A fruit picking mechanical claw and a fruit picking robot

Abstract

The utility model discloses a kind of fruit picking mechanical claw and fruit picking robot, it is related to mechanical claw technical field, fruit picking mechanical claw includes pedestal, multiple mechanical fingers, telescopic shaft, multiple hinged rods, driving device and multiple mechanical fingertips, the upper end of multiple mechanical fingers is respectively rotationally connected with pedestal, telescopic shaft is slidably connected with pedestal, one end of hinged rod is rotationally connected with its corresponding mechanical finger, the other end of hinged rod is rotationally connected with its telescopic shaft, driving device is used to drive telescopic shaft to do telescopic motion, to simultaneously drive multiple mechanical fingers between the switching of gripping state and release state, the upper end of mechanical fingertip is rotationally connected with the lower end of its corresponding mechanical finger, and elastic member is connected between mechanical fingertip and mechanical finger, and elastic member is used to keep mechanical fingertip in folding state, so that mechanical fingertip can play the effect of compensating gripping fruit.

Description

Technical Field

[0001] This utility model relates to the field of mechanical claw technology, and in particular to a fruit-picking mechanical claw and a fruit-picking robot. Background Technology

[0002] Currently, three-finger robotic grippers are commonly used to pick fruits. However, in actual use, it has been found that the three-finger robotic grippers on the market are not well adapted to the shape of the fruit and do not grip the fruit tightly enough. When picking fruits of different sizes, there is a large gap between the fruit and the robotic gripper, which makes the fruit easy to fall. Utility Model Content

[0003] The purpose of this invention is to solve the technical problems existing in the prior art. Therefore, this invention provides a fruit-picking mechanical claw and a fruit-picking robot, which can effectively compensate for and firmly grasp the fruit.

[0004] According to a first aspect of the present invention, a fruit-picking mechanical claw includes: Base; Multiple mechanical fingers, the upper ends of which are rotatably connected to the base, and the multiple mechanical fingers are arranged at intervals along the circumference of the base; Telescopic shaft. Sliding connection with the base; Multiple hinge rods are arranged one-to-one with the multiple mechanical fingers. One end of each hinge rod is rotatably connected to its corresponding mechanical finger, and the other end of each hinge rod is rotatably connected to its telescopic shaft. A drive device is used to drive the telescopic shaft to perform telescopic movements, so as to simultaneously drive multiple mechanical fingers to switch between grasping and releasing states. Multiple mechanical fingertips are arranged in a one-to-one correspondence with multiple mechanical fingers. The upper end of each mechanical fingertips is rotatably connected to the lower end of the corresponding mechanical finger. An elastic element is connected between each mechanical fingertips and the mechanical fingers to keep the mechanical fingertips in a closed state.

[0005] According to the first aspect of the present invention, the fruit-picking mechanical claw has at least the following beneficial effects: thanks to the mechanical fingertip arranged at the end of the mechanical finger, the mechanical fingertip will try to remain closed and closely fit the surface of the fruit being grasped under the elastic force of the elastic element, thereby achieving the effect of compensating for the gripping. In addition, when the size of the fruit being grasped is relatively large, the mechanical fingertip can also stretch the elastic element to open it slightly outward to avoid damaging the fruit.

[0006] According to some embodiments of the present invention, the mechanical fingertip and the mechanical finger are rotatably connected by a hinge shaft. The mechanical finger and the mechanical fingertip are provided with side plates on one side along the axis of the hinge shaft, and the two ends of the elastic element are respectively fixedly connected between the two side plates.

[0007] According to some embodiments of this utility model, the elastic element is configured as a spring, the side plate is provided with a locking hole, and the two ends of the spring are configured as hooks to cooperate with the locking hole.

[0008] According to some embodiments of the present invention, the fruit-picking mechanical claw further includes a protective cover, which is fitted over the two side plates to cover the elastic element.

[0009] According to some embodiments of the present invention, the protective cover is made of silicone or rubber.

[0010] According to some embodiments of the present invention, the mechanical finger is provided with a first limiting block, and the mechanical fingertip is provided with a second limiting block. The second limiting block can abut against the first limiting block to limit the travel range of the mechanical fingertip relative to the mechanical finger.

[0011] According to some embodiments of the present invention, the mechanical finger is provided with a flexible inner liner, which is used to contact the object being grasped.

[0012] According to some embodiments of the present invention, the flexible liner is installed on the mechanical finger via a snap-fit ​​structure.

[0013] According to some embodiments of the present invention, the mechanical finger and the mechanical fingertip are made of silicone.

[0014] The fruit-picking robot according to a second aspect of the present invention includes the fruit-picking mechanical claw of the first aspect embodiment.

[0015] The fruit-picking robot according to the second aspect of the present invention, since it includes the fruit-picking mechanical claw of the first aspect embodiment, has at least the above-mentioned beneficial effects, which will not be repeated here.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a fruit-picking mechanical claw according to some embodiments of the present invention; Figure 2 This is a bottom view of a fruit-picking mechanical claw according to some embodiments of the present invention; Figure 3 This is a partial schematic diagram of a fruit-picking mechanical claw according to some embodiments of the present invention.

[0018] Figure label: The fruit picking mechanical claw 100, base 101, mechanical finger 102, telescopic shaft 103, hinge rod 104, drive device 105, mechanical fingertip 106, side plate 107, spring 108, first limit block 109, second limit block 110, and hinge shaft 111. Detailed Implementation

[0019] Reference Figures 1 to 3 The image shows a fruit-picking mechanical gripper 100 according to an embodiment of this utility model. It includes a base 101, multiple mechanical fingers 102 (at least two), a telescopic shaft 103, multiple hinge rods 104, a drive device 105, and multiple mechanical fingertips 106. The upper ends of the multiple mechanical fingers 102 are rotatably connected to the base 101, and the multiple mechanical fingers 102 are spaced apart along the circumference of the base 101. The telescopic shaft 103 is slidably connected to the base 101. The multiple hinge rods 104 are arranged one-to-one with the multiple mechanical fingers 102, with one end of each hinge rod 104 rotatably connected to its corresponding mechanical finger 102, and the other end of each hinge rod 104 rotatably connected to its telescopic shaft 103. The drive device 105 drives the telescopic shaft 103 to perform telescopic movements. By pulling the multiple hinge rods 104, the multiple mechanical fingers 102 can be simultaneously switched between a gripping state and a releasing state. The drive device 105 can be a motor or a cylinder. Multiple mechanical fingertips 106 are arranged in a one-to-one correspondence with multiple mechanical fingers 102. The upper end of the mechanical fingertips 106 is rotatably connected to the lower end of the corresponding mechanical fingers 102. An elastic element is connected between the mechanical fingertips 106 and the mechanical fingers 102. The elastic element is used to keep the mechanical fingertips 106 in a closed state, or it can be understood as the elastic element is used to tighten the mechanical fingertips 106.

[0020] Understandably, thanks to the mechanical fingertip 106 arranged at the end of the mechanical finger 102, the mechanical fingertip 106 will try to remain closed and closely fit the surface of the fruit being grasped under the elastic force of the elastic element. This can reduce the gap between the mechanical fingertip 106 and the fruit being grasped. In addition, the mechanical fingertip 106 can hold the bottom of the fruit being grasped, thereby compensating for the gripping effect. Furthermore, when the size of the fruit being grasped is relatively large, the mechanical fingertip 106 can also stretch the elastic element to open it slightly outward to avoid damaging the fruit, thus exhibiting good flexibility.

[0021] Reference Figure 3As shown, according to some embodiments of this utility model, the mechanical fingertip 106 and the mechanical finger 102 are rotatably connected by a hinge shaft 111. Side plates 107 are provided on one side of the mechanical finger 102 along the axis of the hinge shaft 111 and on one side of the mechanical fingertip 106 along the axis of the hinge shaft 111. The two ends of the elastic element are respectively fixedly connected between the two side plates 107. This arrangement can prevent the elastic element from contacting the grasped fruit and causing interference.

[0022] According to some embodiments of this utility model, the elastic element is configured as a spring 108, and the side plate 107 is provided with a locking hole. The two ends of the spring 108 are configured as hooks to cooperate with the locking hole. This configuration facilitates the installation of the elastic element. In other embodiments, the elastic element can also be configured as a spring sheet, which is fixedly connected to the side plate 107 by glue or screws.

[0023] According to some embodiments of this utility model, the fruit-picking mechanical claw 100 also includes a protective cover. The protective cover has a box-like structure and is fitted over the two side plates 107 to cover the elastic element. This can shield the elastic element and prevent it from contacting the outside environment. The protective cover can be engaged with the side plates 107 through a snap-fit ​​structure. The protective cover is made of silicone or rubber, thus possessing a certain degree of flexibility. When the mechanical fingertip 106 rotates, the protective cover can deform, thereby avoiding obstructing the rotational movement of the mechanical fingertip 106.

[0024] Reference Figure 3 As shown, according to some embodiments of this utility model, the mechanical finger 102 is provided with a first limiting block 109, and the mechanical fingertip 106 is provided with a second limiting block 110. The second limiting block 110 can abut against the first limiting block 109 to limit the travel range of the mechanical fingertip 106 relative to the mechanical finger 102. This can prevent the mechanical fingertip 106 from rotating to an outward position and being unable to return to its original position.

[0025] According to some embodiments of the present invention, the mechanical finger 102 is provided with a removable flexible inner liner made of a flexible material, such as silicone or rubber. The flexible inner liner is used to contact the object being grasped, thus avoiding damage to the fruit. The flexible inner liner can be installed on the side of the mechanical finger 102 by a snap-fit ​​structure.

[0026] According to some embodiments of the present invention, the mechanical finger 102 and the mechanical fingertip 106 are made of silicone and can be understood as flexible mechanical claws.

[0027] This utility model embodiment also provides a fruit picking robot, including the fruit picking mechanical claw 100 of the above embodiment. The fruit picking robot may include a drone and a robotic arm. The robotic arm is mounted on the drone, and the fruit picking mechanical claw 100 is mounted on the robotic arm. The robotic arm is equipped with a camera for recognizing images, thus enabling remote fruit picking.

[0028] The embodiments of the present invention have been described in detail above, and examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described above with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0029] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, front, back, inside, outside, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limiting this utility model.

[0030] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or the order of the technical features.

[0031] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0032] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, and not to limit it. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A fruit-picking mechanical claw, characterized in that, include: Base; Multiple mechanical fingers, the upper ends of which are rotatably connected to the base, and the multiple mechanical fingers are arranged at intervals along the circumference of the base; The telescopic shaft is slidably connected to the base. Multiple hinge rods are arranged one-to-one with the multiple mechanical fingers. One end of each hinge rod is rotatably connected to its corresponding mechanical finger, and the other end of each hinge rod is rotatably connected to its telescopic shaft. A driving device is used to drive the telescopic shaft to perform telescopic movements, so as to simultaneously drive multiple mechanical fingers to switch between grasping and releasing states. Multiple mechanical fingertips are arranged in a one-to-one correspondence with multiple mechanical fingers. The upper end of each mechanical fingertips is rotatably connected to the lower end of the corresponding mechanical finger. An elastic element is connected between each mechanical fingertips and the mechanical fingers to keep the mechanical fingertips in a closed state.

2. The fruit-picking mechanical claw according to claim 1, characterized in that, The mechanical fingertip and the mechanical finger are rotatably connected by a hinge shaft. The mechanical finger and the mechanical fingertip are provided with side plates on one side along the axis of the hinge shaft. The two ends of the elastic element are respectively fixedly connected between the two side plates.

3. The fruit-picking mechanical claw according to claim 2, characterized in that, The elastic element is configured as a spring, the side plate is provided with a locking hole, and the two ends of the spring are configured as hooks to cooperate with the locking hole.

4. The fruit-picking mechanical claw according to claim 2, characterized in that, The fruit-picking mechanical claw also includes a protective cover, which is fitted over the two side plates to cover the elastic element.

5. The fruit-picking mechanical claw according to claim 4, characterized in that, The protective cover is made of silicone or rubber.

6. The fruit-picking mechanical claw according to claim 1, characterized in that, The mechanical finger is provided with a first limiting block, and the mechanical fingertip is provided with a second limiting block. The second limiting block can abut against the first limiting block to limit the range of travel of the mechanical fingertip relative to the mechanical finger.

7. The fruit-picking mechanical claw according to claim 1, characterized in that, The mechanical finger is provided with a flexible liner for contacting the object being grasped.

8. The fruit-picking mechanical claw according to claim 7, characterized in that, The flexible liner is attached to the mechanical finger via a snap-fit ​​structure.

9. The fruit-picking mechanical claw according to claim 1, characterized in that, The mechanical finger and the mechanical fingertip are made of silicone.

10. A fruit-picking robot, characterized in that, Includes the fruit-picking mechanical claw as described in any one of claims 1 to 9.

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