CN-116584248-B - Picking robot tail end executing mechanism with rotary telescopic function and executing method

CN116584248BCN 116584248 BCN116584248 BCN 116584248BCN-116584248-B

Abstract

The invention belongs to the technical field of picking robots, and relates to a picking robot tail end executing mechanism with a rotary telescopic function and an executing method. The actuating mechanism can realize small-range angle adjustment of the clamping part at the part to be picked, and avoid accidental injury to nearby immature fruits and vegetables. When the clamping part reaches the position to be picked for picking, the ball screw nut is driven to rotate through the first driven wheel (at the moment, the second driven wheel is not moved) or the spline nut is driven to rotate through the second driven wheel (at the moment, the first driven wheel is not moved) so that the screw spline shaft stretches out along the axial direction, the ball screw nut is driven to rotate through the first driven wheel and the spline nut is driven to rotate through the second driven wheel so that the screw spline shaft rotates, and therefore the clamping part further drives fruits and vegetables to be picked to rotate, the fruits and vegetables to be picked are separated from fruit stalks, and picking is completed.

Inventors

DOU FEIFEI
DONG XIAOJIAN
YANG JIE
QIAN CHAOCHAO

Assignees

陕西伟景机器人科技有限公司

Dates

Publication Date: 20260508
Application Date: 20230707

Claims (7)

1. The picking robot tail end actuating mechanism with the rotary telescopic function is arranged at the tail end of a picking robot mechanical arm and is characterized by comprising a clamping part (1), a first driving mechanism (2) and a second driving mechanism (3), wherein the first driving mechanism (2) is connected with the clamping part (1) and is used for driving the clamping part (1) to rotate and/or move in a telescopic manner, and the second driving mechanism (3) is connected with the first driving mechanism (2) and is used for driving the first driving mechanism (2) to pitch up and down and/or swing left and right; The second driving mechanism (3) comprises a fixed frame, a third driving motor (31), a transmission assembly and a fourth driving motor (32); The third driving motor (31) is fixedly connected with the fixed frame and is used for driving the fourth driving motor (32) to pitch up and down through the transmission assembly; The fourth driving motor (32) is movably connected with the fixing frame, and an output shaft of the fourth driving motor (32) is fixedly connected with the first driving mechanism (2) and used for driving the first driving mechanism (2) to swing left and right; The transmission assembly comprises a first rotating wheel (33), a second rotating wheel (34) and a transmission belt; the first rotating wheel (33) is fixedly connected with an output shaft of the third driving motor (31), and the second rotating wheel (34) is fixedly connected with the fourth driving motor (32); when the third driving motor (31) starts to work, the fourth driving motor (32) realizes up-down pitching through the cooperation of the first rotating wheel (33), the second rotating wheel (34) and the transmission belt; The first driving mechanism (2) comprises a first mounting frame and a ball screw spline mechanism arranged in the first mounting frame; The ball screw spline mechanism comprises a screw spline shaft (21), a first driven wheel (22) and a second driven wheel (23) which are symmetrically distributed on the screw spline shaft (21), and a first driving motor and a second driving motor which are symmetrically distributed on one side of a first mounting frame; The first driving motor drives the first driving wheel (24) to rotate, the first driving wheel (24) drives the first driven wheel (22) to rotate, the second driving motor drives the second driving wheel (25) to rotate, and the second driving wheel (25) drives the second driven wheel (23) to rotate, wherein the first driven wheel (22) and the second driven wheel (23) are positioned on the other side of the first mounting frame; The screw spline shaft (21) is provided with a plurality of groups of parallel grooves along the axial direction and a spiral groove along the spiral direction, the screw spline shaft (21) is also respectively provided with a ball screw nut and a spline nut, the ball screw nut is connected with a first driven wheel (22) through a flange plate, and the spline nut is connected with a second driven wheel (23) through a flange plate; When either one of the first driven wheel (22) and the second driven wheel (23) rotates while the other driven wheel is stationary, the lead screw spline shaft (21) is axially extended/retracted by the rotation of a ball screw nut or spline nut; When the first driven wheel (22) and the second driven wheel (23) rotate in the same direction and at the same speed, the screw spline shaft (21) rotates under the combined action of the ball screw nut and the spline nut.
2. The picking robot end actuating mechanism according to claim 1, wherein the fixing frame is a U-shaped frame, the third driving motor (31) is fixedly arranged on the side wall or the bottom of the U-shaped frame, the fourth driving motor (32) is hinged to the two side walls of the U-shaped frame, and an output shaft of the fourth driving motor (32) can pitch up and down in a space area where an opening of the U-shaped frame is located.
3. The picking robot end effector as claimed in claim 1, wherein the screw spline shaft (21) moves linearly in the axial direction when the second driven wheel (23) stops rotating and the ball screw nut is driven to rotate only by the first driven wheel (22), and the screw spline shaft (21) moves helically when the first driven wheel (22) stops rotating and the spline nut is driven to rotate only by the second driven wheel (23).
4. The picking robot end effector of claim 1, wherein the first drive mechanism comprises an encoder to measure rotational displacement of the first drive motor and the second drive motor.
5. The picking robot end effector as claimed in claim 1, wherein the clamping part (1) is a clamping jaw or suction cup fixedly mounted at the end of a screw spline shaft (21).
6. The picking robot end effector as claimed in claim 1, wherein the first mounting frame comprises a housing (26) mounted outside the ball screw nut and the spline nut, and further comprises a second mounting frame (27) for placing the first driving motor and the second driving motor, the second mounting frame (27) is U-shaped in cross section and is integrally formed by a rectangular plate (271) and trapezoid plates (272) located on two sides of the rectangular plate (271), the first driving motor and the second driving motor are mounted on corresponding motor supports respectively, and the motor supports are fixedly mounted on the rectangular plate (271) through bolts.
7. The method of any one of claims 1-6, wherein when the picking robot end effector receives a picking command to perform a picking action, the method is specifically performed as follows: 1) The end actuating mechanism of the picking robot moves to a position to be picked, and drives a fourth driving motor (32) to drive the first driving mechanism (2) to pitch up and down through the rotation of a third driving motor (31) in the second driving mechanism (3), and drives the first driving mechanism (2) to swing left and right under the action of the fourth driving motor (32); 2) The clamping part (1) of the end actuating mechanism of the picking robot stretches out to clamp fruits and vegetables to be picked, namely, a first driven wheel (22) in the first driving mechanism (2) drives a ball screw nut to rotate, so that a screw spline shaft (21) stretches out along the axial direction to drive the clamping part (1) to stretch out, or a second driven wheel (23) in the first driving mechanism (2) drives the spline nut to rotate, so that the screw spline shaft (21) stretches out along the axial direction to drive the clamping part (1) to stretch out; 3) The clamping part (1) of the tail end executing mechanism of the picking robot drives the fruits and vegetables to be picked to rotate so as to separate the fruits and vegetables to be picked from the fruit stalks, wherein the first driven wheel (22) drives the ball screw nut to rotate and the second driven wheel (23) drives the spline nut to rotate in the same direction and at the same speed so as to enable the screw spline shaft (21) to rotate, and the clamping part (1) further drives the fruits and vegetables to be picked to rotate so as to separate the fruits and vegetables to be picked from the fruit stalks; 4) The clamping part (1) of the end actuating mechanism of the picking robot is retracted, namely the first driven wheel (22) drives the ball screw nut to rotate, so that the screw spline shaft (21) is retracted along the axial direction, and further the clamping part (1) is driven to retract, or the second driven wheel (23) drives the spline nut to rotate, so that the screw spline shaft (21) is retracted along the axial direction, and further the clamping part (1) is driven to retract.

Description

Picking robot tail end executing mechanism with rotary telescopic function and executing method Technical Field The invention belongs to the technical field of picking robots, and relates to a picking robot tail end executing mechanism with a rotary telescopic function and an executing method. Background With the maturation of robot technology, cost reduction and popularization and application, robots gradually enter the agricultural field, and the development of modern agriculture towards industrial production, unmanned and intelligent is promoted. The picking of fruits and vegetables has the characteristics of strong seasonality, high labor intensity, high environmental and operation requirements and the like, and robotically operation is urgently needed in agricultural production. At present, the picking of fruits and vegetables still mainly depends on a large amount of manpower, so that the labor cost is high, the picking efficiency is low, the manual picking is difficult for some higher fruit trees, and the risk of careless falling and falling injury caused by complex operation environment exists in the manual picking. Therefore, the fruit and vegetable picking mechanical device is needed to liberate labor force, improve labor production efficiency, reduce labor cost, ensure the quality of fresh fruits and vegetables and meet the real-time performance of crop growth. Although some simple picking manipulators are in research at home and abroad, most of the products are only aimed at picking certain fruits, and have single functions and poor universality. In this regard, the existing Chinese patent (publication No. CN102090210A, publication No. 2011.06.15) discloses an end effector of a multi-fruit type fruit and vegetable picking robot and the robot, wherein an eccentric blade is used as a shearing mechanism, and the eccentric mechanism drives the eccentric blade to shear under the drive of a motor, so that the picking efficiency can be improved to a certain extent. Because the actuator needs to use an eccentric blade, when the movement distance of the actuator is small, immature fruits and vegetables nearby are easy to be accidentally injured, especially fruits and vegetables growing in clusters like Chinese dates, oranges and the like, but other fruits and vegetables growing in clusters cannot be picked. Therefore, there is a need to design an end effector suitable for a multi-type fruit and vegetable picking robot, which can improve picking efficiency and mechanization rate and reduce cost. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides an end actuating mechanism and an actuating method of a picking robot with a rotary telescopic function, which can improve the picking efficiency and are suitable for picking various fruits and vegetables. In order to achieve the above purpose, the present invention provides the following technical solutions: on the one hand, the invention provides an end actuating mechanism of a picking robot with a rotary telescopic function, which is arranged at the end of a mechanical arm of the picking robot and comprises a clamping part, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism is connected with the clamping part and used for driving the clamping part to rotate and/or perform telescopic movement, and the second driving mechanism is connected with the first driving mechanism and used for driving the first driving mechanism to pitch up and down and/or swing left and right. Further, the second driving mechanism comprises a fixing frame, a third driving motor, a transmission assembly and a fourth driving motor; the third driving motor is fixedly connected with the fixing frame and used for driving the fourth driving motor to pitch up and down through the transmission assembly; The fourth driving motor is movably connected with the fixing frame, and an output shaft of the fourth driving motor is fixedly connected with the first driving mechanism and used for driving the first driving mechanism to swing left and right. Further, the transmission assembly comprises a first rotating wheel, a second rotating wheel and a transmission belt; the first rotating wheel is fixedly connected with an output shaft of the third driving motor, and the second rotating wheel is fixedly connected with the fourth driving motor; When the third driving motor starts to work, the fourth driving motor realizes up-down pitching through the cooperation of the first rotating wheel, the second rotating wheel and the transmission belt. The fixing frame is a U-shaped frame, the third driving motor is fixedly arranged on the side wall or the bottom of the U-shaped frame, the fourth driving motor is hinged to the two side walls of the U-shaped frame, and an output shaft of the fourth driving motor can pitch up and down in a space region where an opening of the U-shaped frame is located. Further, the first driving m