Picking device of strawberry picking robot

Abstract

The picking device comprises a main body and picking claws, a claw seat is mounted at the front end of the main body, a plurality of picking claws are mounted on the claw seat in an annular array mode, each picking claw comprises a front claw and a rear claw, the front claw and the rear claw are each of an arc-shaped structure, an air channel is formed in the rear claw in the arc-shaped circumferential direction, and the front claw and the rear claw are communicated with each other. One end of the front claw is inserted into the air channel from the front end of the rear claw, the front claw can slide in the direction of the air channel, and an air channel control structure is further installed outside the main body. The picking claw for wrapping and picking strawberries is divided into two parts, so that when multiple strawberries need to be crossed together during picking of the strawberries, a small part of front claws can be independently controlled to stretch out and be inserted into the crossed positions of the to-be-picked strawberries and other strawberries, the to-be-picked strawberries are picked out, and then the to-be-picked strawberries are picked out; and then other front claws are controlled to wrap the strawberries together, and accurate picking is carried out.

Description

Technical Field

[0001] The present invention relates to the field of strawberry picking robots, and in particular to a strawberry picking device of the robot. Background Art

[0002] To improve agricultural production efficiency and reduce labor costs, agricultural automation technology has gradually emerged. The application of robotics in agriculture can not only improve crop yield and quality, but also reduce the workload of farmers and promote agricultural modernization. Strawberry is a fruit and vegetable crop with high economic value and large market demand. It has a short planting cycle and high yield, but the picking process is relatively cumbersome.

[0003] With regard to the picking equipment in the prior art, the picking manipulators are generally relatively rigid, and are often prone to damaging products during picking, especially for products such as strawberries, which are soft in texture and quickly deteriorate and rot after being scratched. The picking requirements are particularly high, and because the roots and stems of strawberries are easily intertwined during growth, when ripe, the stems of multiple strawberries are often crossed together, but only the ripe strawberries are picked, which makes it difficult to peel off the other unripe strawberries that are crossed with them. Therefore, the picking structure often squeezes and damages the unripe strawberries during picking, and the unripe strawberries are accidentally picked together. In order to solve this problem, the present application designs a picking device that can achieve efficient and accurate picking and prevent affecting other unripe strawberries. Summary of the Invention

[0004] (1) Purpose of the invention

[0005] In view of this, the purpose of the present invention is to propose a picking device for a strawberry picking robot, which divides the picking claws used to wrap and pick strawberries into two parts. Therefore, when picking strawberries, when multiple strawberries need to be crossed together, a small number of front claws can be independently controlled to extend and insert into the intersection position of the strawberries to be picked and other strawberries to "pick out" the strawberries to be picked, and then the other front claws can be controlled to wrap the strawberries together for precise picking.

[0006] (2) Technical solution

[0007] To achieve the above technical objectives, the present invention provides a strawberry picking robot picking device, which includes a main body, which is assembled on the manipulator of the picking robot, and a claw seat is installed at the front end of the main body;

[0008] There are multiple picking claws, which are installed in a circular array on the claw base. The claw base is equipped with a claw opening and closing control component for controlling the opening or closing of all picking claws;

[0009] The picking claws include front claws and rear claws, both of which adopt an arc-shaped structure, an air passage is opened inside the rear claw along the circumference of the arc, one end of the front claw is inserted into the air passage by the front end of the rear claw, and the front claw can slide along the direction of the air passage so that one end of the front claw can extend outward or retract into the air passage, and an air path control structure is also installed on the outside of the main body, and the air path control structure is used to control the air pressure in the air passage of each rear claw so that the front claw can independently extend outward or retract inward. When the device is in use, the main body is first assembled on the manipulator of the picking robot, and the manipulator controls the The picking claws move to the vicinity of the strawberries to be picked. When the picking robot determines that there are multiple intersecting strawberries near the strawberries to be picked that affect picking, a small number of picking claws are controlled to move to the intersection of the strawberries to be picked and other strawberries, and then all the picking claws are controlled to enter the closed state through the claw opening and closing control component. Then, the air path control structure is used to control the front claws of the picking claws at this position to extend outward so that they are inserted between the intersection of the strawberries to be picked and other strawberries. Then, the manipulator controls the picking claws to move away from other strawberries. Finally, the front parts of the front claws on all the picking claws are extended outward to wrap the strawberries to be picked, and then move backward to pick the strawberries.

[0010] As a further description of the above technical solution: a limit stop is installed on the upper surface of one end of the front claw inserted into the airway, and a limit slide adapted to the limit stop is opened circumferentially on the inner wall of the airway, so that the extension and retraction range of the front claw is limited to the area of ​​the limit slide, avoiding the situation where the front claw is directly pushed out and the rear claw falls off.

[0011] As a further description of the above technical solution: a rubber piston is installed in the area of ​​the upper surface of the front claw located in the limiting slide groove, and at the position of the rubber piston, a ring piston is embedded in the surface of the front claw along the circumferential direction. The rubber piston and the ring piston are integrally formed, so that when the front claw slides in the airway, the air tightness inside the airway is maintained, thereby ensuring the control effect of the extension and retraction of the front claw.

[0012] As a further description of the above technical solution: It is characterized in that a tension spring is installed inside the airway, which is used to apply tension to the front paw when the air pressure in the airway decreases, so that the front paw can be quickly retracted into the airway.

[0013] As a further description of the above technical solution: the gas path control structure includes:

[0014] A main airway ring pipe is fixedly mounted on the outside of the main body, and is provided with at least one air pipe joint capable of being connected to an external pressure-applying device. Specifically, the pressure-applying device may be a cylinder;

[0015] a flexible tube for connecting the main airway ring tube and the airway;

[0016] Among them, a hose connector is provided on the outside of each hind paw and at the position corresponding to the hind paw on the main airway ring tube. The hose connects the main airway ring tube and the airway through the hose connector on the hind paw and the main airway ring tube, and a solenoid valve is installed on the hose connector on each main airway ring tube. The solenoid valve is used to control the on-off connection between the hose connector and the main airway ring tube. Such a structural setting makes it necessary to control the extension and retraction of the front paw at a certain position, the solenoid valve on the hose connector at that position opens, so that the airway where the front paw is installed is connected to the main airway ring tube. At this time, the main airway ring tube and the hose are used to supply or inhale air to the airway through the external pressure-applying device, thereby realizing pressure control of the airway. When the airway is under negative pressure, the front paw is affected by the external atmospheric pressure and slides inward to realize contraction of the front paw. When the airway is under positive pressure, the front paw is pushed outward to realize extension of the front paw.

[0017] As a further description of the above technical solution: the claw opening and closing control component includes:

[0018] a telescopic rod, which is installed in the claw seat and can move along the central axis of the claw seat;

[0019] A cylinder, which is fixedly installed in the main body, and the piston rod of the cylinder is connected to the top of the telescopic rod, so that the cylinder can drive the telescopic rod to reciprocate along the axial direction;

[0020] A control plate is mounted on the free end of the telescopic rod, and an outer edge of the control plate is provided with rod mounting grooves corresponding to the number and position of the picking claws;

[0021] A connecting rod, one end of which is rotatably mounted in the rod mounting groove via a rotating shaft, and the other end of which is movably connected to the inner side of the picking claw;

[0022] In which, the outer wall of the claw seat is provided with a claw mounting opening corresponding to the number and position of the picking claws, the end of the picking claw is rotatably mounted in the claw mounting opening by a rotating shaft, and a sub-rod is rotatably mounted below the claw mounting opening by a rotating shaft, and the other end of the sub-rod is movably connected to the middle section of the connecting rod. When the cylinder is running and the control disk is pushed downward by the telescopic rod, the picking claw opens outward under the linkage control of the sub-rod and the connecting rod. Conversely, when the cylinder drives the control disk to move upward through the telescopic rod, the picking claw closes inward under the linkage control of the sub-rod and the connecting rod.

[0023] As a further description of the above technical solution: a vibration component is installed in the main body, and the vibration component includes a vibration motor and a motor seat, wherein the vibration motor is fixed to the motor seat by bolts, and the interior of the main body is hollowed out to form an inner cavity, and the motor seat is detachably assembled above the inner cavity. In this way, when picking some strawberries that are closely crossed, when a small number of front claws in the picking claws are inserted into the connection position of the strawberry, the picking claws can be driven to vibrate by the vibration motor, so that the strawberries can be quickly "picked out" and precise picking can be achieved. It should be noted that the vibration intensity of the picking claws is low, and the outside of the picking claws is wrapped with a layer of soft rubber material, so that it will not damage the strawberry itself during vibration.

[0024] As a further description of the above technical solution: the cylinder is installed in the inner cavity, and the motor seat is detachably locked and fixed above the interior of the inner cavity by a locking mechanism, and the locking mechanism includes a rotating shaft and a locking member, wherein the locking member is rotatably installed in the mounting opening opened in the main body by the rotating shaft, and the outer wall of the motor seat is located at the same horizontal position as the locking member and a locking slot is opened, and the locking member can be rotated by the rotating shaft so that one end of the locking member is inserted into the locking slot to fix the motor seat or one end of the locking member is moved out of the locking slot to release the motor seat. When the motor seat is released, the motor seat can be disassembled together with the vibration motor, thereby facilitating the replacement of the vibration motor and the replacement and maintenance of the cylinder inside the inner cavity.

[0025] As a further description of the above technical solution: the locking member includes a sleeve portion, a driving portion, a connecting rod portion and a locking portion, wherein the sleeve portion is sleeved on the rotating shaft, the locking portion is integrally formed on one end of the connecting rod portion, the driving portion and the connecting rod portion are integrally formed on the outside of the sleeve portion, and an angle is formed between the driving portion and the connecting rod portion, so that when the driving portion rotates around the axis of the rotating shaft, the connecting rod portion can drive the locking portion to be clamped into or moved out of the locking groove on the surface of the motor base, thereby achieving locking and unlocking of the motor base;

[0026] The main body is also provided with an unlocking control mechanism for controlling the rotation of the driving part, the unlocking control mechanism includes a control ring rotatably sleeved on the outer wall of the main body through a bearing and a U-shaped part fixedly installed on the inner wall of the control ring, the U-shaped part is located in the mounting opening, and the driving part is located between the two vertical ends of the U-shaped part, so that when the control ring rotates, the driving part can be driven to rotate, the U-shaped part and the inner wall of the mounting opening are connected by a return spring, when the control ring is not interfered with by other external forces, the return spring can provide a return rotational force to the control ring, and the rotational force can drive the control ring to rotate to the position where the driving part is engaged in the locking slot on the surface of the motor seat. Such a structural arrangement makes it necessary to rotate the control ring to drive the locking part on the locking part to move out of the locking slot when the motor seat needs to be disassembled, which is convenient and quick to operate. Furthermore, in order to improve the stability of the motor seat after installation, a plurality of locking parts are provided, and the plurality of locking parts are distributed in a ring array.

[0027] As a further description of the above technical solution: the inner wall of the inner cavity is provided with a support ring below the motor base, and a positioning block is installed on the support ring, and a positioning slot corresponding to the positioning block is provided at the bottom of the motor base. When the positioning slot on the motor base is installed corresponding to the positioning block, the locking slot on the side of the motor base accurately corresponds to the position of the locking part.

[0028] As a further description of the above technical solution: it also includes a mounting base, which is provided with a plurality of screw holes that can be connected to the front end of the robotic arm. The mounting base and the main body are fixedly connected by a plurality of connecting springs distributed in a ring array. Therefore, when the vibration motor vibrates, it mainly affects the picking claws at the front end and has less impact on the robotic arm.

[0029] In the above technical solution, the present invention provides a picking device of a strawberry picking robot, which divides the picking claws used for wrapping and picking strawberries into two parts, namely a rear claw part connected to the claw seat and a front claw part movably inserted at the front end of the rear claw and capable of extension and contraction, and each front claw can be independently controlled to extend and retract by an air circuit control structure. Therefore, when picking strawberries, when multiple strawberries need to be crossed together, a small number of front claws can be independently controlled to extend and insert between the intersection of the strawberries to be picked and the other strawberries to "pick out" the strawberries to be picked, and then the other front claws can be controlled to wrap the strawberries together for picking. In this way, the picking claws can be prevented from grabbing other strawberries that do not meet the picking requirements during picking, thereby achieving accurate picking, and can also reduce the situation where the picking claws squeeze other strawberries when closing during picking, causing damage to other strawberries.

[0030] A vibration component is installed in the main body of the picking device. Therefore, when picking some strawberries that are closely crossed, when a small number of front claws in the picking claws are inserted into the connection position of the strawberries, the picking claws can be driven to vibrate by the vibration motor, so that the strawberries can be quickly "picked out" and precise picking can be achieved. In addition, the installation structure of the vibration component is designed to facilitate the installation and disassembly of the vibration component, which is convenient for its own replacement and maintenance as well as the replacement and maintenance of other structures in the main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0032] Figure 1 A schematic diagram of the overall structure of a strawberry picking robot provided by the present invention;

[0033] Figure 2 A schematic structural diagram of a strawberry picking device of a strawberry picking robot provided by the present invention from another perspective;

[0034] Figure 3 A schematic diagram of the structure of a picking claw in a picking device of a strawberry picking robot provided by the present invention;

[0035] Figure 4 A partial cross-sectional view of a picking claw in a picking device of a strawberry picking robot provided by the present invention;

[0036] Figure 5 A schematic diagram of the main structure of a picking device of a strawberry picking robot provided by the present invention;

[0037] Figure 6 This is a schematic diagram of the cross-sectional structure of the main body of the picking device of a strawberry picking robot provided by the present invention;

[0038] Figure 7 A schematic diagram of the exploded structure of the main body of the picking device of a strawberry picking robot provided by the present invention;

[0039] Figure 8 This is a schematic cross-sectional structure diagram of a strawberry picking robot's picking device provided by the present invention, with the main body located at the motor seat;

[0040] Figure 9 This is a schematic structural diagram of the main body of a strawberry picking robot provided by the present invention after the motor base is disassembled;

[0041] Figure 10 This is a schematic diagram of the locking structure of a strawberry picking robot provided by the present invention.

[0042] Description of the drawings: 1. Main body; 10. Mounting port; 11. Inner cavity; 12. Positioning block; 13. Support ring; 2. Claw seat; 20. Claw mounting port; 3. Picking claw; 30. Rear claw; 300. Airway; 301. Limiting slide; 302. Tension spring; 31. Front claw; 310. Limiting block; 311. Rubber piston; 312. Annular piston; 4. Mounting seat; 40. Connecting spring; 5. Claw opening and closing control assembly; 50. Telescopic rod; 51. Control panel; 510. Rod mounting slot; 52. Auxiliary rod; 53. Connecting rod; 54. Cylinder ; 6. Air path control structure; 60. Hose; 61. Main airway ring pipe; 610. Air pipe connector; 62. Hose connector; 620. Solenoid valve; 7. Vibration assembly; 70. Vibration motor; 71. Motor seat; 710. Locking slot; 711. Positioning slot; 8. Unlocking control mechanism; 80. Control swivel; 81. U-shaped part; 82. Return spring; 83. Bearing; 9. Locking mechanism; 90. Rotating shaft; 91. Locking part; 910. Socket part; 911. Driving part; 912. Connecting rod part; 913. Locking part. DETAILED DESCRIPTION

[0043] The following description is merely illustrative in nature and is not intended to limit the present disclosure, its applications, or uses. It should be understood that throughout the drawings, identical or similar reference numerals indicate identical or similar parts and features. The drawings merely schematically illustrate the concepts and principles of the embodiments of the present disclosure and do not necessarily depict the specific dimensions and proportions of the various embodiments of the present disclosure. Certain portions of certain drawings may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0044] Example 1

[0045] Reference Figure 1-10:This embodiment provides a technical solution: a picking device of a strawberry picking robot, including a main body 1 and a picking claw 3, wherein the main body 1 is assembled on the manipulator of the picking robot, a claw seat 2 is installed at the front end of the main body 1, a plurality of picking claws 3 are provided, and the plurality of picking claws 3 are installed on the claw seat 2 in a circular array, and a claw opening and closing control component 5 for controlling the opening or closing of all picking claws 3 is installed on the claw seat 2, and the picking claw 3 includes a front claw 31 and a rear claw 30, and the front claw 31 and the rear claw 30 are both picking Using an arc-shaped structure, an air passage 300 is opened inside the rear claw 30 along the circumference of the arc, and one end of the front claw 31 is inserted into the air passage 300 by the front end of the rear claw 30. The front claw 31 can slide along the direction of the air passage 300, so that one end of the front claw 31 can extend outward or retract into the air passage 300. An air passage control structure 6 is also installed on the outside of the main body 1. The air passage control structure 6 is used to control the air pressure in the air passage 300 of each rear claw 30, so that the front claw 31 can independently extend outward or retract inward.

[0046] Working principle: When the device is in use, the main body 1 is first assembled on the manipulator of the picking robot, and the picking claws 3 are controlled by the manipulator to move to the vicinity of the strawberries to be picked. When the picking robot determines that there are multiple intersecting strawberries near the strawberries to be picked that affect the picking, a small number of picking claws 3 are controlled to move to the intersection position of the strawberries to be picked and other strawberries, and then all the picking claws 3 are controlled to enter the closed state through the claw opening and closing control component 5, and then the front claws 31 in the picking claws 3 at this position are controlled to extend outward through the air path control structure 6, so that they are inserted between the intersection position of the strawberries to be picked and other strawberries, and then the picking claws 3 are controlled by the manipulator to move away from other strawberries. Finally, the front parts of the front claws 31 on all the picking claws 3 are extended outward, wrapping the strawberries to be picked, and then moving backward to pick the strawberries.

[0047] By adopting the above technical solution: the picking device divides the picking claw 3 used for wrapping and picking strawberries into two parts, namely the rear claw 30 part connected to the claw seat 2 and the front claw 31 part movably inserted at the front end of the rear claw 30 and capable of extension and contraction, and each front claw 31 can be independently controlled to extend and retract through the air path control structure 6. Therefore, when picking strawberries, when multiple strawberries need to be crossed together, a small number of front claws 31 can be independently controlled to extend and insert between the intersection of the strawberries to be picked and the other strawberries to "pick out" the strawberries to be picked, and then control the other front claws 31 to wrap the strawberries together for picking. In this way, the picking claws 3 can be prevented from grabbing other strawberries that do not meet the picking requirements during picking, thereby achieving accurate picking, and reducing the situation where the picking claws 3 squeeze other strawberries when closing during picking, causing damage to other strawberries.

[0048] Specifically, such as Figure 3 - Figure 4As shown, in order to limit the extension and retraction of the front claw 31, in this embodiment, a limit block 310 is installed on the upper surface of one end of the front claw 31 inserted in the air duct 300, and a limit groove 301 adapted to the limit block 310 is opened along the circumferential direction of the inner wall of the air duct 300, so that the extension and retraction range of the front claw 31 is limited to the area of ​​the limit groove 301, avoiding the situation where the front claw 31 is directly pushed out and the rear claw 30 falls off.

[0049] Specifically, such as Figure 3 - Figure 4 As shown, since the extension and retraction of the front claw 31 is pneumatically controlled and mainly dominated by the air pressure in the airway 300, in order to ensure the sealing of the airway 300, in this embodiment, a rubber piston 311 is installed in the area of ​​the limiting slide groove 301 on the upper surface of the front claw 31, and at the position of the rubber piston 311, a ring piston 312 is embedded in the surface of the front claw 31 along the circumferential direction. The rubber piston 311 and the ring piston 312 are integrally formed, so that when the front claw 31 slides in the airway 300, the air tightness inside the airway 300 is maintained, thereby ensuring the control effect of the extension and retraction of the front claw 31.

[0050] Specifically, such as Figure 3 - Figure 4 As shown, in order to ensure that the front claw 31 can be quickly retracted when the air pressure in the airway 300 is reduced, so as to facilitate the secondary strawberry picking, in this embodiment, a tension spring 302 is installed inside the airway 300, which is used to apply a pulling force to the front claw 31 when the air pressure in the airway 300 is reduced, so that the front claw 31 can be quickly retracted into the airway 300.

[0051] Specifically, such as Figure 1 、 Figure 2 and Figure 5 As shown, in order to realize the extension and retraction control of the front claw 31 in each picking claw 3, in this embodiment, the air path control structure 6 includes a main airway ring pipe 61 and a hose 60, wherein the main airway ring pipe 61 is fixedly installed on the outside of the main body 1, and the main airway ring pipe 61 is provided with at least one air pipe joint 610 that can be connected to an external pressure-applying device. Specifically, the pressure-applying device can be a cylinder. The hose 60 is used to connect the main airway ring pipe 61 and the airway 300. A hose joint 62 is provided on the outside of each rear claw 30 and on the main airway ring pipe 61 at a position corresponding to the rear claw 30. The hose 60 connects the main airway ring pipe 61 and the airway 300 through the hose joint 62 on the rear claw 30 and the main airway ring pipe 61, and an electromagnetic valve 620 is installed on the hose joint 62 on each main airway ring pipe 61. The electromagnetic valve 620 is used to control the on-off of the hose joint 62 and the main airway ring pipe 61.

[0052] Based on this, when it is necessary to control the extension and retraction of the front claw 31 at a certain position, the solenoid valve 620 on the hose connector 62 at that position is opened, so that the airway 300 where the front claw 31 is installed is connected to the main airway ring pipe 61. At this time, through the external pressure-applying device, the main airway ring pipe 61 and the hose 60 supply air or inhale air to the airway 300, thereby realizing pressure control of the airway 300. When there is negative pressure in the airway 300, the front claw 31 is affected by the external atmospheric pressure and slides inward, realizing the contraction of the front claw 31. When there is positive pressure in the airway 300, the front claw 31 is pushed outward, realizing the extension of the front claw 31.

[0053] Specifically, such as Figure 1 、 Figure 2 and Figure 6 As shown, in order to realize the opening or closing of the picking claws 3, and then to pick and release the strawberries, in this embodiment, the claw opening and closing control assembly 5 includes a telescopic rod 50, a cylinder 54, a control disk 51 and a connecting rod 53, wherein the telescopic rod 50 is installed in the claw seat 2 and can move along the central axis direction of the claw seat 2. The cylinder 54 is fixedly installed in the main body 1, and the piston rod of the cylinder 54 is connected to the top of the telescopic rod 50, so that the cylinder 54 can drive the telescopic rod 50 to move back and forth along the axial direction; the control disk 51 is installed at the free end of the telescopic rod 50, and the outer edge of the control disk 51 is provided with a rod mounting groove 510 corresponding to the number and position of the picking claws 3; one end of the connecting rod 53 is rotatably installed in the rod mounting groove 510 through a rotating shaft, and the other end is movably connected to the inner side of the picking claw 3;

[0054] The outer wall of the claw seat 2 is provided with a claw mounting opening 20 corresponding to the number and position of the picking claws 3. The end of the picking claw 3 is rotatably installed in the claw mounting opening 20 by a rotating shaft, and a sub-rod 52 is also rotatably installed below the claw mounting opening 20 by a rotating shaft. The other end of the sub-rod 52 is movably connected to the middle section of the connecting rod 53. When the cylinder 54 is running and pushes the control disk 51 downward through the telescopic rod 50, the picking claws 3 are opened outward under the linkage control of the sub-rod 52 and the connecting rod 53. Conversely, when the cylinder 54 drives the control disk 51 to move upward through the telescopic rod 50, the picking claws 3 are closed inward under the linkage control of the sub-rod 52 and the connecting rod 53.

[0055] Example 2

[0056] Reference Figure 1-10: This embodiment provides a technical solution: On the basis of Example 1, when the picking claws 3 pick some strawberries that are closely crossed, it is often difficult to "pick out" the strawberries to be picked. At this time, when the picking claws 3 directly close and wrap the strawberries, other strawberries that do not need to be picked will be wrapped and picked together. In order to solve this problem, in this embodiment, a vibration component 7 is installed in the main body 1, and the vibration component 7 includes a vibration motor 70 and a motor seat 71, wherein the vibration motor 70 is fixed to the motor seat 71 by bolts, and the interior of the main body 1 is hollowed out to form an inner cavity 11, and the motor seat 71 is detachably assembled above the inner cavity 11. In this way, when picking some strawberries that are closely crossed, when a small number of front claws 31 in the picking claws 3 are inserted into the connection position of the strawberry, the vibration motor 70 can drive the picking claws 3 to vibrate, so that the strawberries can be quickly "picked out", thereby achieving accurate picking. It should be noted that the vibration intensity of the picking claws 3 is low, and the outside of the picking claws 3 is wrapped with a layer of soft rubber material, so that it will not damage the strawberries themselves during vibration.

[0057] Specifically, such as Figure 6 - Figure 10 As shown, in order to facilitate replacement and maintenance of the vibration motor 70 or the cylinder 54 when they are damaged, in this embodiment, the cylinder 54 is installed in the inner cavity 11, and the motor base 71 is detachably locked and fixed to the upper part of the inner cavity 11 by a locking mechanism 9. The locking mechanism 9 includes a rotating shaft 90 and a locking member 91, wherein the locking member 91 is rotatably installed in the installation opening 10 opened in the main body 1 by the rotating shaft 90, and the outer wall of the motor base 71 is located at the same horizontal position of the locking member 91. A locking slot 710 is opened. The locking member 91 can be rotated by the rotating shaft 90, so that one end of the locking member 91 is inserted into the locking slot 710 to fix the motor base 71 or one end of the locking member 91 is moved out of the locking slot 710 to release the motor base 71. When the motor base 71 is released, the motor base 71 can be removed together with the vibration motor 70, thereby facilitating the replacement of the vibration motor 70 and the replacement and maintenance of the cylinder 54 inside the inner cavity 11.

[0058] Specifically, such as Figure 6 - Figure 10As shown, in order to facilitate the disassembly of the vibration motor 70, in this embodiment, the locking member 91 includes a sleeve portion 910, a driving portion 911, a connecting rod portion 912 and a locking portion 913, wherein the sleeve portion 910 is sleeved on the rotating shaft 90, the locking portion 913 is integrally formed at one end of the connecting rod portion 912, the driving portion 911 and the connecting rod portion 912 are integrally formed on the outside of the sleeve portion 910, and an angle is formed between the driving portion 911 and the connecting rod portion 912, so that when the driving portion 911 rotates around the axis of the rotating shaft 90, the connecting rod portion 912 can drive the locking portion 913 to be clamped into or moved out of the locking groove 710 on the surface of the motor base 71, thereby achieving locking and unlocking of the motor base 71;

[0059] The main body 1 is also provided with an unlocking control mechanism 8 for controlling the rotation of the driving portion 911. The unlocking control mechanism 8 includes a control ring 80 rotatably sleeved on the outer wall of the main body 1 through a bearing 83 and a U-shaped member 81 fixedly mounted on the inner wall of the control ring 80. The U-shaped member 81 is located in the mounting opening 10, and the driving portion 911 is located between the two vertical ends of the U-shaped member 81, so that when the control ring 80 rotates, the driving portion 911 can be driven to rotate. The U-shaped member 81 is connected to the inner wall of the mounting opening 10 by a reset spring 82. When the control ring 80 is not interfered with by other external forces, The return spring 82 can provide a return rotational force to the control ring 80, and the rotational force can drive the control ring 80 to rotate to the position where the driving part 911 is engaged with the locking slot 710 on the surface of the motor base 71. Such a structural setting makes it necessary to rotate the control ring 80 when the motor base 71 needs to be disassembled, so that it drives the locking part 913 on the locking member 91 to move out of the locking slot 710. The operation is convenient and quick. Furthermore, in order to improve the stability of the motor base 71 after installation, a plurality of locking members 91 are provided, and the plurality of locking members 91 are distributed in a ring array.

[0060] Specifically, in order to ensure that the motor base 71 can be accurately aligned during installation, that is, the locking slot 710 on the side of the motor base 71 accurately corresponds to the position of the locking portion 913, as shown in FIG. Figure 8 - Figure 9 As shown, in this embodiment, a support ring 13 is provided on the inner wall of the inner cavity 11 below the motor base 71, and a positioning block 12 is installed on the support ring 13. A positioning slot 711 corresponding to the positioning block 12 is provided at the bottom of the motor base 71. When the positioning slot 711 on the motor base 71 is installed corresponding to the positioning block 12, the locking slot 710 on the side of the motor base 71 accurately corresponds to the position of the locking portion 913.

[0061] Specifically, such as Figure 6 - Figure 10As shown, in order to reduce the impact of the vibration of the vibration motor 70 on the mechanical arm of the picking robot, this embodiment also includes a mounting base 4, which is provided with a plurality of screw holes that can be connected to the front end of the mechanical arm. The mounting base 4 and the main body 1 are fixedly connected by a plurality of connecting springs 40 distributed in a circular array. Therefore, when the vibration motor 70 vibrates, it mainly affects the picking claw 3 at the front end and has less impact on the mechanical arm.

[0062] The exemplary implementation schemes proposed in the present disclosure are described in detail above with reference to preferred embodiments. However, it will be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the scope of protection of the present disclosure, which is determined by the appended claims.

Claims

1. A strawberry picking robot picking device, characterized in that: It includes: A main body (1) is mounted on a manipulator of a picking robot, and a claw seat (2) is mounted on the front end of the main body (1); A plurality of picking claws (3) are provided, and the plurality of picking claws (3) are mounted on the claw seat (2) in a circular array. The claw seat (2) is equipped with a claw opening and closing control component (5) for controlling the opening or closing of all the picking claws (3); The picking claw (3) comprises a front claw (31) and a rear claw (30), both of which are arc-shaped structures. An air passage (300) is provided inside the rear claw (30) along the circumference of the arc. One end of the front claw (31) is inserted into the air passage (300) by the front end of the rear claw (30). The front claw (31) can slide along the direction of the air passage (300), so that one end of the front claw (31) can extend outward or retract into the air passage (300). An air passage control structure (6) is also installed outside the main body (1). The air passage control structure (6) is used to control the air pressure in the air passage (300) of each rear claw (30), so that the front claw (31) can extend outward or retract inward independently.

2. The strawberry picking robot picking device according to claim 1, characterized in that: The front claw (31) is inserted into the air passage (300) and a limit block (310) is installed on the upper surface of one end thereof. The inner wall of the air passage (300) is provided with a limit slot (301) adapted to the limit block (310) along the circumferential direction.

3. The strawberry picking robot picking device according to claim 2, characterized in that: A rubber piston (311) is installed in the area of ​​the upper surface of the front claw (31) located in the limiting sliding groove (301), and at the position of the rubber piston (311), a circular piston (312) is embedded in the surface of the front claw (31) along the circumferential direction, and the rubber piston (311) and the circular piston (312) are integrally formed.

4. The strawberry picking robot picking device according to claim 3, characterized in that: A tension spring (302) is installed inside the airway (300) and is used to apply tension to the front claw (31) when the air pressure in the airway (300) decreases, so that the front claw (31) can be quickly retracted into the airway (300).

5. A strawberry picking robot picking device according to any one of claims 1 to 4, characterized in that: The gas path control structure (6) comprises: A main airway ring tube (61) is fixedly mounted on the outside of the main body (1), and the main airway ring tube (61) is provided with at least one airway connector (610) capable of being connected to an external pressure-applying device; A hose (60) for connecting the main airway ring tube (61) and the airway (300); A hose connector (62) is provided on the outside of each hind paw (30) and on the main airway ring tube (61) at a position corresponding to the hind paw (30). The hose (60) connects the main airway ring tube (61) and the airway (300) via the hose connector (62) on the hind paw (30) and the main airway ring tube (61). A solenoid valve (620) is installed on each hose connector (62) on the main airway ring tube (61). The solenoid valve (620) is used to control the connection and disconnection between the hose connector (62) and the main airway ring tube (61).

6. The strawberry picking robot picking device according to claim 1, characterized in that: The claw opening and closing control component (5) comprises: a telescopic rod (50) which is installed in the claw seat (2) and is movable along the central axis of the claw seat (2); A cylinder (54) is fixedly installed in the main body (1), and a piston rod of the cylinder (54) is connected to the top of the telescopic rod (50), so that the cylinder (54) can drive the telescopic rod (50) to reciprocate along the axial direction; A control plate (51) is mounted on the free end of the telescopic rod (50), and an outer edge of the control plate (51) is provided with rod mounting grooves (510) corresponding to the number and position of the picking claws (3); A connecting rod (53), one end of which is rotatably mounted in the rod mounting groove (510) via a rotating shaft, and the other end of which is movably connected to the inner side of the picking claw (3); The outer wall of the claw seat (2) is provided with claw mounting openings (20) corresponding to the number and position of the picking claws (3); the ends of the picking claws (3) are rotatably mounted in the claw mounting openings (20) via a rotating shaft; and a secondary rod (52) is rotatably mounted below the claw mounting openings (20) via a rotating shaft; the other end of the secondary rod (52) is movably connected to the middle section of the connecting rod (53).

7. The strawberry picking robot picking device according to claim 6, characterized in that: A vibration assembly (7) is installed in the main body (1), and the vibration assembly (7) includes a vibration motor (70) and a motor seat (71), wherein the vibration motor (70) is fixed to the motor seat (71) by bolts, and the interior of the main body (1) is hollowed out to form an inner cavity (11), and the motor seat (71) is detachably assembled above the inner cavity (11).

8. The strawberry picking robot picking device according to claim 7, characterized in that: The cylinder (54) is installed in the inner cavity (11), and the motor seat (71) is detachably locked and fixed above the inner cavity (11) by a locking mechanism (9), wherein the locking mechanism (9) includes a rotating shaft (90) and a locking member (91), wherein the locking member (91) is rotatably installed in the installation opening (10) opened in the main body (1) by the rotating shaft (90), and the outer wall of the motor seat (71) is located at the same horizontal position as the locking member (91) and is provided with a locking slot (710).

9. The strawberry picking robot picking device according to claim 8, characterized in that: The locking member (91) comprises a sleeve portion (910), a driving portion (911), a connecting rod portion (912) and a locking portion (913), wherein the sleeve portion (910) is sleeved on the rotating shaft (90), the locking portion (913) is integrally formed on one end of the connecting rod portion (912), the driving portion (911) and the connecting rod portion (912) are integrally formed on the outside of the sleeve portion (910), and an angle is formed between the driving portion (911) and the connecting rod portion (912); The main body (1) is also provided with an unlocking control mechanism (8) for controlling the rotation of the driving part (911). The unlocking control mechanism (8) comprises a control swivel (80) rotatably sleeved on the outer wall of the main body (1) via a bearing (83) and a U-shaped member (81) fixedly mounted on the inner wall of the control swivel (80). The U-shaped member (81) is located in the mounting opening (10), and the driving part (911) is located between the two vertical ends of the U-shaped member (81), so that when the control swivel (80) rotates, the driving part (911) can be driven to rotate. The U-shaped member (81) is connected to the inner wall of the mounting opening (10) via a return spring (82).

10. The strawberry picking robot picking device according to claim 7, characterized in that: It also includes a mounting seat (4), which is provided with a plurality of screw holes capable of being connected to the front end of the robotic arm, and the mounting seat (4) is fixedly connected to the main body (1) via a plurality of connecting springs (40) distributed in an annular array.

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