harvesting pneumatic subsystem, a gripping pneumatic subsystem, and an adsorption pneumatic subsystem.

[0004] Although the robotic arm can grasp and harvest fruits and vegetables, its structure is relatively complex with many parts, resulting in high manufacturing costs and difficult maintenance. At the same time, the complex structure also affects its stability and reliability in practical applications.

[0005] Therefore, we propose a flexible mechanical gripper for harvesting fruits and vegetables to solve the above problems. Utility Model Content

[0006] To address the problems of high manufacturing costs and maintenance difficulties caused by the relatively complex structure and numerous parts of the robotic arm, this utility model provides a flexible robotic claw for harvesting fruits and vegetables.

[0007] The solution adopted by this utility model to solve its technical problem is: a flexible mechanical claw for picking fruits and vegetables, including a drive motor, a support arm, a sliding sleeve, a drive assembly and N gripping fingers, wherein the tail end of the support arm is connected to the output shaft of the drive motor.

[0008] One end of the gripper is hinged to the front end of the support arm, and the drive assembly is mounted on the support arm and can drive N grippers to close together to grasp fruits and vegetables.

[0009] A connector is fixedly connected to the front end of the support arm, and a spring is fixedly installed between the connector and the gripping finger.

[0010] Preferably, the tail end of the drive motor is fixedly mounted with a mounting base for connecting to the robotic arm.

[0011] Preferably, the other end of the grasping finger is fitted with a flexible finger sleeve.

[0012] Preferably, the support arm is hollow inside, and two grooves are formed on the side wall of the support arm.

[0013] Preferably, the drive assembly includes an electric cylinder, a sliding sleeve, and a U-shaped rod. The sliding sleeve is fitted onto the support arm, and its inner wall contacts the N gripping fingers. The U-shaped rod is disposed in a sliding groove, and its two ends are fixedly connected to the sliding sleeve. The electric cylinder is installed inside the support arm, and its piston rod is fixedly connected to the U-shaped rod for driving the U-shaped rod to slide along the sliding groove.

[0014] Preferably, there are three gripping fingers, which are arranged around the front end of the support arm.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. This utility model uses the retraction of an electric cylinder to drive a U-shaped rod to slide along a groove, causing the sliding sleeve to move closer to the gripping fingers and squeeze the three gripping fingers, thereby controlling the closing of the three gripping fingers to grasp fruits and vegetables. This robotic arm is driven by an electric cylinder to achieve multi-finger coordinated movement, which can evenly distribute the gripping force. It not only has a simple structure and low manufacturing cost, but also reduces the failure rate of the equipment and lowers the difficulty of maintenance.

[0017] 2. This utility model incorporates a spring so that after the sliding sleeve returns to its original position, the spring force automatically lifts the gripping finger, releasing the fruits and vegetables so that they can be easily placed down.

[0018] 3. The support arm of this utility model adopts a hollow design, and the electric cylinder is set inside the support arm, making the entire mechanical claw structure compact and lightweight. Attached Figure Description

[0019] Figure 1 This is one of the three-dimensional structural schematic diagrams of this utility model;

[0020] Figure 2 This is the second three-dimensional structural schematic diagram of the present invention;

[0021] Figure 3 This is a three-dimensional cross-sectional structural diagram of the support arm of this utility model.

[0022] In the diagram: 1 Mounting base, 2 Drive motor, 3 Support arm, 31 Slide groove, 32 Hinge groove, 41 Slide sleeve, 42 U-shaped rod, 43 Electric cylinder, 51 Gripping finger, 52 Flexible finger sleeve, 6 Connector, 7 Spring. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Please see Figure 1-3 This utility model provides a technical solution for a flexible mechanical gripper used for harvesting fruits and vegetables:

[0025] Example 1:

[0026] according to Figure 1-3 As shown, it includes a drive motor 2, a support arm 3, a sliding sleeve 41, a drive assembly, and N gripping fingers 51. The tail end of the drive motor 2 is fixedly mounted with a mounting base 1 for connecting with the robotic arm. The tail end of the support arm 3 is connected to the output shaft of the drive motor 2, so that the drive motor 2 can drive the support arm 3 to rotate in the forward or reverse direction. The interior of the support arm 3 is hollow. Two sliding grooves 31 and three hinge grooves 32 are opened on the side wall of the support arm 3. The hinge grooves 32 are close to the front end of the support arm 3, and the sliding grooves 31 are close to the tail end of the support arm 3.

[0027] In this embodiment, there are three gripping fingers 51. Of course, the number of gripping fingers 51 can also be set to two or four according to the usage requirements. The three gripping fingers 51 are arranged around the front end of the support arm 3. One end of the gripping fingers 51 is hinged in the hinge groove 32 by a pin, so that the gripping fingers 51 can rotate. The other end of the gripping fingers 51 is fitted with a flexible finger sleeve 52. The flexible finger sleeve 52 can better protect the surface of fruits and vegetables, significantly reduce the damage rate during the harvesting process, and improve the commercial value of fruits and vegetables.

[0028] The drive assembly includes an electric cylinder 43, a sliding sleeve 41, and a U-shaped rod 42. The sliding sleeve 41 is fitted onto the support arm 3, and its inner wall contacts the three gripping fingers 51. The U-shaped rod 42 is set in the sliding groove 31, and its two ends are fixedly connected to the sliding sleeve 41. The electric cylinder 43 is installed in the support arm 3, and its piston rod is fixedly connected to the U-shaped rod 42. The retraction of the electric cylinder 43 drives the U-shaped rod 42 to slide along the sliding groove 31, causing the sliding sleeve 41 to move closer to the gripping fingers 51 and squeeze the three gripping fingers 51. This controls the closing of the three gripping fingers 51 to grasp fruits and vegetables. This robotic arm is driven by the electric cylinder 43 to achieve multi-finger coordinated movement, which can evenly distribute the gripping force. It not only has a simple structure and low manufacturing cost, but also reduces the failure rate of the equipment and reduces the difficulty of maintenance.

[0029] The front end of the support arm 3 is fixedly connected to the connector 6. A spring 7 is fixedly installed between the connector 6 and the gripper 51. After the sliding sleeve 41 is reset, the gripper 51 is automatically lifted by the elastic force of the spring 7 to release the fruits and vegetables so that they can be put down.

[0030] In practical use, the flexible mechanical claw of this utility model for picking fruits and vegetables first connects the mounting base 1 to the mechanical arm, and ensures that the drive motor 2, electric cylinder 43 and control system are connected, and completes the wiring of power supply and signal lines.

[0031] When harvesting fruits and vegetables, the robotic arm moves the robotic claw to the vicinity of the target fruits and vegetables, ensuring that the three gripping fingers 51 can surround the fruits and vegetables. Then, the control system starts the electric cylinder 43. The piston rod of the electric cylinder 43 retracts, driving the U-shaped rod 42 to slide along the slide groove 31, pushing the sliding sleeve 41 closer to the gripping fingers 51. The sliding sleeve 41 squeezes the three gripping fingers 51, so that the three gripping fingers 51 close together and evenly wrap the fruits and vegetables.

[0032] The control system controls the rotation of the drive motor 2 to unscrew the fruits and vegetables from the plant. Then, the robotic arm moves the harvested fruits and vegetables to the designated position. The control system causes the piston rod of the electric cylinder 43 to extend, the sliding sleeve 41 to reset, and the gripping finger 51 to automatically lift up under the elastic force of the spring 7, releasing the fruits and vegetables and gently placing them in the designated position.

Claims

1. A flexible mechanical gripper for harvesting fruits and vegetables, comprising a drive motor, a support arm, a sliding sleeve, a drive assembly, and N gripping fingers, characterized in that: The tail end of the support arm is connected to the output shaft of the drive motor. The inside of the support arm is hollow, and two sliding grooves are opened on the side wall of the support arm. One end of the gripper is hinged to the front end of the support arm, and the drive assembly is mounted on the support arm and can drive N grippers to close together to grasp fruits and vegetables. The drive assembly includes an electric cylinder, a sliding sleeve, and a U-shaped rod. The sliding sleeve is fitted onto the support arm, and its inner wall contacts the N gripping fingers. The U-shaped rod is set in the slide groove, and its two ends are fixedly connected to the sliding sleeve. The electric cylinder is installed in the support arm, and its piston rod is fixedly connected to the U-shaped rod for driving the U-shaped rod to slide along the slide groove. A connector is fixedly connected to the front end of the support arm, and a spring is fixedly installed between the connector and the gripping finger.

2. The flexible mechanical gripper for picking fruits and vegetables according to claim 1, characterized in that: The tail end of the drive motor is fixedly mounted with a mounting base for connecting to the robotic arm.

3. The flexible mechanical gripper for picking fruits and vegetables according to claim 1, characterized in that: The other end of the grasping finger is fitted with a flexible finger sleeve.

4. The flexible mechanical gripper for picking fruits and vegetables according to claim 1, characterized in that: The number of gripping fingers is three, and the three gripping fingers are arranged around the front end of the support arm.

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