Mechanical hand stalk-fruit separation mechanism and harvester

Abstract

The present application belongs to the technical field of harvesting machines, and provides a mechanical hand vine-fruit separating mechanism, which comprises a rack, a conveying unit for conveying vine-fruit, and a separating unit for separating vine-fruit conveyed by the conveying unit, wherein the separating unit comprises a grabbing assembly for grabbing vine-fruit conveyed by the conveying unit, a first driving assembly for driving the grabbing assembly to make reciprocating linear motion along the X-axis direction towards the direction of approaching or moving away from the conveying unit, a second driving assembly for driving the grabbing assembly to make reciprocating linear motion along the Z-axis direction towards the direction of approaching or moving away from the conveying unit, and a third driving assembly for driving the grabbing assembly to swing and / or shake directly above the conveying unit, and further provides a harvesting machine comprising the above mechanical hand vine-fruit separating mechanism. The mechanical hand vine-fruit separating mechanism and the harvesting machine provided by the present application have simple structure, reasonable design, good vine-fruit separating effect, and high separating efficiency.

Description

Technical Field

[0001] This invention relates to the field of harvester technology, specifically to a robotic arm seedling and fruit separation mechanism and a harvester. Background Technology

[0002] Agricultural machinery typically used for harvesting potatoes, sweet potatoes, etc., includes a traction chassis, frame, suspension mechanism, digging mechanism, feeding mechanism, and separating mechanism. During operation, as the harvester moves forward, the digging mechanism continuously scoops up all the soil and vines from the ridges and feeds them onto the feeding assembly. The feeding mechanism then transports the scooped soil and vines to the separating mechanism. During this transport, the soil falls through the gaps in the feeding assembly, while the vines are conveyed to the separating mechanism for separation of the seedlings and fruits.

[0003] In existing technologies, the common method for separating seedlings and fruits is to install two counter-rotating separating rollers at the discharge end of the conveying mechanism. During operation, the conveying mechanism transports the seedlings and fruits to the separating rollers; the seedlings pass between the two rollers, while the fruits are moved out from one side of the conveying mechanism along the separating rollers.

[0004] The shortcomings of the above-mentioned separation mechanism are: if the gap between the two separation rollers is too large, smaller fruits will pass through the gap between the two separation rollers, resulting in incomplete separation; if the gap between the two separation rollers is too small, not only will the separation efficiency be low, but the seedlings and fruits will also easily move out from one side of the conveying structure along the separation rollers, resulting in incomplete separation. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a robotic vine-fruit separation mechanism and harvester, so as to not only meet the separation efficiency requirements, but also to fully separate the vines and fruits.

[0006] To achieve the above objectives, the present invention provides a robotic seedling and fruit separation mechanism, comprising:

[0007] frame;

[0008] A conveying unit, mounted on the frame and conveying along the Y-axis, is used to convey seedlings and fruits; and

[0009] A separation unit, mounted on the frame, is used to separate the seedlings and fruits conveyed by the conveying unit, and includes:

[0010] A gripping component, used to grip the seedlings and fruits conveyed by the conveying unit, is positioned above the conveying unit;

[0011] A first drive assembly is mounted on the frame and is used to drive the gripping assembly to reciprocate linear motion along the X-axis toward or away from the conveying unit.

[0012] A second drive assembly, mounted on the frame, drives the gripping assembly to reciprocate linearly along the Z-axis towards or away from the conveying unit; and

[0013] A third drive assembly, mounted on the frame, is used to drive the gripping assembly to swing and / or rock directly above the conveying unit.

[0014] Furthermore, the grasping component includes a plurality of grasping units arranged at intervals along the Y-axis direction, the grasping unit comprising:

[0015] The robotic arm includes two gripping structures arranged opposite each other, the gripping structures comprising:

[0016] The fourth mounting bracket includes:

[0017] Mounting plate; and

[0018] Mounting shafts, extending along the Z-axis, have a first end fixedly connected to the mounting plate and a second end extending freely downwards. Multiple mounting shafts are provided, spaced apart sequentially along the length of the mounting plate.

[0019] Each of the mounting shafts corresponds to a gripping wheel assembly, which includes multiple gripping wheels sleeved on the mounting shaft, and the multiple gripping wheels are arranged at intervals along the Z-axis direction; and

[0020] A fourth drive structure connected to the mounting plates of the two gripping structures is used to drive the two gripping structures to move closer or further apart from each other.

[0021] Furthermore, the gripping wheel includes a bearing mounted on the mounting shaft and a rubber pad mounted on the bearing.

[0022] Furthermore, the gripping wheel also includes:

[0023] A bushing, which is coaxially sleeved on the bearing; and

[0024] Two support frames are provided, each positioned at one end of the bushing and fixedly connected to it. Each support frame includes:

[0025] The disc body, which is coaxially sleeved on the bushing and fixedly connected to the bushing; and

[0026] Multiple support claws are arranged around the periphery of the disc body. The multiple support claws are evenly distributed around the periphery of the disc body and are fixedly connected to the disc body. The corresponding support claws on the two support frames are staggered.

[0027] The rubber pad is sleeved on the two support frames, and the support claws on the two support frames are embedded in the rubber pad.

[0028] Furthermore, the two gripping structures on the same gripping unit are arranged in a staggered manner, wherein the mounting shaft on one gripping structure is staggered with the corresponding mounting shaft on the other gripping structure.

[0029] Further, the first driving component includes:

[0030] A first mounting bracket, slidably connected to the frame, is capable of reciprocating linear motion between a first working position A1 and a second working position A2 along the X-axis; and

[0031] The first driving device is fixedly mounted on the frame, and its power output end is connected to the first mounting frame. It is used to drive the first mounting frame to perform reciprocating linear motion between the first working position A1 and the second working position A2.

[0032] The gripping component is mounted on the first mounting frame and can move together with the first mounting frame.

[0033] Furthermore, the second driving component includes:

[0034] A second mounting bracket, slidably connected to the first mounting bracket and movable together with the first mounting bracket, is capable of reciprocating linear motion between a first working position B1 and a second working position B2 along the Z-axis; and

[0035] The second drive device is fixedly mounted on the first mounting frame, and its power output end is connected to the second mounting frame. It is used to drive the second mounting frame to perform reciprocating linear motion between the first working position B1 and the second working position B2.

[0036] The gripping component is mounted on the second mounting frame and can move together with the second mounting frame.

[0037] Furthermore, the third driving component includes a number of third driving units equal to and corresponding one-to-one with the grasping units, the third driving unit comprising:

[0038] A third mounting bracket, hinged to the second mounting bracket, is capable of reciprocating between a first working position C1 and a second working position C2; and

[0039] The third drive device is mounted on the second mounting frame and can move together with the second mounting frame. Its power output end is connected to the third mounting frame, and it is used to drive the third mounting frame to swing back and forth between the first working position C1 and the second working position C2.

[0040] The gripping component is mounted on the third mounting bracket and can move together with the third mounting bracket.

[0041] Furthermore, the fourth driving structure includes:

[0042] The fourth drive unit is fixedly mounted on the third mounting bracket;

[0043] Two first connecting rods are provided. The first ends of the two first connecting rods are hinged to the power output shaft of the fourth driving device, and the second ends are respectively fixedly connected to the fourth mounting brackets of the two gripping structures. The hinge center line of the first end of the first connecting rod is parallel to the length direction of the mounting plate.

[0044] The second connecting rod is provided in two sets, each set having one or two second connecting rods. The first end of the two sets of second connecting rods is hinged to the fourth driving device, and the second end is respectively hinged to the middle of the two first connecting rods. The hinge center lines of the first and second ends of the second connecting rods are parallel to the length direction of the mounting plate.

[0045] On the other hand, the present invention provides a harvester including the robotic arm seedling and fruit separation mechanism described in any one of the above claims.

[0046] The beneficial effects of this invention are:

[0047] The robotic seedling and fruit separation mechanism provided by this invention uses a gripping component to grab the seedlings and fruits into the air for separation, thereby achieving the purpose of fully separating the seedlings and fruits. Attached Figure Description

[0048] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0049] Figure 1 This is a three-dimensional structural view of a robotic seedling and fruit separation mechanism provided in an embodiment of the present invention;

[0050] Figure 2 for Figure 1 An enlarged view of point A shown;

[0051] Figure 3 for Figure 2 The enlarged view at point D is shown;

[0052] Figure 4 for Figure 1 The enlarged view at point B is shown;

[0053] Figure 5 for Figure 1 The enlarged view at point C is shown;

[0054] Figure 6 for Figure 1 A partial cross-sectional view of the gripping unit of the robotic arm seedling and fruit separation mechanism shown.

[0055] Figure label:

[0056] Frame 1, First guide rod 11, Conveyor belt 2, Gripping unit 3, Fourth mounting frame 31, Mounting plate 311, Mounting shaft 312, Gripping wheel 32, Bearing 321, Rubber pad 322, Bushing 323, Support frame 324, Disc 3241, Support claw 3242, Fourth drive device 33, First connecting rod 34, Second connecting rod 35, First mounting frame 41, First sliding sleeve 411, Second sliding sleeve 412, First drive device 42, Second mounting frame 51, Second guide rod 511, Second drive device 52, Third mounting frame 61, Third drive device 62. Detailed Implementation

[0057] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0058] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0059] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0060] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly defined.

[0061] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] like Figure 1-6 As shown, the present invention provides a robotic vine-fruit separation mechanism and a harvester having the robotic vine-fruit separation mechanism. The robotic vine-fruit separation mechanism includes a frame 1, a conveying unit, and a separation unit.

[0064] The conveying unit is mounted on the frame 1 and transports along the Y-axis. The conveying unit is used to transport the seedlings and fruits. Specifically, the conveying unit includes a drive roller, a conveyor belt 2 sleeved on the drive roller, and a motor for driving the drive roller to rotate.

[0065] The separation unit is mounted on the frame 1 and is used to separate the seedlings and fruits conveyed by the conveying unit. Specifically, the separation unit includes a gripping component, a first drive component, a second drive component, and a third drive component.

[0066] A gripping component is positioned above the conveying unit and is used to grip the seedlings and fruits conveyed by the conveying unit. A first drive component is mounted on the frame 1 and is used to drive the gripping component to reciprocate linearly along the X-axis towards or away from the conveying unit. A second drive component is mounted on the frame 1 and is used to drive the gripping component to reciprocate linearly along the Z-axis towards or away from the conveying unit. A third drive component is mounted on the frame 1 and is used to drive the gripping component to swing and / or rock directly above the conveying unit, thereby achieving the purpose of separating the seedlings and fruits.

[0067] Specifically, initially, the gripping component is positioned directly above the conveying unit. When the gripping component needs to grasp the seedlings, the second drive component drives the gripping component to move downwards to grasp the seedlings conveyed by the conveying unit. After the gripping component has grasped the seedlings, the second drive component drives the gripping component to move upwards to return to the initial position. Then, the third drive component drives the gripping component to swing or shake, causing the fruit to fall onto the conveying unit, while the seedlings are grasped by the gripping component, thereby achieving the purpose of separating the seedlings grasped by the gripping component. After the separation is completed, the first drive component drives the gripping component to move from the initial position along the X-axis in a direction away from the conveying unit, thereby conveying the separated seedlings to one side of the conveying unit.

[0068] The separation mechanism of this structure is simple, reasonably designed, and easy to operate. It separates the seedlings and fruits by grabbing the gripping components, making the separation more thorough and complete.

[0069] In one embodiment, the gripping component includes a plurality of gripping units 3 arranged at intervals along the Y-axis. By providing a plurality of gripping units 3, the amount of seedlings and fruits gripped by the gripping component is increased, thereby improving the separation efficiency. At the same time, the gripping units 3 located at the rear can also grip and separate the seedlings and fruits that were not gripped at the front, thereby further improving the separation effect.

[0070] Specifically, the gripping unit 3 includes a robotic arm and a fourth drive structure.

[0071] The robotic arm includes two opposing gripping structures, each comprising a fourth mounting frame 31 and gripping wheel sets. The fourth mounting frame 31 includes a mounting plate 311 and mounting shafts 312. The mounting shafts 312 extend along the Z-axis, with one end fixedly connected to the mounting plate 311 and the second end extending downwards freely. Multiple mounting shafts 312 are arranged at intervals along the length of the mounting plate 311. The number of gripping wheel sets is equal to and corresponds one-to-one with the number of mounting shafts 312. Each gripping wheel set includes multiple gripping wheels 32 sleeved on the mounting shafts 312, arranged at intervals along the Z-axis. The power output end of the fourth drive structure is connected to the mounting plates of the two gripping structures. The fourth drive structure drives the two gripping structures to move closer or further apart, enabling the robotic arm to grip or release seedlings. It should be noted that the fourth driving structure mentioned here is used to drive the two gripping structures to move closer or further apart. This can be to make the two gripping structures open and close, or to make the two gripping structures reciprocate linearly.

[0072] The gripping unit 3 in this structure is simple and reasonably designed.

[0073] In one embodiment, the gripping wheel 32 includes a bearing 321 sleeved on a mounting shaft and a rubber pad 322 sleeved on the bearing 321. The rubber pad 322 can increase friction, thereby increasing the gripping effect. The bearing 321 can rotate, so the gripping wheel 32 can rotate during the gripping process, thereby forcing the gripping wheel 32 to rotate to avoid damaging the fruit, which is located between the two cooperating roller sets. At the same time, it can also prevent the fruit from getting stuck between the gripping wheels 32 and being unable to separate, thus making the separation more thorough and complete.

[0074] In one embodiment, the gripping wheel 32 further includes a bushing 323 and a support frame 324.

[0075] The bushing 323 is coaxially mounted on the bearing 321. Two support frames 324 are provided, which are respectively located at both ends of the bushing 323 and fixedly connected to the bushing 323. The support frame 324 includes a disc body 3241 and a support claw 3242.

[0076] The disc body 3241 is coaxially sleeved on the bushing 323 and fixedly connected to the bushing 323. Support claws 3242 are disposed around the outer periphery of the disc body 3241. Multiple support claws 3242 are circumferentially distributed around the outer periphery of the disc body 3241 and fixedly connected to it, i.e., multiple support claws 3242 are evenly arranged around the axis of the disc body 3241. Preferably, the support claws 3242 are integrally formed with the disc body 3241. The support claws 3242 on the two support frames 324 extend towards each other and are alternately arranged. Rubber pads 322 are sleeved on the two support frames 324, and the support claws 3242 on the two support frames 324 are embedded in the rubber pads 322.

[0077] By setting up a support frame 324 that is easier to deform, the support frame 324 located between the two gripping wheels 32 can be forced to deform during the gripping process, thereby further avoiding damage to the fruit. At the same time, the deformed support frame 324 is easier to bear force and can bear greater force, thereby further improving the avoidance effect of the gripping wheels 32.

[0078] In one embodiment, the two gripping structures on the same gripping unit are arranged in a staggered manner. Specifically, the mounting shaft 312 on one gripping structure is staggered with the corresponding mounting shaft 312 on the other gripping structure. This means that the two mounting shafts 312 and roller sets that cooperate with each other on the two gripping structures are staggered along the length of the mounting plate 311 instead of being directly opposite each other. As the two gripping structures approach each other, since the two roller sets that cooperate with each other are not directly opposite each other, the fruit located between the two roller sets that cooperate with each other is more likely to be forced to rotate the gripping wheel 32, thereby improving the avoidance effect. This further prevents the fruit from getting stuck between the gripping wheels 32 and being unable to separate, thereby improving both the gripping and avoidance effects.

[0079] In one embodiment, the first drive component includes a first mounting bracket 41 and a first drive device 42.

[0080] The first mounting bracket 41 is slidably connected to the frame 1, and the first mounting bracket 41 can reciprocate linearly between the first working position A1 and the second working position A2 along the X-axis. Specifically, a first sliding sleeve 411 is fixedly connected to the first mounting bracket 41, and a first guide rod 11 that cooperates with the first sliding sleeve 411 is fixedly installed on the frame 1. The first sliding sleeve 411 is slidably sleeved on the first guide rod 11.

[0081] The first drive device 42 is fixedly mounted on the frame 1. The power output end of the first drive device 42 is connected to the first mounting frame 41. The first drive device 42 drives the first mounting frame 41 to perform reciprocating linear motion between the first working position A1 and the second working position A2. The gripping component is fixedly mounted on the first mounting frame 41 and can move together with the first mounting frame 41. Specifically, the first drive device 42 can be an electric push rod, a hydraulic cylinder, or a pneumatic cylinder.

[0082] In use, the first drive device 42 drives the first mounting bracket 41 to reciprocate linearly between the first working position A1 and the second working position A2, thereby achieving the purpose of driving the gripping component to reciprocate linearly along the X-axis.

[0083] The first drive component of this structure is simple in structure, reasonable in design, and easy to operate.

[0084] In one embodiment, the second drive component includes a second mounting bracket 51 and a second drive device 52.

[0085] The second mounting bracket 51 is slidably connected to the first mounting bracket 41 and can move together with the first mounting bracket 41. The second mounting bracket 51 can reciprocate linearly between the first working position B1 and the second working position B2 along the Z-axis. Specifically, the two ends of the first mounting bracket 41 are also fixedly connected to the second sliding sleeves 412, and the two ends of the second mounting bracket 51 are fixedly connected to the second guide rods 511 that cooperate with the second sliding sleeves 412. The second sliding sleeves 412 are slidably sleeved on the second guide rods 511.

[0086] The second drive device 52 is fixedly mounted on the first mounting bracket 41. The power output end of the second drive device 52 is connected to the second mounting bracket 51. The second drive device 52 is used to drive the second mounting bracket 51 to perform reciprocating linear motion between the first working position B1 and the second working position B2. The gripping component is fixedly mounted on the second mounting bracket 51 and can move together with the second mounting bracket 51. Specifically, the second drive device 52 can be an electric push rod, a hydraulic cylinder, or a pneumatic cylinder.

[0087] In use, the second drive device 52 drives the second mounting bracket 51 to reciprocate linearly between the first working position B1 and the second working position B2, thereby achieving the purpose of driving the gripping component to reciprocate linearly along the Z-axis.

[0088] The second drive component of this structure is simple in structure, reasonable in design, and easy to operate.

[0089] In one embodiment, the third drive component includes a third drive unit that is equal in number to and corresponds one-to-one with the gripping unit 3, and the third drive unit includes a third mounting bracket 61 and a third drive device 62.

[0090] The third mounting frame 61 is hinged to the second mounting frame 51 and can move together with the second mounting frame 51. The third mounting frame 61 can reciprocate between the first working position C1 and the second working position C2. Preferably, the hinge center line between the third mounting frame 61 and the second mounting frame 51 is parallel to the Y-axis, thereby preventing the fruit from being thrown out of the conveying unit. The third drive device 62 is mounted on the second mounting frame 51, and the power output end of the third drive device 62 is connected to the third mounting frame 61. The third drive device 62 is used to drive the third mounting frame 61 to reciprocate between the first working position C1 and the second working position C2.

[0091] Specifically, the third drive device 62 can be one of the following: a motor, an electric push rod, a hydraulic cylinder, or a pneumatic cylinder.

[0092] When the third drive device 62 is a motor, the third drive device is fixedly mounted on the second mounting bracket 51. The center line of the power output shaft of the third drive device 62 coincides with the hinge center line of the third mounting bracket 61 and the second mounting bracket 51, and the power output shaft of the third drive device 62 is fixedly connected to the third mounting bracket.

[0093] When the third drive unit 62 is an electric actuator, hydraulic cylinder, or pneumatic cylinder, it can be either hinged to or fixedly connected to the second mounting bracket 51. When the third drive unit 62 is hinged to the second mounting bracket 51, its power output shaft is also hinged to the third mounting bracket 61. When the third drive unit 62 is fixedly connected to the second mounting bracket 51, its power output shaft is slidably connected to the third mounting bracket 61.

[0094] In this embodiment, the third drive device 62 is hinged to the second mounting bracket 51, and the power output shaft of the third drive device 62 is hinged to the third mounting bracket 61.

[0095] The gripping component is fixedly mounted on the third mounting bracket 61 and can move together with the third mounting bracket 61.

[0096] In use, the third drive device 62 drives the third mounting frame 61 to swing back and forth between the first working position C1 and the second working position C2. The third mounting frame 61 swings back and forth with the gripping component, thereby achieving the purpose of separating the seedlings and fruits gripped by the gripping component.

[0097] In one embodiment, the fourth drive structure includes a fourth drive device 33, a first connecting rod 34, and a second connecting rod 35.

[0098] The fourth drive device 33 is fixedly mounted on the third mounting bracket 61. Specifically, the fourth drive device 33 can be an electric push rod, a hydraulic cylinder, or a pneumatic cylinder. There are two first connecting rods 34. The first ends of the two first connecting rods 34 are hinged to the power output shaft of the fourth drive device 33, and the second ends are fixedly connected to the fourth mounting brackets 31 of the two gripping structures, respectively. The hinge center line of the first end of the first connecting rod 34 is parallel to the length direction of the mounting plate 311.

[0099] Two sets of second connecting rods 35 are provided, each set having one or two second connecting rods 35. In this embodiment, each set has two second connecting rods 35, and the two second connecting rods 35 in the two sets are respectively arranged on both sides of the two first connecting rods 34. The first end of the two sets of second connecting rods 35 is hinged to the fourth driving device 33, and the second end is respectively hinged to the middle of the two first connecting rods 34, and the hinge center line of the second end of the second connecting rod 35 is parallel to the length direction of the mounting plate 311.

[0100] In use, the fourth drive device 33 drives the first ends of the two first connecting rods 34 to move, thereby driving the two fourth mounting frames 31 to swing through the two first connecting rods 34 respectively, so as to achieve the purpose of grabbing or releasing the seedlings.

[0101] The fourth drive structure of this design is simple, rationally designed, and easy to operate.

[0102] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A robotic arm seedling and fruit separation mechanism, characterized in that: include: frame; A conveying unit, which is mounted on the frame and conveys along the Y-axis, is used to convey seedlings and fruits; as well as A separation unit, mounted on the frame, is used to separate the seedlings and fruits conveyed by the conveying unit, and includes: A gripping component, used to grip the seedlings and fruits conveyed by the conveying unit, is positioned above the conveying unit; A first drive assembly is mounted on the frame and is used to drive the gripping assembly to reciprocate linear motion along the X-axis toward or away from the conveying unit. A second drive assembly, mounted on the frame, drives the gripping assembly to reciprocate linearly along the Z-axis towards or away from the conveying unit; and A third drive assembly, mounted on the frame, is used to drive the gripping assembly to swing and / or rock directly above the conveying unit.

2. The robotic seedling and fruit separation mechanism according to claim 1, characterized in that: The grasping component includes a plurality of grasping units arranged at intervals along the Y-axis direction, and the grasping unit includes: The robotic arm includes two gripping structures arranged opposite each other, the gripping structures comprising: The fourth mounting bracket includes: Mounting plate; and Mounting shafts, extending along the Z-axis, have a first end fixedly connected to the mounting plate and a second end extending freely downwards. Multiple mounting shafts are provided, spaced apart sequentially along the length of the mounting plate. Each of the mounting shafts corresponds to a gripping wheel assembly, which includes multiple gripping wheels sleeved on the mounting shaft, and the multiple gripping wheels are arranged at intervals along the Z-axis direction; and A fourth drive structure connected to the mounting plates of the two gripping structures is used to drive the two gripping structures to move closer or further apart from each other.

3. The robotic seedling and fruit separation mechanism according to claim 2, characterized in that: The gripping wheel includes a bearing mounted on the mounting shaft and a rubber pad mounted on the bearing.

4. The robotic seedling and fruit separation mechanism according to claim 3, characterized in that: The gripping wheel also includes: A bushing, which is coaxially sleeved on the bearing; and Two support frames are provided, each positioned at one end of the bushing and fixedly connected to it. Each support frame includes: The disc body, which is coaxially sleeved on the bushing and fixedly connected to the bushing; and Multiple support claws are arranged around the periphery of the disc body. The multiple support claws are evenly distributed around the periphery of the disc body and are fixedly connected to the disc body. The corresponding support claws on the two support frames are staggered. The rubber pad is sleeved on the two support frames, and the support claws on the two support frames are embedded in the rubber pad.

5. The robotic seedling and fruit separation mechanism according to claim 4, characterized in that: The two gripping structures on the same gripping unit are arranged in a staggered manner, wherein the mounting shaft on one gripping structure is staggered with the corresponding mounting shaft on the other gripping structure.

6. The robotic seedling and fruit separation mechanism according to any one of claims 2-5, characterized in that: The first driving component includes: A first mounting bracket, slidably connected to the frame, is capable of reciprocating linear motion between a first working position A1 and a second working position A2 along the X-axis; and The first driving device is fixedly mounted on the frame, and its power output end is connected to the first mounting frame. It is used to drive the first mounting frame to perform reciprocating linear motion between the first working position A1 and the second working position A2. The gripping component is mounted on the first mounting frame and can move together with the first mounting frame.

7. The robotic seedling and fruit separation mechanism according to claim 6, characterized in that: The second driving component includes: A second mounting bracket, slidably connected to the first mounting bracket and movable together with the first mounting bracket, is capable of reciprocating linear motion between a first working position B1 and a second working position B2 along the Z-axis; and The second drive device is fixedly mounted on the first mounting frame, and its power output end is connected to the second mounting frame. It is used to drive the second mounting frame to perform reciprocating linear motion between the first working position B1 and the second working position B2. The gripping component is mounted on the second mounting frame and can move together with the second mounting frame.

8. The robotic seedling and fruit separation mechanism according to claim 7, characterized in that: The third driving component includes a number of third driving units that are equal to and correspond one-to-one with the number of grasping units, and the third driving unit includes: A third mounting bracket, hinged to the second mounting bracket, is capable of reciprocating between a first working position C1 and a second working position C2; and The third drive device is mounted on the second mounting frame and can move together with the second mounting frame. Its power output end is connected to the third mounting frame, and it is used to drive the third mounting frame to swing back and forth between the first working position C1 and the second working position C2. The gripping component is mounted on the third mounting bracket and can move together with the third mounting bracket.

9. The robotic seedling and fruit separation mechanism according to claim 8, characterized in that: The fourth driving structure includes: The fourth drive unit is fixedly mounted on the third mounting bracket; Two first connecting rods are provided. The first ends of the two first connecting rods are hinged to the power output shaft of the fourth driving device, and the second ends are respectively fixedly connected to the fourth mounting brackets of the two gripping structures. The hinge center line of the first end of the first connecting rod is parallel to the length direction of the mounting plate. The second connecting rod is provided in two sets, each set having one or two second connecting rods. The first end of the two sets of second connecting rods is hinged to the fourth driving device, and the second end is respectively hinged to the middle of the two first connecting rods. The hinge center lines of the first and second ends of the second connecting rods are parallel to the length direction of the mounting plate.

10. A harvester, characterized in that: Includes the robotic seedling and fruit separation mechanism as described in any one of claims 1-9.

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