A mechanical arm and picking robot

Abstract

The embodiment of the application relates to the technical field of carrying devices, and discloses a mechanical arm and a picking robot, which comprise an arm assembly and a clamping assembly, one end of the arm assembly is provided with a slot, the other end of the arm assembly is connected with the main body of the robot, and the clamping assembly is detachably connected to the slot. Through the above mode, the clamping assembly detachably arranged on the arm assembly can be used to select different types of clamping assemblies according to actual working conditions, so that the picking robot applied to the mechanical arm can be suitable for picking different types of fruits, and the applicability of the picking robot is improved.

Description

Technical Field

[0001] This application relates to the field of handling device technology, and in particular to a robotic arm and a picking robot. Background Technology

[0002] As an important structure in robots to perform operations such as gripping and handling, the robotic arm mainly consists of an arm assembly, a connector, and a gripping assembly. The gripping assembly is connected to the arm assembly through the connector, so that the robotic arm can perform human-hand-like operations by relying on the gripping assembly.

[0003] In the process of developing this application, the inventors discovered that currently, the arm component on a robotic arm can only be adapted to one type of gripping component. However, in actual operation, robots often have multiple needs. For example, in agricultural harvesting robots, the gripping component corresponding to the arm component can only grip one type of fruit. When users have the need to harvest multiple types of fruit, robots using this type of robotic arm cannot meet the needs, affecting the user's experience. Utility Model Content

[0004] This application provides a robotic arm and a harvesting robot. The main technical problem it solves is that the gripping components of existing robotic arms cannot be replaced, which limits the application scenarios of harvesting robots using this robotic arm and affects the user experience.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a robotic arm, including an arm assembly and a gripping assembly, wherein one end of the arm assembly is provided with a slot, the other end of the arm assembly is connected to the main body of the robot, and the gripping assembly is detachably connected to the slot.

[0006] Optionally, the slot has a socket on its side wall, the robotic arm includes a positioning pin, the clamping assembly has a positioning hole, and one end of the positioning pin slides through the socket and is inserted into the positioning hole.

[0007] Optionally, the inner wall of the slot is provided with a mounting groove, the insertion hole communicates with the mounting groove, the locating pin has a protrusion extending from its periphery, the protrusion is slidably received in the mounting groove, and the robotic arm also includes an elastic element, the elastic element is elastically compressed between the protrusion and the bottom of the mounting groove.

[0008] Optionally, the clamping assembly includes a base and at least two clamping arms. One end of the base is connected to the at least two clamping arms, and the other end of the base is provided with a plug-in portion. The plug-in portion is received in the slot. The side wall of the plug-in portion is provided with a mating groove, and the side wall of the slot is provided with a mating ridge. The mating ridge is received in the mating groove. Alternatively, the side wall of the plug-in portion is provided with a plug-in ridge, and the side wall of the slot is provided with a plug-in groove. The plug-in ridge is received in the plug-in groove.

[0009] Optionally, the sidewall of the slot is provided with an annular groove, the annular groove being close to the bottom of the slot, the robotic arm including a first sealing ring, the inner wall of the first sealing ring being sleeved on the insertion part, and the outer wall of the first sealing ring abutting the bottom of the annular groove.

[0010] Optionally, the clamping assembly includes a rigid gripper and a flexible gripper, which can be respectively connected to the slot. The bottom of the slot is provided with an air supply interface and an electrical port, which are spaced apart. The rigid gripper is provided with an electrical plug. When the insertion part of the rigid gripper is inserted into the slot, the electrical plug is inserted into the electrical port. The flexible gripper is provided with a connecting air pipe. When the insertion part of the rigid gripper is inserted into the slot, the connecting air pipe is inserted into the air supply interface.

[0011] Optionally, the robotic arm includes a detection component, which includes a first detector and a second detector. The first detector is disposed at the air supply interface and is used to determine whether the flexible gripper is inserted. The second detector is disposed at the electrical port and is used to determine whether the rigid gripper is inserted.

[0012] Optionally, the outer periphery of the air supply interface is provided with a sealing groove, and an annular abutment platform is formed between the inner sidewall of the sealing groove and the outer wall of the air supply interface. The robotic arm includes a second sealing ring, which is embedded in the abutment platform, so that when the flexible gripper is inserted into the slot, the end face of the connecting air pipe presses against the second sealing ring to achieve a sealed connection. And / or, the robotic arm includes a third sealing ring, the inner wall of which is sleeved on the connecting air pipe, so that when the flexible gripper is inserted into the slot, the outer wall of the third sealing ring abuts against the radial inner wall of the sealing groove to form a radial seal.

[0013] Optionally, the detection component includes a third detector, and the side wall of the air supply interface is provided with a notch, the third detector is received in the notch, and the third detector is used to detect the air pressure at the air supply interface.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a harvesting robot, including the above-mentioned robotic arm.

[0015] The beneficial effects of this application embodiment are as follows: Unlike the prior art, this application embodiment provides a robotic arm including an arm assembly and a gripping assembly. One end of the arm assembly is provided with a slot, and the other end of the arm assembly is connected to the robot's main body. The gripping assembly is detachably connected to the slot. Through this structure, this application embodiment enables the gripping assembly to be detachably mounted on the arm assembly, thereby achieving a replaceable gripping assembly function, facilitating users to replace different types of gripping assemblies according to different needs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an exploded structural diagram of the robotic arm provided in an embodiment of this application; Figure 2 This is a schematic diagram of the assembly structure of the robotic arm provided in the embodiments of this application; Figure 3 This is a schematic diagram of the positioning pin of the robotic arm provided in the embodiments of this application. Figure 4 This is an enlarged structural schematic diagram of the slot portion of the robotic arm provided in an embodiment of this application; Figure 5 This is an enlarged structural schematic diagram of the slot portion of the robotic arm provided in an embodiment of this application from another perspective; Figure 6 This is an enlarged structural schematic diagram of the gripping assembly of the robotic arm provided in the embodiments of this application; Figure 7 This is an enlarged cross-sectional view of the slot portion of the robotic arm provided in the embodiments of this application.

[0018] Icon labels: 100. Robotic arm; 1. Arm assembly; 11. Slot; 111. Insertion hole; 112. Mounting groove; 113. Butt joint edge; 114. Annular groove; 12. Mound-shaped protrusion; 2. Clamping assembly; 21. Positioning hole; 2a. Base; 2a1. Insertion part; 2a11. Docking groove; 2b. Clamping arm; 3. Positioning pin; 31. Protrusion; 32. Cap; 4. Elastic components; 5. Gas supply interface; 51. Sealing groove; 52. Annular abutment platform; 6. Electrical ports; 7. First sealing ring; 8. Second sealing ring; 9. Third sealing ring. Detailed Implementation

[0019] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] As a crucial structure in existing robots for performing gripping and handling operations, the robotic arm mainly consists of an arm assembly and a gripping assembly. The gripping assembly is connected to the arm assembly, allowing the robotic arm to perform human-hand-like operations. However, when this type of robotic arm is applied to agricultural harvesting robots, the gripping assembly connected to the arm assembly has limited applicability to different types of fruit, especially when dealing with fruits of vastly different sizes, such as blueberries and watermelons, whose sizes differ by hundreds of times. Furthermore, different fruits have different degrees of susceptibility to damage. For example, blueberries have thin and easily broken skin, while pomegranates have hard skin. Therefore, flexible grippers are needed for picking blueberries, while pomegranates can be picked using either flexible or rigid grippers. However, for heavier fruits, such as watermelons, flexible grippers are difficult to use, requiring rigid grippers. Therefore, the single-gripper robotic arms used in existing harvesting robots cannot meet user needs.

[0022] To address the aforementioned problems, this application provides a robotic arm 100. Please refer to [link / reference]. Figure 1 and Figure 2The robotic arm 100 includes an arm assembly 1 and a gripping assembly 2. The gripping assembly 2 is detachably connected to the arm assembly 1. Specifically, one end of the arm assembly 1 is provided with a slot 11, and the other end of the arm assembly 1 is connected to the main body of the robot. The gripping assembly 2 is detachably connected to the slot 11 by cooperating with the slot 11.

[0023] It should be noted that the connection methods between the clamping component 2 and the slot 11 include, but are not limited to: interference fit, positioning pin fixing, a hook provided at the slot opening and the clamping component provided with a slot for rotational engagement, an elastic element provided in the slot to abut against the clamping component, and screw connection. For example, in some embodiments, a hook is provided along the circumference of the slot 11 opening, and the portion of the clamping component 2 inserted into the slot 11 is provided with a rotating groove and a mating groove 2a11, which are connected. When the clamping component 2 is assembled to the arm assembly 1, the hook slides along the mating groove 2a11 and extends into the rotating groove. Then, the clamping component 2 is rotated, so that the hook engages in the rotating groove, thereby connecting the clamping component 2 and the arm assembly 1. Alternatively, in other embodiments, the arm assembly 1 is provided with multiple through holes, and the clamping component 2 is provided with multiple screw holes accordingly. The screw connection passes through the through holes and is screwed into the screw holes, thereby connecting the clamping component 2 and the arm assembly 1. For example, in this embodiment, a positioning pin 3 is used to fix the clamping assembly 2 and the arm assembly 1. For details, please refer to 1 and 2. Figure 3 The robotic arm 100 includes a positioning pin 3, and the side wall of the slot 11 is provided with an insertion hole 111. The clamping component 2 is provided with a positioning hole 21. When the clamping component 2 is inserted into the insertion hole 111, one end of the positioning pin 3 slides through the insertion hole 111 and is inserted into the positioning hole 21, thereby enabling the clamping component 2 and the arm component 1 to be connected in a detachable manner.

[0024] Understandably, to prevent the positioning pin 3 from dislodging due to vibration or the robot arm 100 flipping during operation, it is necessary to improve the stability of the connection between the positioning pin 3 and the positioning hole 21. For example, the positioning pin 3 and the positioning hole 21 can be connected by an interference fit, or an elastic element 4 can be used to apply an elastic abutment force to the positioning pin 3.

[0025] For example, in this embodiment, an elastic element 4 is provided so that the elastic element 4 generates a continuous elastic abutment force on the positioning pin 3 inserted into the positioning hole 21. For details, please refer to [link to relevant documentation]. Figure 4 and Figure 5The inner wall of the slot 11 is provided with a mounting groove 112, the insertion hole 111 communicates with the mounting groove 112, the locating pin 3 has a protrusion 31 extending from its periphery, the protrusion 31 is slidably received in the mounting groove 112, the robotic arm 100 also includes an elastic element 4, the elastic element 4 is elastically compressed between the protrusion 31 and the bottom of the mounting groove 112. The elastic element 4 provides a continuous elastic abutment force against the protrusion 31. Under this elastic abutment force, the protrusion 31 tends to move away from the mounting groove 112, thereby causing the positioning pin 3, which is directly connected to the protrusion 31, to tend to move in the insertion direction. One end of the positioning pin 3 is already received in the positioning hole 21 of the clamping assembly 2 and abuts against the bottom wall of the positioning hole 21. The bottom wall of the positioning hole 21 generates an abutment force on the end of the positioning pin 3, preventing the positioning pin 3 from continuing to move in the insertion direction. This abutment force is balanced with the elastic abutment force applied to the positioning pin 3 by the elastic element 4, so that one end of the positioning pin 3 can be securely inserted into the positioning hole 21. When it is necessary to disassemble the clamping assembly 2 from the arm assembly 1, it is only necessary to move the positioning pin 3 away from the positioning hole 21.

[0026] Understandably, in order to facilitate user movement and operation of the positioning pin 3, the other end of the positioning pin 3 needs to protrude from the outer side wall of the arm assembly 1, so that the user can easily lift the positioning pin 3 or use a tool to hold the positioning pin 3.

[0027] In some embodiments, to prevent the positioning pin 3 from being dislodged from the robotic arm 100 by the elastic abutment force of the elastic member 4 after the clamping component 2 is separated from the arm component 1, resulting in the loss of the positioning pin 3 and the elastic member 4, a cap 32 is provided at the other end of the positioning pin 3. The diameter of the cap 32 is larger than the diameter of the insertion hole 111, so that when one end of the positioning pin 3 is inserted into the positioning hole 21, the cap 32 abuts against the outer surface of the robotic arm 100, thereby limiting the positioning pin 3 along its insertion direction.

[0028] Understandably, the distance between the cap 32 and the protrusion 31 is greater than or equal to the distance of displacement of the positioning pin 3 from when it is not inserted into the positioning hole 21 to when it is inserted into the positioning hole 21, so as to ensure that the positioning pin 3 can successfully limit and fix the clamping component 2.

[0029] In some embodiments, the periphery of the cap 32 is provided with a plurality of spaced grooves to increase the friction when the user lifts the cap 32 and optimize the user experience.

[0030] Understandably, in order to facilitate user operation and provide sufficient space for the elastic deformation of the elastic element 4, so as to reduce the impact of setting the mounting groove 112 on the structural strength of the side wall of the slot 11, in some embodiments, the periphery of the insertion hole 111 extends in the opposite direction of the insertion direction of the positioning pin 3 to form a mound-shaped protrusion 12.

[0031] It should be noted that the number of elastic elements 4 is a positive integer greater than or equal to one. For example, when there is one elastic element 4, it is sleeved on the positioning pin 3 and elastically compressed between the protrusion 31 and the bottom of the mounting groove 112; when there are two elastic elements 4, they are distributed on both sides of the positioning pin 3 and elastically compressed between the protrusion 31 and the bottom of the mounting groove 112. Other cases will not be listed here, and can be selected according to actual needs. For example, in this embodiment, there are two elastic elements 4.

[0032] It is worth noting that the number of elastic elements 4 will affect the tactile feedback to the user's hand when pulling up the positioning pin 3, so the user can select according to the elastic coefficient of the elastic element 4. Furthermore, the elastic element 4 can be selected from structures including but not limited to: springs, sheet springs, etc. For example, in this embodiment, the elastic element 4 is preferably a spring.

[0033] To facilitate understanding of the working principle of the positioning pin 3, an example is provided below. When the clamping component 2 needs to be installed on the arm assembly 1, the user pulls the cap 32 away from the slot 11 along the axial direction of the insertion hole 111, thereby causing the positioning pin 3 to exit the slot 11. This allows the clamping component 2 to be smoothly inserted into the slot 11. After the clamping component 2 is inserted into the slot 11, the insertion hole 111 aligns with the positioning hole 21. At this point, the user releases the positioning pin 3, and the elastic force of the elastic element 4 against the protrusion 31 causes one end of the positioning pin 3 to automatically insert into the positioning hole 21, thus achieving quick installation of the clamping component 2 and the arm assembly 1. When the clamping component 2 needs to be disassembled from the arm assembly 1, the user pulls the cap 32 away from the slot 11 along the axial direction of the insertion hole 111, thereby causing the positioning pin 3 to position the hole 21. The clamping component 2 then moves in the opposite direction of the original insertion direction and exits the slot 11, thus separating the clamping component 2 from the arm assembly 1.

[0034] When the clamping component 2 is inserted into the slot 11 of the arm assembly 1, misalignment may occur between the positioning hole 21 and the insertion hole 111, preventing the positioning pin 3 from being inserted into the positioning hole 21. This requires manual adjustment through rotation and re-insertion. Furthermore, since the positioning hole 21 and insertion hole 111 are not visually observable after the clamping component 2 and arm assembly 1 are connected, misalignment is difficult to determine, increasing the difficulty of successfully connecting the clamping component 2 and arm assembly 1. Therefore, to solve this problem, an alignment structure or alignment marker is needed to assist the user in determining whether the positioning hole 21 of the clamping component 2 and the insertion hole 111 of the arm assembly 1 are successfully aligned. The docking structure can adopt a structure in which the docking edge 113 and the docking groove 2a11 cooperate. When the clamping component 2 is connected to the arm component 1, the docking edge 113 and the docking groove 2a11 need to be inserted into each other. The alignment mark can be a first indicator part attached to the outer wall of the slot 11 of the arm component 1 and a second mark part attached to the outer wall of the clamping component 2. When the clamping component 2 is inserted into the arm component 1, the first mark part and the second mark part need to be aligned. At this time, it also means that the positioning hole 21 and the insertion hole 111 are aligned. Then, the user can use the positioning pin 3 to lock and fix the clamping component 2 and the arm component 1.

[0035] For example, in this embodiment, a structure is adopted in which the mating groove 2a11 and the mating ridge 113 cooperate. For details, please refer to [link / reference]. Figure 5 and Figure 6 The clamping assembly 2 includes a base 2a and at least two clamping arms 2b. The two clamping arms 2b are movable relative to each other, meaning they can move relative to each other and towards each other, thereby realizing the clamping function of the clamping assembly 2. At least two clamping arms 2b are connected to one end of the base 2a, and a plug-in portion 2a1 is provided at the other end of the base 2a. The aforementioned positioning hole 21 is provided in the plug-in portion 2a1, and the plug-in portion 2a1 is received in a slot 11. A mating groove 2a11 is provided on the side wall of the plug-in portion 2a1, and a mating ridge 113 is provided on the side wall of the slot 11. The mating ridge 113 extends along the depth direction of the slot 11. When the clamping assembly 2 needs to be assembled to the arm assembly 1, the mating ridge 113 needs to be aligned with the mating groove 2a11 and the mating ridge... After the mating edge 113 and the mating groove 2a11 are inserted into each other, the mating edge 113 is accommodated in the mating groove 2a11, so that the insertion part 2a1 can be fully inserted into the slot 11. This structure in which the mating edge 113 and the mating groove 2a11 cooperate realizes the foolproof design of the clamping component 2 and the arm component 1, ensuring that when the clamping component 2 is successfully inserted into the arm component 1, the positioning hole 21 and the insertion hole 111 are aligned, thus optimizing the user experience of inserting the clamping component 2 into the slot 11 of the arm component 1.

[0036] Understandably, in some embodiments, the positions of the mating ridge 113 and the mating groove 2a11 can be interchanged. That is, the side wall of the insertion part 2a1 is provided with an insertion ridge, and the side wall of the slot 11 is provided with an insertion groove, with the insertion ridge accommodated in the insertion groove. The insertion method of the clamping assembly 2 and the arm assembly 1 with this structure can refer to the above-described cooperation between the mating ridge 113 and the mating groove 2a11, and will not be described in detail here.

[0037] It should be noted that, in order to ensure the foolproof effect of the mating edge 113 and the mating groove 2a11, the number of mating edges 113 is an odd number greater than or equal to one, and correspondingly, the number of mating grooves 2a11 is the same as the number of mating edges 113.

[0038] When the gripping component 2 performs the operation of gripping objects, it needs to be driven by electricity or gas. Therefore, according to different driving methods, the grippers that the gripping component 2 can use can be divided into two categories: one is a flexible gripper that uses gas to drive the deformation of the airbag so that the gripper bends; the other is a rigid gripper that uses electricity to drive the motor to rotate so that the gripper bends. The above-mentioned rigid grippers and flexible grippers can be connected to the slot 11 respectively. Users can choose according to the required scenario. Specifically, when picking fruits with easily damaged peels or easily deformable shapes, the picking robot using the robotic arm 100 of this application uses the robotic arm 100 with flexible grippers, and when picking fruits with thick peels or hard textures, the robotic arm 100 with rigid grippers is used.

[0039] Specifically, to adapt to grippers with different driving methods, please refer to [link / reference]. Figure 7 The robotic arm 100 is equipped with an air supply interface 5 and an electrical port 6. Both the air supply interface 5 and the electrical port 6 are located at the bottom of the slot 11 and are spaced apart to form a physical isolation between the air supply interface 5 and the electrical port 6, so as to enable different types of grippers to be connected to the corresponding interfaces or ports when inserted into the slot 11.

[0040] In this embodiment, the rigid gripper is provided with an electrical plug. When the insertion part 2a1 of the rigid gripper is inserted into the slot 11, the electrical plug is inserted into the electrical port 6, thereby realizing the electrical connection between the rigid gripper and the arm assembly 1. The flexible gripper is provided with a connecting air pipe. When the insertion part 2a1 of the rigid gripper is inserted into the slot 11, the connecting air pipe is inserted into the air supply interface 5, thereby realizing the pneumatic connection between the flexible gripper and the arm assembly 1.

[0041] It should be noted that the electrical plug of the rigid gripper is positioned differently from the connecting air pipe of the flexible gripper. Combined with the aforementioned mating ridge 113 and mating groove 2a11, this physical structure ensures that when the rigid gripper is inserted into the arm assembly 1, its electrical plug connects only to the electrical port 6, and when the flexible gripper is inserted into the arm assembly 1, its connecting air pipe connects only to the air supply interface 5. This avoids situations where different grippers cannot be driven.

[0042] Because this application adopts a detachable design for the clamping component 2, there is a gap between the insertion part 2a1 of the clamping component 2 and the inner wall of the slot 11. External rainwater or dew condensed on the plant is very likely to seep in through the gap between the insertion part 2a1 and the inner wall of the slot 11, thereby affecting the connection between the clamping component 2 and the arm component 1.

[0043] To solve the above problems, in this embodiment, please refer to... Figure 7 The side wall of the slot 11 is provided with an annular groove 114. The annular groove 114 is close to the bottom of the slot 11, that is, along the extension direction of the mating edge 113. The annular groove 114 is closer to the bottom of the slot 11 than the mating edge 113. Of course, the annular groove 114 can directly fit the bottom of the slot, or it can maintain a certain distance from the bottom of the slot. These will not be explained in detail here. The robotic arm 100 includes a first sealing ring 7. The inner wall of the first sealing ring 7 is sleeved on the insertion part 2a1, and the outer wall of the first sealing ring 7 abuts against the bottom of the annular groove 114. When the insertion part 2a1 of the clamping component 2 is not inserted into the slot 11, the first sealing ring 7 needs to protrude from the opening of the annular groove 114 so that when the insertion part 2a1 is inserted into the slot 11, the first sealing ring 7 can generate elastic deformation, thereby sealing the gap between the insertion part 2a1 and the inner side wall of the slot 11.

[0044] It should be noted that the depth to which the plug 2a1 extends into the slot 11 must ensure that the plug 2a1 can fully contact the first sealing ring 7, and also ensure that the connecting air pipe and the air supply interface 5 are connected, and that the electrical plug and the electrical port 6 are connected.

[0045] In some embodiments, the robotic arm 100 includes a detection component, which includes a first detector and a second detector. The first detector is disposed at the air supply interface 5 and is used to determine whether the flexible gripper is inserted. When the flexible gripper is inserted into the slot 11, the detection signal received by the first detector changes, thereby generating a feedback signal to the control mechanism connected to the robotic arm 100. The control mechanism then controls the start of equipment such as an air pump connected to the air supply interface 5 to supply air to the flexible gripper. The second detector is disposed at the electrical port 6 and is used to determine whether the rigid gripper is inserted. When the rigid gripper is inserted into the slot 11, the detection signal received by the second detector changes, thereby generating a feedback signal to the control mechanism connected to the robotic arm 100. The control mechanism then controls the start of equipment such as a power supply connected to the electrical port 6 to supply power to the rigid gripper.

[0046] It is understood that the types of the first and second detectors mentioned above may include, but are not limited to, ultrasonic detection devices, contact sensors, magnetic sensors, photoelectric sensors, etc.

[0047] For example, in this embodiment, different types of detectors are selected depending on the connection method between the flexible gripper and the rigid gripper and the arm assembly 1. The first detector is preferably an infrared detection device. Specifically, the infrared detection device includes an infrared emitter and an infrared receiver. The infrared emitter continuously emits infrared light, and the infrared receiver is positioned opposite to the infrared emitter. When the infrared receiver receives the infrared light emitted by the infrared emitter, it proves that no object is inserted into the air supply interface 5. This can assist the control mechanism in determining that the flexible gripper is not connected to the arm assembly 1, and equipment such as the air pump that can supply air does not need to be started. However, when the flexible gripper is inserted into the slot 11, the connecting air pipe extends into the air supply interface 5, and the connecting air pipe blocks the infrared light emitted by the infrared receiver from reaching the infrared receiver. The transmission of the device, at this time the infrared receiver can assist the control mechanism in determining that the clamp inserted into the slot 11 is a flexible clamp, and then control the air pump and other air supply equipment to start to supply air to the flexible clamp; the second detector is preferably a contact sensor. When the contact sensor is not subjected to external pressure, it is in an open circuit state. At this time, it does not send a feedback signal to the control mechanism, and the control mechanism will not supply current to the electrical port 6. However, when the rigid clamp is inserted into the slot 11, the electrical plug is connected to the electrical port 6. The contact sensor is subjected to the pressure of the electrical plug and is in a closed circuit state, generating a feedback signal. At this time, the contact sensor assists the control mechanism in determining that the type of clamp inserted into the slot 11 is a rigid clamp, and then controls the power supply equipment such as the battery connected to the electrical port 6 to conduct to supply power to the rigid clamp.

[0048] Understandably, to prevent the control mechanism from activating the power supply or air supply when the clamping component 2 fails to be fully inserted into the slot 11, in some embodiments, a limit switch is provided at the bottom of the slot 11. The limit switch is electrically connected to the control mechanism and can generate a feedback signal and transmit it to the control mechanism. Specifically, the limit switch can be pressed to activate, and the button portion of the limit switch protrudes from the bottom of the slot 11. When the insertion portion 2a1 of the clamping component 2 is inserted into the slot 11 and fully engaged, the end of the insertion portion 2a1 presses down on the button portion of the limit switch, thereby generating a feedback signal from the limit switch to the control mechanism. The control mechanism then selects to activate the air supply or the power supply based on the signals fed back by the first and second detectors.

[0049] It should be noted that the aforementioned control mechanisms, gas supply equipment, power supply equipment, etc., are all located in the main body of the harvesting robot. The main body of the harvesting robot will not be described in detail here.

[0050] The aforementioned flexible gripper is primarily powered by gas. Therefore, the airtightness between the gas supply port 5 and the connecting air pipe determines whether the flexible gripper can operate continuously and stably. For some embodiments, please refer to... Figure 7 The outer periphery of the air supply interface 5 is provided with a sealing groove 51. An annular abutment platform 52 is formed between the inner side wall of the sealing groove 51 and the outer wall of the air supply interface 5. The port of the air supply interface 5 is surrounded by the annular abutment platform 52. The robotic arm 100 includes a second sealing ring 8, which is embedded in the abutment platform so that when the flexible gripper is inserted into the slot 11, the end face of the connecting air pipe presses against the second sealing ring 8 to achieve a sealed connection. And / or, the robotic arm 100 includes a third sealing ring 9. The outer wall of the third sealing ring 9 abuts against the side wall of the sealing groove 51. When the insertion part 2a1 of the flexible gripper is inserted into the slot 11, the inner wall of the third sealing ring 9 is sleeved on the connecting air pipe so that when the flexible gripper is inserted into the slot 11, the outer wall of the third sealing ring 9 abuts against the radial inner wall of the sealing groove 51 to form a radial seal. The above structure enables the connecting air pipe to achieve axial sealing based on the second sealing ring 8 and radial sealing based on the third sealing ring 9 after it is connected to the air supply interface 5, thus achieving dual sealing for the connecting air pipe and the air supply interface 5.

[0051] Understandably, the third sealing ring 9 can abut against the second sealing ring 8, thereby reducing the processing steps at the air supply interface 5; or a groove can be opened on the abutment platform to accommodate the second sealing ring 8 to achieve the effect of embedding, ensuring that the second sealing ring 8 and the third sealing ring are physically isolated from each other and do not affect each other.

[0052] It should be noted that the materials that can be selected for the first sealing ring 7, the second sealing ring 8 and the third sealing ring 9 are, but are not limited to, silicone, rubber, polyethylene, etc.

[0053] Furthermore, with the increase in usage time, the second sealing ring 8 and the third sealing ring 9 will inevitably age, which will affect the airtightness of the connection between the connecting air pipe and the air supply interface 5, resulting in air leakage, and thus affecting the control accuracy of the flexible gripper.

[0054] Therefore, in some embodiments, the detection component further includes a third detector. The side wall of the air supply interface 5 is provided with a notch, and the third detector is housed in the notch. The third detector is used to detect the air pressure at the air supply interface 5. A preset air pressure value is set for the third detector based on the stable air pressure value after the connecting air pipe of the flexible gripper is connected to the air supply interface 5. When the connecting air pipe of the flexible gripper is connected to the air supply interface 5, the third detector detects the air pressure value in the air supply interface 5 in real time. When the air pressure value detected by the third detector is greater than the preset air pressure value, it is determined that there is a blockage between the connecting air pipe and the air supply interface 5. When the air pressure value detected by the third detector is less than the preset air pressure value, it is determined that there is a leak between the connecting air pipe and the air supply interface 5.

[0055] Furthermore, the robotic arm 100 also includes a warning device, which is electrically connected to the aforementioned third detector, and the detection component is also electrically connected to the control mechanism, so that the control mechanism controls the warning device to issue a corresponding warning signal based on the detection data fed back by the third detector, in order to alert the user.

[0056] Understandably, the optional structure of the warning device includes, but is not limited to, an audible alarm device, a visual indicator device, or a combination of both. For example, when the warning device is an audible alarm device, if a blockage occurs between the connecting air tube and the air supply interface 5, the control mechanism will control the audible alarm device to emit a rapid whistle; if an air leak occurs between the connecting air tube and the air supply interface 5, the control mechanism will control the audible alarm device to emit a long whistle. When the warning device is a visual indicator device, if a blockage occurs between the connecting air tube and the air supply interface 5, the control mechanism will control the visual indicator device to flash red; if an air leak occurs between the connecting air tube and the air supply interface 5, the control mechanism will control the visual indicator device to flash orange. The combination of an audible alarm device and a visual indicator device will not be exemplified here; simply refer to the above-described methods for combining audible alarm devices and visual indicator devices.

[0057] It should be noted that the types of warning devices such as sound alarms and light indicators are not limited to the examples mentioned above. As long as the warning can be clearly distinguished when there is a blockage or leak between the connecting air pipe and the air supply interface 5, it is acceptable.

[0058] It should be noted that the notch is set up here on the premise that it does not affect the sealing effect of the second sealing ring 8 and the third sealing ring 9. For example, the notch can be set at a certain distance away from the port of the air supply interface 5. The value of this distance can be determined based on the actual length of the channel connecting to the air supply interface 5, as long as it ensures that the third detector can detect the air pressure normally.

[0059] In this embodiment, the robotic arm 100 includes an arm assembly 1 and a gripping assembly 2. One end of the arm assembly 1 is provided with a slot 11, and the other end of the arm assembly 1 is connected to the main body of the robot. The gripping assembly 2 is detachably connected to the slot 11. Through the cooperation structure between the gripping assembly 2 and the slot 11, the gripping assembly 2 and the arm assembly 1 are detachably connected. Users can select different types of grippers according to the actual usage scenario, thereby enabling the picking robot using the robotic arm 100 of this application to pick fruits under various picking conditions and improve the applicability of the picking robot.

[0060] This application also provides embodiments of a harvesting robot, including a main body and the aforementioned robotic arm 100. The robotic arm 100 is electrically connected to the main body. For the structure and function of the robotic arm 100, please refer to the above embodiments, which will not be repeated here.

[0061] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A robot arm, characterized in that, include: An arm assembly, one end of which is provided with a slot, and the other end of which is connected to the main body of the robot; A clamping assembly is detachably connected to the slot. The clamping assembly includes a base and at least two clamping arms. One end of the base is connected to the at least two clamping arms, and the other end of the base is provided with a plug-in portion, which is received in the slot.

2. The robotic arm according to claim 1, characterized in that, The slot has insertion holes on its side wall; The robotic arm includes a positioning pin; The clamping assembly is provided with a positioning hole, and one end of the positioning pin slides through the insertion hole and is inserted into the positioning hole.

3. The robotic arm according to claim 2, characterized in that, The inner wall of the slot is provided with a mounting groove, and the insertion hole communicates with the mounting groove; The locating pin has a protrusion extending from its periphery, and the protrusion is slidably received in the mounting groove. The robotic arm also includes an elastic element that is elastically compressed between the protrusion and the bottom of the mounting groove.

4. The robotic arm according to claim 1, characterized in that, The side wall of the plug-in part is provided with a mating groove, and the side wall of the slot is provided with a mating ridge, which is received in the mating groove; or the side wall of the plug-in part is provided with a plugging ridge, and the side wall of the slot is provided with a plugging groove, which is received in the plugging groove.

5. The robotic arm according to claim 4, characterized in that, The sidewall of the slot is provided with an annular groove, which is close to the bottom of the slot. The robotic arm includes a first sealing ring, the inner wall of which is fitted onto the insertion part, and the outer wall of which abuts against the bottom of the annular groove.

6. The robotic arm according to claim 1, characterized in that, The clamping assembly includes a rigid gripper and a flexible gripper, which can be respectively connected to the slot; The bottom of the slot is provided with an air supply interface and an electrical port, which are spaced apart. The rigid gripper is provided with an electrical plug. When the insertion part of the rigid gripper is inserted into the slot, the electrical plug is inserted into the electrical port. The flexible gripper is provided with a connecting air tube. When the insertion part of the rigid gripper is inserted into the slot, the connecting air tube is inserted into the air supply interface.

7. The robotic arm according to claim 6, characterized in that, The robotic arm includes a detection component, which includes a first detector and a second detector. The first detector is disposed at the air supply interface and is used to determine whether the flexible gripper is inserted. The second detector is disposed at the electrical port and is used to determine whether the rigid gripper is inserted.

8. The robotic arm according to claim 7, characterized in that, The outer periphery of the gas supply interface is provided with a sealing groove, and an annular abutment platform is formed between the inner side wall of the sealing groove and the outer wall of the gas supply interface. The robotic arm includes a second sealing ring, which is embedded in the abutment platform so that when the flexible gripper is inserted into the slot, the end face of the connecting air tube presses against the second sealing ring to achieve a sealed connection. And / or, the robotic arm includes a third sealing ring, the inner wall of which is fitted onto the connecting air tube, such that when the flexible gripper is inserted into the slot, the outer wall of the third sealing ring abuts against the radial inner wall of the sealing groove to form a radial seal.

9. The robotic arm according to claim 7, characterized in that, The detection component includes a third detector; The side wall of the gas supply interface is provided with a notch, and the third detector is housed in the notch. The third detector is used to detect the gas pressure at the gas supply interface.

10. A picking robot, characterized in that Including the robotic arm as described in any one of claims 1-9.

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