阅读说明：本技术 一种蔬菜采收夹取装置及机器人 (Vegetable harvesting and clamping device and robot ) 是由 李绍华 张炳鑫 李阳 于 2021-08-12 设计创作，主要内容包括：本发明涉及蔬菜采收的技术领域,公开了一种蔬菜采收夹取装置及机器人,蔬菜采收夹取装置包括转动气缸、气动夹爪和一对夹片,夹片包括水平夹片和竖直拉动片,水平夹片的一端与竖直拉动片的底端连接,竖直拉动片与水平夹片的连接处设有拉动转轴,夹片通过拉动转轴与气动夹爪的输出端枢接,转动气缸的输出轴与竖直拉动片的顶端连接,转动气缸带动夹片以拉动转轴为旋转中心进行转动,本发明转动气缸通过拉动夹片绕拉动转轴转动,从而使得夹片夹紧种植杯以一定的倾斜角与种植板相分离,避免了因相邻蔬菜叶片相互碰撞、拉扯而发生的折断现象,有效的提高了蔬菜的采收品质,避免了浪费。(The invention relates to the technical field of vegetable harvesting, and discloses a vegetable harvesting and clamping device and a robot, wherein the vegetable harvesting and clamping device comprises a rotating cylinder, a pneumatic clamping jaw and a pair of clamping pieces, each clamping piece comprises a horizontal clamping piece and a vertical pulling piece, one end of each horizontal clamping piece is connected with the bottom end of each vertical pulling piece, a pulling rotating shaft is arranged at the joint of each vertical pulling piece and each horizontal clamping piece, each clamping piece is pivoted with the output end of the pneumatic clamping jaw through the pulling rotating shaft, the output shaft of each rotating cylinder is connected with the top end of each vertical pulling piece, and each rotating cylinder drives each clamping piece to rotate by taking the pulling rotating shaft as a rotating center, so that the rotating cylinder rotates by pulling the clamping pieces around the pulling rotating shafts, a planting cup clamped by the clamping pieces is separated from a planting plate at a certain inclination angle, the breakage phenomenon caused by collision and pulling of adjacent vegetable leaves is avoided, and the vegetable harvesting quality is effectively improved, waste is avoided.)

1. The utility model provides a device is got to vegetables harvesting clamp, its characterized in that, is including rotating cylinder, pneumatic clamping jaw and a pair of clamping piece, the clamping piece includes horizontal clamping piece and perpendicular vertical pulling moving piece, the one end of horizontal clamping piece is connected with the bottom of vertical pulling piece, it is equipped with the pulling pivot with the junction of horizontal clamping piece to erect the vertical pulling moving piece, the clamping piece is through the output pin joint of pulling pivot with pneumatic clamping jaw, the output shaft that rotates the cylinder is connected with the top of erecting the vertical pulling moving piece, it rotates as center of rotation to rotate the cylinder drive clamping piece with the pulling pivot.

2. The vegetable harvesting and gripping device of claim 1, further comprising an air jet assembly including an air jet nozzle, an air tube, and an air tube connection, the air jet nozzle communicating with the air tube connection through the air tube, the air jet nozzle being located between the two jaws, the air jet being directed toward a side away from the pneumatic jaws.

3. The vegetable harvesting and clamping device as claimed in claim 2, wherein a driving through slot is formed at the top end of the vertical pulling piece, the driving through slot extends in the vertical direction, a horizontally disposed sliding rod is fixed on the output shaft of the rotating cylinder, two ends of the sliding rod respectively pass through the driving through slots of the two clamping pieces, and the rotating cylinder drives the clamping pieces to rotate by taking the rotating shaft as the rotation center through the sliding rod.

4. The vegetable harvesting and clamping device as claimed in claim 3, wherein an air cylinder pushing block is fixed on the output shaft of the rotating air cylinder, two opposite pull rod fixing plates are fixed on the side of the air cylinder pushing block away from the rotating air cylinder, fixing holes are formed in the pull rod fixing plates, two ends of the sliding pull rod respectively penetrate through the fixing holes and the driving through grooves of the vertical pulling and driving pieces in sequence, and the sliding pull rod is fixed with the pull rod fixing plates through the fixing holes.

5. The vegetable harvesting and clamping device as recited in claim 4, wherein the air tube connector is secured to the air cylinder push block and the air tube passes through a space between the sliding pull rod and the air cylinder push block.

6. The vegetable harvesting and clamping device as recited in claim 3, wherein the driving channel is a kidney-shaped hole.

7. The vegetable harvesting and clamping device as claimed in claim 1, wherein the horizontal clamping piece comprises a connecting piece and a clamping piece which are connected, one end of the connecting piece is connected with the bottom end of the vertical pulling piece, the other end of the connecting piece is connected with the clamping piece, and the connecting piece is inclined towards the outside.

8. The vegetable harvesting and clamping device as claimed in claim 1, further comprising a clamping fixing plate, wherein the clamping fixing plate is vertically arranged, the rotating cylinder and the pneumatic clamping jaw are fixed on the same side of the clamping fixing plate, and the rotating cylinder is located above the pneumatic clamping jaw.

9. The vegetable harvesting and clamping device as claimed in claim 8, wherein a cylinder fixing boss is fixed on the side edge of the middle part of the clamping fixing plate in a protruding manner, the rotating cylinder is fixed on the cylinder fixing boss, a clamping jaw fixing boss is fixed on the bottom edge of the clamping fixing plate in a protruding manner, and the pneumatic clamping jaw is fixed on the clamping jaw fixing boss.

10. The vegetable harvesting mechanism as defined in claim 1, wherein the jaw rotates about the pulling shaft such that it has an angle α of inclination with respect to the horizontal, the angle α of inclination ranging from 10 ° to 25 °.

Technical Field

The invention relates to the technical field of vegetable harvesting, in particular to a vegetable harvesting and clamping device and a robot.

Background

The vegetables of plant factory are the planting in row of interval fixed distance on the board is planted to the plane, and the harvest of ripe vegetables is at present through artifical hand take out vegetables, then utilizes the scissors to carry out the root and prune the completion, and the mode of artifical harvesting is not only inefficient, and manual work also can cause the pollution of certain degree to vegetables moreover. Device is got to some present arms clamps, when picking the clamp and getting vegetables, can only realize getting the vegetables of planting the planting cup in the vertical direction clamp for break away from on the vegetable planting board, the in-process of getting is got at the perpendicular, because drag between the adjacent row of vegetables leaf can lead to the leaf rupture to scatter, causes the waste, and finally influences the quality of gathering.

Disclosure of Invention

Therefore, a vegetable harvesting and clamping device needs to be provided, and the problem that vegetable leaves are easily broken and scattered when the existing vegetable harvesting and clamping device clamps vegetables is solved.

In order to achieve the purpose, the invention provides a vegetable harvesting and clamping device which comprises a rotating cylinder, a pneumatic clamping jaw and a pair of clamping pieces, wherein each clamping piece comprises a horizontal clamping piece and a vertical pulling piece, one end of each horizontal clamping piece is connected with the bottom end of each vertical pulling piece, a pulling rotating shaft is arranged at the joint of each vertical pulling piece and each horizontal clamping piece, each clamping piece is pivoted with the output end of the pneumatic clamping jaw through the pulling rotating shaft, the output shaft of the rotating cylinder is connected with the top end of each vertical pulling piece, and the rotating cylinder drives the clamping pieces to rotate by taking the pulling rotating shafts as the rotating center.

Further, still include jet-propelled subassembly, jet-propelled subassembly includes air nozzle, air hose and air pipe joint, air nozzle passes through the air hose and connects the intercommunication with the air pipe, air nozzle is located between two clamping pieces, one side of pneumatic clamping jaw is kept away from to the air jet orientation. When the clamping pieces clamp the planting cup, the left clamping piece and the right clamping piece are close to the planting cup with vegetables, the air nozzle blows air outwards to blow open the vegetable leaves in the advancing direction of the clamping pieces, the vegetable leaves are prevented from being stabbed by the left clamping piece and the right clamping piece, and the harvesting quality is guaranteed.

Further, the top of vertical pulling piece has been seted up and has been driven logical groove, it extends the setting along vertical direction to drive logical groove, it sets up the slip pull rod to be fixed with the level on the output shaft of rotation cylinder, the drive that two clamping pieces were passed respectively at the both ends of slip pull rod leads to the groove, the rotation cylinder drives the clamping piece through the slip pull rod and uses the pulling pivot to rotate as rotation center. The drive leads to the groove and has certain extension length, conveniently rotates and drives the clamping piece when horizontal shrink on the output shaft of cylinder and rotates, when effectively avoiding pressing from both sides to get the kind of a cup, presss from both sides to get the device and is died by the card.

Further, be fixed with the cylinder on the output shaft of revolving cylinder and promote the piece, the cylinder promotes the piece and keeps away from two pull rod fixed plates of fixed relative setting on the side of revolving cylinder, be equipped with the fixed orifices on the pull rod fixed plate, the both ends of slip pull rod pass the fixed orifices respectively in proper order and erect the drive logical groove of pull tab, the slip pull rod passes through the fixed orifices and is fixed mutually with the pull rod fixed plate. The pull rod fixed plate is used for fixing the two ends of the slide rod pull rod, and the slide rod passes and drives the through groove after, can drive the clamping piece and rotate, and is specific, in order to prevent the slide rod from driving the through groove and coming off, the both ends tip of slide rod can be fixed with protruding edge.

Further, the air pipe joint is fixed on the air cylinder pushing block, and the air pipe penetrates through a space between the sliding pull rod and the air cylinder pushing block. Inject the air hose in the space between slip pull rod and the cylinder promotion piece, avoid in continuous working process, the air hose takes place the winding phenomenon, guarantees to press from both sides the steady work of getting the device, and makes the whole structure of pressing from both sides the device more succinct.

Further, the driving through groove is a waist-shaped hole.

Further, horizontal clamping piece is got the piece including the connection piece that is connected with the clamp, the one end of connection piece is connected with the bottom of erecting the straight pull piece, and the other end of connection piece is got the piece with the clamp and is connected, the connection piece inclines towards the outside. The connecting piece inclines outwards to make the front of two relative clamping pieces have a bigger import, and the clamping of planting cup is more convenient.

Further, still press from both sides and get the fixed plate, press from both sides and get the vertical setting of fixed plate, rotation cylinder and pneumatic clamping jaw are fixed and are got on the same side of fixed plate, rotation cylinder is located the top of pneumatic clamping jaw.

Further, the side edge of the middle part of the clamping fixed plate protrudes and is fixed with a cylinder fixing boss, the rotating cylinder is fixed on the cylinder fixing boss, the bottom edge of the clamping fixed plate protrudes and is fixed with a clamping jaw fixing boss, and the pneumatic clamping jaw is fixed on the clamping jaw fixing boss. The cylinder fixing boss and the clamping jaw fixing boss play a certain positioning effect on the mounting positions of the rotary cylinder and the pneumatic clamping jaw on the clamping fixing plate.

Further, the clamping piece rotates by taking the pulling rotating shaft as a rotating center, so that an inclined included angle alpha is formed between the clamping piece and the horizontal plane, and the range of the inclined included angle alpha is 10-25 degrees.

The utility model provides a vegetables robot of gathering, includes that a plurality of foretell vegetables are gathered and are got the device and get the arm with pressing from both sides, press from both sides and be fixed with the slide rail on getting the output of arm, a plurality of vegetables are gathered and are got the device and slide and set up on the slide rail.

The technical scheme has the following beneficial effects:

according to the vegetable harvesting device, the rotating cylinder rotates around the pulling rotating shaft by pulling the clamping piece, so that the clamping piece clamps the planting cup to be separated from the planting plate at a certain inclination angle, and compared with the situation that the vegetable is pulled out vertically, the vegetable and the planting cup are separated at a certain inclination angle, so that adjacent vegetable blades are separated at a certain angle, the phenomenon of breakage caused by mutual collision and pulling of the adjacent vegetable blades can be avoided, the vegetable harvesting quality is effectively improved, and waste is avoided.

Drawings

Fig. 1 is a structural view of the grasping apparatus according to the embodiment.

Fig. 2 is a view showing an installation structure of the clip according to the embodiment.

Fig. 3 is a schematic view of the tilt angle of rotation of the clip according to an embodiment.

Fig. 4 is a structural diagram of a robot according to an embodiment.

Description of reference numerals:

1. rotating the cylinder; 11. a cylinder pushing block; 12. a sliding pull rod; 13. a pull rod fixing plate; 2. a pneumatic clamping jaw; 3. a clip; 31. vertically pulling the moving plate; 311. driving the through groove; 32. a horizontal clamping piece; 321. connecting sheets; 322. clamping the sheet; 4. pulling the rotating shaft; 5. clamping a fixed plate; 51. the cylinder fixes the boss; 52. a clamping jaw fixing boss; 6. a gas injection assembly; 61. an air nozzle; 62. an air tube; 63. a gas pipe joint; 7. a gripping mechanical arm; 71. a slide rail; 8. vegetables are gathered and are got device is got.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Please refer to fig. 1-3, the embodiment discloses a vegetable harvesting and clamping device, including rotating cylinder 1, pneumatic clamping jaw 2, a pair of clamping piece 3, air jet module 6 and clamp fixed plate 5, clamp fixed plate 5 vertical setting, rotating cylinder 1 and pneumatic clamping jaw 2 are fixed on the same side of clamping fixed plate 5, rotating cylinder 1 is located pneumatic clamping jaw 2's top, clamping piece 3 includes horizontal clamping piece 32 and vertical pulling piece 31, the one end of horizontal clamping piece 32 is connected with the bottom of vertical pulling piece 31, the junction of vertical pulling piece 31 and horizontal clamping piece 32 is equipped with pulling pivot 4, clamping piece 3 is pivoted with the output end of pneumatic clamping jaw 2 through pulling pivot 4, rotating cylinder 1's output shaft is connected with the top of vertical pulling piece 31, rotating cylinder 1 drives clamping piece 3 and rotates with pulling pivot 4 as rotation center. Specifically, the rotary cylinder 1 is a three-axis cylinder. The triaxial cylinder has higher stroke precision, is convenient for control the inclination of clamping piece 3, and the power of triaxial cylinder is great, and the effect is very fast.

The top of vertical pulling piece 31 has been seted up and has been driven logical groove 311, drives logical groove 311 and extends the setting along vertical direction, is fixed with the level on the output shaft of rotation cylinder 1 and sets up sliding pull rod 12, and the both ends of sliding pull rod 12 pass the logical groove 311 of drive of two clamping pieces 3 respectively, and rotation cylinder 1 drives clamping piece 3 through sliding pull rod 12 and uses pulling pivot 4 to rotate as rotation center. The driving through groove 311 has a certain extending length, the clamping piece 3 is driven to rotate when the output shaft of the rotating cylinder 1 is horizontally contracted, and the clamping device is effectively prevented from being blocked when the planting cup is clamped. In this embodiment, the driving through slot 311 is a waist-shaped hole.

Further, be fixed with the cylinder on the output shaft of rotating cylinder 1 and promote piece 11, the cylinder promotes piece 11 and keeps away from two pull rod fixed plates 13 of fixed relative setting on the side of rotating cylinder 1, is equipped with the fixed orifices on the pull rod fixed plate 13, and the both ends of slip pull rod 12 pass the drive that fixed orifices and vertical pulling piece 31 respectively in proper order and lead to groove 311, and slip pull rod 12 passes through the fixed orifices and is fixed mutually with pull rod fixed plate 13. The pull rod fixing plate 13 is used for fixing two ends of the slide rod pull rod, and the slide rod 12 passes through the driving through groove 311 and then can drive the clamping piece 3 to rotate, specifically, in order to prevent the slide rod 12 from falling off from the driving through groove 311, the end parts of two ends of the slide rod 12 can be fixed with convex edges.

The air injection assembly 6 comprises an air nozzle 61, an air pipe 62 and an air pipe joint 63, wherein the air nozzle 61 is communicated with the air pipe joint 63 through the air pipe 62, the air nozzle 61 is positioned between the two clamping pieces 3, and the air is injected towards the side far away from the pneumatic clamping jaws 2. When the clamping pieces 3 clamp the planting cup, the left and right clamping pieces 3 are close to the planting cup with vegetables, the air nozzle 61 blows air outwards to blow open the vegetable leaves in the advancing direction of the clamping pieces 3, the vegetable leaves are prevented from being stabbed by the left and right clamping pieces 3, and the harvesting quality is guaranteed.

Specifically, an air pipe joint 63 is fixed to the cylinder push block 11, and an air pipe 62 passes through a space between the slide rod 12 and the cylinder push block 11. The air pipe 62 is limited in the space between the sliding pull rod 12 and the cylinder pushing block 11, so that the air pipe 62 is prevented from winding in the continuous working process, the stable work of the clamping device is guaranteed, and the whole clamping device is simpler in structure.

The horizontal clamping piece 32 comprises a connecting piece 321 and a clamping piece 322 which are connected, one end of the connecting piece 321 is connected with the bottom end of the vertical pulling piece 31, the other end of the connecting piece 321 is connected with the clamping piece 322, and the connecting piece 321 inclines towards the outside. The connecting piece 321 inclines outwards, so that a larger inlet is formed in front of the two opposite clamping pieces 322, and the clamping of the planting cup is more convenient. Specifically, the connecting piece 321, the clamping piece 322 and the vertical pulling piece 31 are an integral structure.

In this embodiment, the cylinder fixing boss 51 fixed to the side edge of the middle part of the clamping fixing plate 5 protrudes, the rotating cylinder 1 is fixed to the cylinder fixing boss 51, the clamping fixing boss 52 fixed to the bottom edge of the clamping fixing plate 5 protrudes, and the pneumatic clamping jaw 2 is fixed to the clamping fixing boss 52. The cylinder fixing boss 51 and the clamping jaw fixing boss 52 play a certain positioning effect on the installation positions of the rotating cylinder 1 and the pneumatic clamping jaw 2 on the clamping fixing plate 5.

As shown in fig. 4, a vegetable harvesting robot comprises a plurality of vegetable harvesting clamping devices 8 and a clamping mechanical arm 7, wherein a sliding rail 71 is fixed at the output end of the clamping mechanical arm 7, the plurality of clamping devices 8 are slidably arranged on the sliding rail 7, the vegetable harvesting clamping devices 8 are slidably arranged to adjust the distance, and the clamping mechanical arm 7 is a six-axis mechanical arm.

The action process of the invention is as follows:

1. the operator places the planting plate on the planting plate conveying line, the planting plate is conveyed to the end part,

2. the clamping mechanical arm 7 is started, the pneumatic clamping jaw 2 of the clamping device on the output end of the clamping mechanical arm is in an open state and is close to the planting plate, the pneumatic clamping jaw penetrates through the vegetable leaves of the vegetables and is close to a planting cup (the vegetables are planted on the planting cup) on the planting plate until the clamping mechanical arm clamps the vegetable leaves, and meanwhile, the air nozzle 61 sprays air to avoid damaging the vegetable leaves of the clamping piece 3;

3. the pneumatic clamping jaw 2 is closed, and the clamping piece 3 of the pneumatic clamping jaw 2 clamps the planting cup;

4. the clamping piece 3 of the pneumatic clamping jaw 2 takes the pulling rotating shaft 4 as a rotating shaft, the output shaft of the rotating cylinder 1 contracts, so that the clamping piece 3 inclines upwards to rotate an inclination angle alpha, the clamped vegetables are separated from the vegetables in the back row, the inclination angle alpha can be 10 degrees, 21 degrees or 25 degrees, and is associated with the length of the driving through groove 311, and in the embodiment, the inclination angle alpha is set to be 21 degrees.

5. The gripping arm 7 continues to move to take out the planting cups and the vegetables along the normal direction of the inclination angle of the clamping jaw.

According to the vegetable harvesting device, the rotating cylinder 1 rotates around the pulling rotating shaft 4 by pulling the clamping piece 3, so that the clamping piece 3 clamps the planting cup to be separated from the planting plate at a certain inclination angle, and compared with the situation that the planting cup is pulled out vertically, vegetables and the planting cup are separated at a certain inclination angle, so that adjacent vegetable leaves are separated at a certain angle, the phenomenon of breakage caused by mutual collision and pulling of the adjacent vegetable leaves can be avoided, the vegetable harvesting quality is effectively improved, and waste is avoided.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.

Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.