A sampling manipulator for forestry

Abstract

The invention relates to the technical field of forestry machinery, and discloses a sampling manipulator for forestry, comprising a shell, a servo motor, a first driving gear, a first driven gear, and a plurality of clamping claws; the manipulator is provided with a servo motor, a first driving gear, and a first driven gear, wherein the first servo motor drives the first driving gear and a first rotating disk to rotate in the same direction, the first driving gear drives the first driven gear to rotate, and a transmission shaft passes through the first rotating disk to connect the first rotating disk, so that the transmission shaft is not directly connected to the first driven gear for transmission, and a plurality of clamping claws are hinged on the first driven gear, so that when the first driven gear rotates, the plurality of clamping claws are driven to approach each other in cooperation with the guidance of the first rotating disk, so that the plurality of clamping claws can clamp branches and stems with flowers and fruits, and at the same time, the plurality of clamping claws can be driven to rotate by the rotation of the first driven gear, so that the branches and stems with flowers and fruits can be taken out from the tree, so that the branches and stems with flowers and fruits can be quickly taken out.

Description

Technical Field

[0001] The invention relates to the technical field of forestry, in particular to a sampling manipulator for forestry. Background Art

[0002] In a forest farm, in order to learn about the condition of flowers and fruits of trees, it is necessary to pick the flowers and fruits on the trees and then conduct experiments on them for testing. However, in order to maintain the condition of the flowers and fruits, such as preventing the flowers and fruits from losing water and drying up, it is necessary to cut the branches and stems connected to the flowers and fruits when picking the flowers and fruits, so as to maintain the condition of the flowers and fruits for a certain period of time. However, existing picking tools only remove flowers and fruits for sampling, and the overall degree of automation of the tools is low, requiring manual operation for picking. At the same time, during the picking and sampling process, flowers and fruits are prone to falling, causing damage to the flowers and fruits. The announcement number is CN202399265U, which discloses a fruit picking manipulator, including a hand and an arm. The arm is a three-link ball coordinate arm. The hand includes a support plate for setting on the wrist, and fingers and their connecting rods are respectively hinged on both sides of the front end surface of the support plate. The support plate is guided and moved by a pull rod driving mechanism provided thereon, and a pull rod for pulling the fingers to open and close is installed. It is characterized in that the inner sides of the front ends of the fingers are respectively provided with notches facing opposite arc-shaped clamping plates. The manipulator can only pick fruits, but not their branches and stems, and its overall practicality is insufficient. Summary of the invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide a practical and highly automated forestry sampling manipulator.

[0004] To achieve the above-mentioned purpose, the present invention provides a solution as follows: a forestry sampling manipulator, comprising a housing, a servo motor, a first driving gear, a first driven gear, a first rotating disk, and a plurality of clamps, wherein the first driving gear, the first driven gear, and the first rotating disk are respectively rotatably connected in the housing, the first rotating disk, the first driven gear, and the first driving gear are sequentially arranged at intervals from top to bottom, the servo motor is connected to a transmission shaft, the transmission shaft is fitted with the first driving gear, the transmission shaft passes through the first driven gear upward and then connects to the first rotating disk, the first driving gear is used to drive the first driven gear to rotate in the same direction, and the servo motor is used to drive the first driving gear and the first rotating disk to rotate in the same direction;

[0005] A plurality of jaws are hinged on the first driven gear, and the plurality of jaws extend out of the shell after respectively passing through the first rotating disk. The plurality of jaws are arranged in a ring-shaped pattern in sequence. The first driven gear and the first rotating disk jointly drive the plurality of jaws to approach each other so that the plurality of jaws can jointly clamp the sample.

[0006] The beneficial effects of the present invention are as follows: rapid sampling is achieved. The manipulator is provided with a servo motor, a first driving gear, and a first driven gear. The first servo motor drives the first driving gear and the first rotating disk to rotate in the same direction. The first driving gear drives the first driven gear to rotate. The transmission shaft passes through the first rotating disk to connect the first rotating disk, so that the transmission shaft will not be directly connected to the first driven gear for transmission. A plurality of clamping claws are hinged on the first driven gear. When the first driven gear rotates, the plurality of clamping claws are driven to approach each other in cooperation with the guidance of the first rotating disk, so that the plurality of clamping claws can clamp the branches and stems with flowers and fruits. At the same time, the rotation of the first driven gear can drive the plurality of clamping claws to rotate, so as to twist off the branches and stems with flowers and fruits, thereby achieving rapid removal of the branches and stems with flowers and fruits. The overall structure is practical and reliable, the sampling is rapid, and the degree of automation is high.

[0007] Furthermore, the inner side wall of the shell is formed with a first limiting flange and a second limiting flange, the first limiting flange and the second limiting flange are arranged at an interval, the first rotating disk rotates between the first limiting flange and the second limiting flange, the plurality of clamps pass through the first rotating disk, and the first rotating disk is used to guide the plurality of clamps to approach or move away from each other. After the present invention adopts the above structure, the first rotating disk is rotatably connected.

[0008] Furthermore, the first driven gear is parallel to the first driving gear.

[0009] Furthermore, a first connecting plate is provided in the shell, the first connecting plate is located below the first driving gear, the first connecting plate is rotatably connected with a first transmission gear, the first transmission gear is parallel to the first driving gear, and the first transmission gear is meshed with the first driving gear.

[0010] Furthermore, the first rotating bosses are formed at the centers of the top and bottom surfaces of the first driving gear, respectively, and the two first rotating bosses are opposite to each other up and down. A first through hole is formed at the center of the first driving gear, and the first through hole vertically penetrates the first driving gear and the two first rotating bosses. The first through hole is used for inserting the transmission shaft. The first connecting plate is provided with two first mounting holes, and the first rotating boss is rotatably connected to one of the first mounting holes, and the other first mounting hole is rotatably connected to a first rotating shaft, and the first transmission gear is mounted on the first rotating shaft. After the present invention adopts the above structure, the first driving gear and the first transmission gear are installed on the first connecting plate.

[0011] Furthermore, a second connecting plate is provided in the housing, the second connecting plate is located between the first rotating disk and the first driving gear, and the second connecting plate is rotatably connected to the first driven gear. After the present invention adopts the above structure, the first driven gear is installed on the second connecting plate.

[0012] Furthermore, second rotating bosses are respectively formed at the center of the top surface and the bottom surface of the first driven gear, and the two second rotating bosses are opposite to each other up and down. A second through hole is opened at the center of the first driven gear, and the second through hole vertically penetrates the first driven gear and the two second rotating bosses. A second mounting hole is opened on the second connecting plate, and the second rotating boss is rotatably connected to the second mounting hole.

[0013] Furthermore, a second rotating shaft is rotatably connected in the housing, and a second transmission gear is mounted on the second rotating shaft. After the present invention adopts the above structure, the second transmission gear is installed.

[0014] Furthermore, a second transmission gear is rotatably connected in the housing, the second transmission gear is perpendicular to the first transmission gear, and the second transmission gear is respectively meshed with the first transmission gear and the first driven gear. After the present invention adopts the above structure, the first driving gear drives the first driven gear to rotate, and the rotation speeds of the first driving gear and the first driven gear are different.

[0015] Furthermore, the transmission shaft passes through the second through hole and is connected to the first rotating disk. After the present invention adopts the above structure, the first rotating disk can be driven to rotate.

[0016] Furthermore, the first driven gear is formed with a plurality of connection seats, which are arranged in a ring-like manner and spaced in sequence, and one connection seat is hinged to one clamping claw. After the present invention adopts the above structure, the clamping claw can be driven to swing.

[0017] Furthermore, the clamping claw comprises a connecting rod and a clamping plate, the end of the connecting rod is connected to the clamping plate, the connecting rod is hinged to the connection seat, and an obtuse angle is formed between the connecting rod and the clamping plate. After the present invention adopts the above structure, after the multiple clamping claws are close to each other, space can be left between the multiple clamping claws to accommodate the flowers and fruits on the branches and stems.

[0018] Furthermore, a connecting portion may be formed at the end of the connecting rod, and the connecting portion is hinged to the connecting seat.

[0019] Furthermore, the first rotating disk is provided with a plurality of guide grooves, which are arranged in a ring-shaped manner and spaced in sequence, and the connecting rod slides on the guide grooves. After the present invention adopts the above structure, it can guide a plurality of clamping claws to approach each other.

[0020] Furthermore, a slider is slidably connected to the guide groove, the slider is provided with a sliding hole, the sliding hole vertically penetrates the slider, and the connecting rod passes upward through the sliding hole.

[0021] Furthermore, the diameter of the sliding hole is larger than the diameter of the connecting rod. After the present invention adopts the above structure, the slider will not be tightly fitted on the connecting rod, so that the connecting rod can move up and down relative to the slider.

[0022] Furthermore, the slider includes two sliding hoops, which are symmetrically arranged and detachably connected to each other. Grooves are respectively provided on opposite sides of the two sliding hoops, and the grooves of the two sliding hoops together constitute a sliding hole.

[0023] Furthermore, a plurality of connection grooves are formed on opposite sides of the two sliding hoops, and a plurality of connection bosses are formed on opposite sides of the two sliding hoops. The plurality of connection bosses are respectively and one by one inserted into the plurality of connection grooves to realize the connection between the two sliding hoops.

[0024] Furthermore, the top and the bottom of the sliding hoop are respectively formed with limiting flanges, and the limiting flanges are used to limit the sliding hoop from exiting the guide groove.

[0025] Furthermore, the first driving gear, the first driven gear, the first transmission gear, and the second transmission gear are all bevel gears. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The overall structure of the present invention is three-dimensional Figure 1 .

[0027] Figure 2 The overall structure of the present invention is three-dimensional Figure 2 (Housing not shown).

[0028] Figure 3 It is the internal structure diagram of the present invention.

[0029] Figure 4 It is a three-dimensional structural diagram of the slider of the present invention.

[0030] Figure 5 This is an exploded view of the slider of the present invention.

[0031] Among them, 1 is a housing, 11 is a servo motor, 12 is a transmission shaft, 13 is a first limiting flange, 14 is a second limiting flange, 15 is a first connecting plate, 16 is a second connecting plate, 2 is a first driving gear, 21 is a first rotating boss, 22 is a first through hole, 3 is a first driven gear, 31 is a second through hole, 32 is a connecting seat, 33 is a second rotating boss, 4 is a clamping claw, 41 is a connecting rod, 42 is a clamping plate, 5 is a first rotating disk, 51 is a guide groove, 521 is a sliding hoop, 522 is a sliding hole, 523 is a connecting groove, 524 is a connecting boss, 525 is a limiting flange, 61 is a first transmission gear, and 62 is a second transmission gear. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0034] See attached Figure 1 To Attachment Figure 5 As shown, a sampling manipulator for forestry includes a housing 1, a servo motor 11, a first driving gear 2, a first driven gear 3, a first rotating disk 5, and a plurality of clamps 4. The first driving gear 2, the first driven gear 3, and the first rotating disk 5 are respectively rotatably connected in the housing 1. The first rotating disk 5, the first driven gear 3, and the first driving gear 2 are sequentially spaced from top to bottom. The servo motor 11 is connected to a transmission shaft 12. The transmission shaft 12 is fitted with the first driving gear 2. The transmission shaft 12 passes through the first driven gear 3 upward and is connected to the first rotating disk 5. The first driving gear 2 is used to drive the first driven gear 3 to rotate in the same direction. The servo motor 11 is used to drive the first driving gear 2 and the first rotating disk 5 to rotate in the same direction.

[0035] In this embodiment, a first connecting plate 15 is provided in the housing 1, the first connecting plate 15 is located below the first driving gear 2, and a first transmission gear 61 is rotatably connected to the first connecting plate 15, the first transmission gear 61 is parallel to the first driving gear 2, and the first transmission gear 61 is meshed with the first driving gear 2; a second connecting plate 16 is provided in the housing 1, the second connecting plate 16 is located between the first rotating disk 5 and the first driving gear 2, and a first driven gear 3 is rotatably connected to the second connecting plate 16; a second transmission gear 62 is rotatably connected to the housing 1, the second transmission gear 62 is perpendicular to the first transmission gear 61, and the second transmission gear 62 is respectively meshed with the first transmission gear 61 and the first driven gear 3.

[0036] In this embodiment, first rotating bosses 21 are respectively formed at the centers of the top surface and the bottom surface of the first driving gear 2, and the two first rotating bosses 21 are opposite to each other up and down. A first through hole 22 is opened at the center of the first driving gear 2, and the first through hole 22 vertically penetrates the first driving gear 2 and the two first rotating bosses. The first through hole 22 is used for inserting the transmission shaft 12. Two first mounting holes are opened on the first connecting plate 15. The first rotating boss 21 is rotatably connected to one of the first mounting holes, and the other first mounting hole is rotatably connected to the first rotating shaft, and the first transmission gear 61 is mounted on the first rotating shaft; in this way, the first driving gear 2 and the first transmission gear 61 are installed, and the transmission shaft 12 is connected to the first driving gear 2.

[0037] In this embodiment, second rotating bosses 33 are respectively formed at the centers of the top and bottom surfaces of the first driven gear 3, and the two second rotating bosses 33 are opposite to each other up and down. A second through hole 31 is opened at the center of the first driven gear 3, and the second through hole 31 vertically penetrates the first driven gear 3 and the two second rotating bosses 33. The transmission shaft 12 passes through the second through hole 31 and is connected to the first rotating disk 5. A second mounting hole is opened on the second connecting plate 16, and the second rotating boss 33 is rotatably connected to the second mounting hole; in this way, the first driven gear 3 is installed, and the transmission shaft 12 will not be connected to the first driven gear 3, that is, the transmission shaft 12 will not directly drive the first driven gear 3 to rotate.

[0038] In this embodiment, a second rotating shaft is rotatably connected inside the housing 1 , and a second transmission gear 62 is mounted on the second rotating shaft.

[0039] A plurality of jaws 4 are hinged on the first driven gear 3, and the plurality of jaws 4 respectively pass through the first rotating disk 5 and extend out of the housing 1. The plurality of jaws 4 are arranged in a ring in sequence, and the first driven gear 3 and the first rotating disk 5 jointly drive the plurality of jaws 4 to approach each other so that the plurality of jaws 4 can jointly clamp the sample.

[0040] In this embodiment, the clamping claw 4 includes a connecting rod 41 and a clamping plate 42. The end of the connecting rod 41 is connected to the clamping plate 42. The connecting rod 41 is hinged to the connection seat 32, and an obtuse angle is formed between the connecting rod 41 and the clamping plate 42. A plurality of guide grooves 51 are opened on the first rotating disk 5. The plurality of guide grooves 51 are arranged in a ring-shaped manner and spaced apart in sequence. The connecting rod 41 slides on the guide grooves 51. The end of the clamping plate 42 is sharp, such as being formed with serrations, so as to improve the ability of the clamping plate 42 to clamp branches and stems. The guide grooves 51 are in an arc-shaped structure.

[0041] In this embodiment, a connecting portion may be formed at the end of the connecting rod 41 , and the connecting portion is hinged to the connecting seat 32 .

[0042] In this embodiment, a first limiting flange 13 and a second limiting flange 14 are formed on the inner wall of the shell 1. The first limiting flange 13 and the second limiting flange 14 are spaced apart from each other. The first rotating disk 5 rotates between the first limiting flange 13 and the second limiting flange 14. A plurality of clamps 4 pass through the first rotating disk 5. The first rotating disk 5 is used to guide the plurality of clamps 4 to move closer to or away from each other.

[0043] In this embodiment, a plurality of connection seats 32 are formed on the first driven gear 3 , and the plurality of connection seats 32 are arranged in a ring-like manner in sequence and at intervals, and one connection seat 32 is hinged to one clamping jaw 4 .

[0044] In this embodiment, a slider is slidably connected to the guide groove 51 , and the slider has a sliding hole 522 . The sliding hole 522 vertically penetrates the slider, and the connecting rod 41 passes through the sliding hole 522 upward; the diameter of the sliding hole 522 is greater than the diameter of the connecting rod 41 .

[0045] In this embodiment, the slider includes two sliding hoops 521, which are symmetrically arranged and detachably connected to each other. Grooves are respectively opened on the opposite sides of the two sliding hoops 521, and the grooves of the two sliding hoops 521 together constitute a sliding hole 522; specifically, a plurality of connecting grooves 523 are opened on the opposite sides of the two sliding hoops 521, and a plurality of connecting bosses 524 are formed on the opposite sides of the two sliding hoops 521, and the plurality of connecting bosses 524 are respectively inserted into the plurality of connecting grooves 523 to realize the connection between the two sliding hoops 521.

[0046] In this embodiment, limiting flanges 525 are formed on the top and bottom of the sliding hoop 521 respectively, one limiting flange 525 abuts against the top surface of the first rotating disk 5, and the other limiting flange 525 abuts against the bottom surface of the first rotating disk 5. The two limiting flanges 525 are used together to limit the sliding hoop 521 from exiting the guide groove 51, that is, the cross-section of the slider is an I-shaped structure, which can limit the sliding hoop 521 from exiting the guide groove 51.

[0047] In this embodiment, the installation process of the slider is as follows: place the two sliding hoop sleeves 521 in the guide groove 51 respectively, and align the two connecting bosses 524 of one sliding hoop sleeve 521 with the two connecting grooves 523 of the other sliding hoop sleeve 521, align the two connecting grooves 523 of one sliding hoop sleeve 521 with the two connecting bosses 524 of the other sliding hoop sleeve 521, and then push the two sliding hoop sleeves 521 to dock until the two connecting bosses 524 are inserted into the two connecting grooves 523 one by one, thereby realizing the assembly of the slider and installing it on the guide groove 51.

[0048] In this embodiment, the first driving gear 2 , the first driven gear 3 , the first transmission gear 61 , and the second transmission gear 62 are all bevel gears.

[0049] In this embodiment, the specific sampling process is as follows: first, the manipulator of this embodiment is moved to the branch with flowers and fruits to be sampled, and the flowers and fruits are located between the multiple clamping claws 4 of the manipulator, and the upper half of the clamping plate 42 is aligned with the branch. At this time, due to the obtuse angle between the connecting rod 41 and the clamping plate 42, when the multiple clamping claws 4 are close to each other, a space for accommodating flowers and fruits will be formed, so that after the clamping claws 4 are close to each other to clamp the branch, the flowers and fruits will not be damaged. Then, the servo motor 11 is started, and the servo motor 11 drives the transmission shaft 12 to rotate, and the transmission shaft 12 drives the first driving gear 2 and the first rotating disk 5 to rotate synchronously;

[0050] At this time, the first driving gear 2 drives the first transmission gear 61 to rotate, the first transmission gear 61 drives the second transmission gear 62 to rotate, the second transmission gear 62 drives the first driven gear 3 to rotate, and the first driven gear 3 rotates to drive the multiple clamping jaws 4 to rotate. Since the connecting rod 41 of the clamping jaw 4 slides on the guide groove 51, and the guide groove 51 is an arc-shaped structure, when the multiple clamping jaws 4 rotate, the guide groove 51 guides the clamping jaws 4 to move inward, so that the multiple clamping jaws 4 are close to each other;

[0051] That is, the multiple jaws 4 approach each other while rotating, so that the ends of the multiple jaws 4 can clamp the branches and stems with flowers and fruits, and the rotation speed S1 of the first driving gear 2 is greater than the rotation speed of the first driven gear 3, that is, the rotation speed of the first rotating disk 5 is greater than the rotation speed of the first driven gear 3, so that the speed at which the multiple jaws 4 approach each other is slower than the rotation speed of the multiple jaws 4. In this way, after the multiple jaws 4 just clamp the branches and stems, they drive the branches and stems to rotate rapidly until the branches and stems are clamped off, and the servo motor 11 is stopped, so that the branches and stems with flowers and fruits can be taken out, that is, sampling is achieved, and the flowers and fruits can be prevented from falling during the process of twisting the branches and stems.

[0052] Among them, since a slider slides on the guide groove 51, and the connecting rod 41 passes through the slider to pass through the guide groove 51 and then extends out of the shell 1, and since the diameter of the sliding hole 522 is larger than the diameter of the connecting rod 41, the slider will not be tightly fitted on the connecting rod 41, so that the slider can move up and down relative to the connecting rod 41, so that when the first driven gear 3 rotates, it drives multiple jaws 4 to rotate and approach each other. In the process of the jaws 4 approaching each other, the connecting rod 41 approaches the center of the first rotating disk 5 to drive the slider to slide on the guide groove 51, and in the process of the slider sliding on the guide groove 51, the connecting rod 41 will move up and down relative to the slider.

[0053] In this embodiment, the radius of the first driving gear 2 is smaller than the radius of the first driven gear 3, so that the angular velocity of the first driving gear 2 is greater than the angular velocity of the first driven gear 3, and thus the angular velocity of the first rotating disk 5 is greater than the angular velocity of the first driven gear 3, specifically:

[0054] Vw1 is the angular velocity of the first driving gear 2, Vw2 is the angular velocity of the first transmission gear 61, Vw3 is the angular velocity of the second transmission gear 62, and Vw4 is the angular velocity of the first driven gear 3;

[0055] R1 is the radius of the first driving gear 2, R2 is the radius of the first transmission gear 61, R3 is the radius of the second transmission gear 62, and R4 is the radius of the first driven gear 3;

[0056] VS1 is the linear velocity of the first driving gear 2, VS2 is the linear velocity of the first transmission gear 61, VS3 is the linear velocity of the second transmission gear 62, and VS4 is the linear velocity of the first driven gear 3;

[0057] In meshing gears, the linear velocities of these gears are the same, so the larger the radius of the gear, the lower its angular velocity, specifically;

[0058] VS1=Vw1*2πR1;

[0059] VS2=Vw2*2πR2;

[0060] VS3=Vw3*2πR3;

[0061] VS4=Vw4*2πR4;

[0062] Since the first driving gear 2, the first transmission gear 61, the second transmission gear 62, and the first driven gear 3 are meshed in sequence, the linear speeds of the first driving gear 2, the first transmission gear 61, the second transmission gear 62, and the first driven gear 3 are all the same, so VS1=VS2=VS3=VS4;

[0063] Therefore, VS1=Vw1*2πR1=Vw4*2πR4, and it can be inferred that Vw4 / Vw1=R1 / R4. In this embodiment, the radius R4 of the first transmission gear 3 is greater than the radius R1 of the first driving gear 2, so the angular velocity Vw4 of the first transmission gear 3 is less than the angular velocity Vw1 of the first driving gear 2, so that the first driving gear 2 and the first transmission gear 3 form a speed difference, and because the transmission shaft 12 is respectively connected to the first driving gear 2 and the first rotating disk 5, the angular velocity of the first driving gear 2 is the same as the angular velocity of the first rotating disk 5, that is, the angular velocity of the first rotating disk 5 is greater than the angular velocity of the first transmission gear 3, so the first rotating disk 5 and the first transmission gear 3 form a speed difference;

[0064] Since the first rotating disk 5 and the first transmission gear 3 form a speed difference, when the first rotating disk 5 rotates, the clamping jaws 4 will be driven to slide on the guide grooves 51 on the first rotating disk 5, and cooperate with the arc-shaped guide grooves 51 to guide the multiple clamping jaws 4 to move closer to or away from each other, thereby realizing the opening and closing of the multiple clamping jaws 4, so that after the multiple clamping jaws 4 clamp the branches and stems with flowers and fruits, they can rotate to separate the branches and stems from the tree.

[0065] In this embodiment, since the second through hole is provided in the middle of the first driven gear 3, the transmission shaft 12 can pass through the first driven gear 3, so that the transmission shaft 12 directly drives the first driving gear 2 and the first rotating disk 5 connected thereto to rotate in the same direction, and the first driving gear 2 drives the first driven gear 3 to rotate through the first transmission gear 61 and the second transmission gear 62. The radius R1 of the first driving gear 2 is different from the radius R4 of the first driven gear 3, so that the angular velocity Vw1 of the first driving gear 2 is different from the angular velocity Vw4 of the first driven gear 3, forming a speed difference, so that the angular velocity Vw4 of the first rotating disk 5 is different from the angular velocity Vw4 of the first driven gear 3, forming a speed difference, so that the rotation of the first rotating disk 5 can drive the multiple clamping jaws 4 to approach each other to clamp the branches and stems with flowers and fruits. In this way, the multiple clamping jaws 4 can approach each other and close while rotating, so that the multiple clamping jaws 4 can clamp the branches and stems with flowers and fruits, and cooperate to separate the branches and stems from the tree, so as to take out the branches and stems with flowers and fruits as samples for subsequent tests.

[0066] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any technician familiar with the art can use the above disclosed technical content to make more possible changes and modifications to the technical solution of the present invention without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, all equivalent and equivalent changes made according to the ideas of the present invention without departing from the content of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A sampling manipulator for forestry, comprising a housing (1), a servo motor (11), a first driving gear (2), a first driven gear (3), a first rotating disk (5), and a plurality of clamping claws (4), characterized in that: The first driving gear (2), the first driven gear (3) and the first rotating disk (5) are respectively rotatably connected in the housing (1); the first rotating disk (5), the first driven gear (3) and the first driving gear (2) are arranged in sequence from top to bottom; the servo motor (11) is connected to a transmission shaft (12); the transmission shaft (12) is fitted with the first driving gear (2); the transmission shaft (12) passes through the first driven gear (3) upwards and is connected to the first rotating disk (5); the first driving gear (2) is used to drive the first driven gear (3) to rotate in the same direction; and the servo motor (11) is used to drive the first driving gear (2) and the first rotating disk (5) to rotate in the same direction; A plurality of clamping jaws (4) are hingedly connected to the first driven gear (3), and the plurality of clamping jaws (4) respectively pass through the first rotating disk (5) and then extend out of the housing (1). The plurality of clamping jaws (4) are arranged in a ring in sequence and at intervals. The first driven gear (3) and the first rotating disk (5) jointly drive the plurality of clamping jaws (4) to approach each other so that the plurality of clamping jaws (4) jointly clamp the sample.

2. A forestry sampling manipulator according to claim 1, characterized in that: The housing (1) further comprises a first rotating disk (5), the inner side wall of the housing (1) being formed with a first limiting flange (13) and a second limiting flange (14), the first limiting flange (13) and the second limiting flange (14) being arranged with a spacing therebetween, the first rotating disk (5) rotating between the first limiting flange (13) and the second limiting flange (14), the plurality of clamping jaws (4) passing through the first rotating disk (5), the first rotating disk (5) being used to guide the plurality of clamping jaws (4) to move closer to or farther from each other.

3. A forestry sampling manipulator according to claim 2, characterized in that: A first connecting plate (15) is arranged in the housing (1), the first connecting plate (15) is located below the first driving gear (2), a first transmission gear (61) is rotatably connected to the first connecting plate (15), the first transmission gear (61) is parallel to the first driving gear (2), and the first transmission gear (61) is meshed with the first driving gear (2).

4. A forestry sampling manipulator according to claim 3, characterized in that: A second connecting plate (16) is arranged in the housing (1), the second connecting plate (16) is located between the first rotating disk (5) and the first driving gear (2), and the second connecting plate (16) is rotatably connected to the first driven gear (3).

5. A forestry sampling manipulator according to claim 4, characterized in that: A second transmission gear (62) is rotatably connected inside the housing (1); the second transmission gear (62) is perpendicular to the first transmission gear (61); and the second transmission gear (62) is respectively meshed with the first transmission gear (61) and the first driven gear (3).

6. A forestry sampling manipulator according to claim 4, characterized in that: A first rotating boss (21) is formed at the center of the top surface and the bottom surface of the first driving gear (2), the two first rotating bosses (21) are opposed to each other up and down, a first through hole (22) is opened at the center of the first driving gear (2), the first through hole (22) vertically penetrates the first driving gear (2) and the two first rotating bosses (21), the first through hole (22) is used for inserting the transmission shaft (12), the first connecting plate is opened with two first mounting holes, the first rotating boss (21) is rotatably connected to one of the first mounting holes, the other first mounting hole is rotatably connected to a first rotating shaft, and the first rotating shaft is mounted on the first transmission gear (61); A second rotating boss (33) is formed at the center of the top surface and the bottom surface of the first driven gear (3), respectively. The two second rotating bosses (33) are opposed to each other up and down. A second through hole (31) is formed at the center of the first driven gear (3). The second through hole (31) vertically penetrates the first driven gear (3) and the two second rotating bosses (33). A second mounting hole is formed on the second connecting plate (16). The second rotating boss (33) is rotatably connected to the second mounting hole. The transmission shaft (12) passes through the second through hole (31) and is connected to the first rotating disk (5).

7. The forestry sampling manipulator according to claim 1, characterized in that: A plurality of connection seats (32) are formed on the first driven gear (3), the plurality of connection seats (32) are arranged in a ring-like manner in sequence and at intervals, and one of the connection seats (32) is hingedly connected to a clamping claw (4).

8. A forestry sampling manipulator according to claim 7, characterized in that: The clamping claw (4) comprises a connecting rod (41) and a clamping plate (42); the end of the connecting rod (41) is connected to the clamping plate (42); the connecting rod (41) is hingedly connected to the seat (32); and an obtuse angle is formed between the connecting rod (41) and the clamping plate (42).

9. A forestry sampling manipulator according to claim 8, characterized in that: The first rotating disk (5) is provided with a plurality of guide grooves (51), the plurality of guide grooves (51) are arranged in a ring-like manner and spaced apart in sequence, and the connecting rod (41) slides on the guide grooves (51).

10. A forestry sampling manipulator according to claim 9, characterized in that: A slider is slidably connected to the guide groove (51), the slider is provided with a sliding hole (522), the sliding hole (522) vertically penetrates the slider, and the connecting rod (41) passes through the sliding hole (522) upwards; The slider comprises two sliding hoops (521), the two sliding hoops (521) are symmetrically arranged, the two sliding hoops (521) are detachably connected, the opposite sides of the two sliding hoops (521) are respectively provided with grooves, and the grooves of the two sliding hoops (521) together form a sliding hole (522); A plurality of connection grooves (523) are formed on opposite sides of the two sliding hoops (521), and a plurality of connection bosses (524) are formed on opposite sides of the two sliding hoops (521). The plurality of connection bosses (524) are respectively and one by one inserted into the plurality of connection grooves (523) to realize the connection between the two sliding hoops (521).

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