Robot clamp for agricultural picking

Abstract

The invention relates to the technical field of robot clamps, and discloses a robot clamp for agricultural picking. An electric push rod is fixed to an inner cavity of an agricultural mechanical arm, an acting shaft is fixed to an output shaft of the electric push rod, a connecting shaft is rotationally arranged at the other end of the acting shaft, and a first fixing ring is fixed to the surface of the electric push rod; when the robot picks fruits with smooth surfaces through the agricultural robot arm, the air bag mechanism can adsorb the fruits under the action of the electric push rod, and the air bag mechanism is assisted to adsorb the fruits under the action of the blowing mechanism and the turnover mechanism, so that the fruit adsorption efficiency of the air bag mechanism is improved, and the labor intensity of workers is reduced. In addition, under the action of a rotating mechanism and an auxiliary mechanism, an air bag mechanism rotates after adsorbing fruits, then pedicels can be conveniently separated from tree stems, under the action of a transmission mechanism and a cutting mechanism, the pedicels can be cut, work of the air bag mechanism is further assisted, and the practicability of the device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot clamps, and in particular to a robot clamp used for agricultural picking. Background Art

[0002] Agriculture is an industry in which humans use the growth and development laws of plants and animals to obtain agricultural products through farming, breeding, etc. Harvesting robots are automated equipment specifically used for harvesting crop fruits. They integrate machine vision, image recognition, positioning navigation, robotic arm control and other technologies, and can achieve automatic recognition, precise positioning and efficient harvesting of fruits, greatly improving agricultural production efficiency and fruit quality.

[0003] At present, when picking fruits, robots generally use clamps to separate the fruits from the tree stems by grabbing or pulling. However, since the clamps need to act directly on the surface of the fruits, improper force control may lead to a series of adverse consequences. Specifically, if the clamps are too strong, the surface of the fruits may be damaged, affecting their quality and commercial value; and if the clamping force is insufficient, the fruits may fall during the picking process, causing waste and loss. Summary of the invention

[0004] The object of the present invention is to provide a robot gripper for agricultural picking to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot clamp for agricultural picking, comprising an agricultural machine arm connected to an agricultural robot, an electric push rod is fixed to the inner cavity of the agricultural machine arm, an action shaft is fixed to the output shaft of the electric push rod, a connecting shaft is rotatably provided at the other end of the action shaft, a first fixing ring is fixed to the surface of the electric push rod, a second fixing ring is fixed to the other side of the inner cavity of the agricultural machine arm, telescopic rods are fixed to both sides of the inner cavity of the agricultural machine arm, a sleeve is fixed to the other end of the telescopic rod, and further comprising:

[0006] An air bag mechanism for picking is arranged on the surface of the first fixing ring;

[0007] An air blowing mechanism for assisting picking is arranged on one side of the surface of the agricultural machine arm, and a flipping mechanism for flipping the air blowing mechanism is arranged on the surface of the air blowing mechanism;

[0008] A rotating mechanism for assisting picking is provided on the surface of the connecting shaft, and an auxiliary mechanism for assisting the rotating mechanism is provided on the surface of the rotating mechanism;

[0009] A transmission mechanism is connected to the surface of the connecting shaft, and a cutting mechanism for cutting the fruit stem is arranged on the surface of the transmission mechanism.

[0010] Preferably, the airbag mechanism includes a plurality of first airbags fixed to the surface of the first fixing ring and a plurality of connecting hard air tubes connected to the surface of the connecting shaft, the other end of the first airbag is fixed to the surface of the second fixing ring, the surface of the first airbag is connected to the first connecting air tube, the other end of the first connecting air tube rotates and is connected to a connecting tube, the connecting tube is arranged in the inner cavity of the connecting shaft, the other end of the connecting tube is connected to the connecting hard air tube, and the other end of the connecting hard air tube is connected to a suction cup.

[0011] Preferably, a dustproof part is provided at the connection portion between the hard air pipe and the suction cup.

[0012] Preferably, the blowing mechanism includes a piston rod fixed to the surface of a first fixing ring, the piston head of the piston rod fixed to the surface of the first fixing ring, the piston tube body of the piston rod fixed to the surface of the second fixing ring, one side of the surface of the piston rod connected to a second connecting air pipe, the connecting part between the second connecting air pipe and the piston rod is different from the connecting part between the first airbag and the first connecting air pipe, the other end of the second connecting air pipe is connected to a blowing hood, one side of the surface of the second connecting air pipe is connected to an air intake pipe, the surface of the air intake pipe is provided with a one-way valve, and the one-way valve is also provided on the surface of the second connecting air pipe.

[0013] Preferably, the flipping mechanism includes a first fixed tooth plate fixed on both sides of the inner cavity of the agricultural machinery arm, the surfaces of the first fixed tooth plates on both sides are meshed with first movable gears, a rotating shaft is fixed to the inner cavity of the first movable gears on both sides, a flipping block is fixed to the surface of the rotating shaft, a first receiving plate is fixed to the surface of the flipping block, a second receiving plate is fixed to the other end of the first receiving plate, the blowing hood is opened on the surface of the second receiving plate, a follower block is rotatably arranged on the surface of the rotating shaft, and the other end of the follower block is fixed to the surface of the sleeve.

[0014] Preferably, a plurality of holes are formed on the surface of the first receiving plate.

[0015] Preferably, the rotating mechanism includes engaging grooves opened on both sides of the surface of the connecting shaft, an engaging rod is slidably provided on the surface of the engaging groove, a fixed block is slidably provided on the surface of the engaging rod, a first spring is fixed to the inner cavity of the fixed block, the other end of the first spring is fixed to the surface of the engaging rod, a limiting groove is opened on the surface of the engaging rod, a plurality of limiting rods are fixed to the inner cavity of the fixed block, the limiting rods slide on the surface of the limiting groove, and the fixed blocks on both sides are fixed to the inner cavity of the agricultural machinery arm.

[0016] Preferably, the auxiliary mechanism includes a first sliding rod fixed on both sides of the inner cavity of the connecting shaft, a limiting block is slidably arranged on the surface of the first sliding rod, a second spring is sleeved on the surface of the first sliding rod, one end of the second spring is fixed to the inner cavity of the connecting shaft, and the other end of the second spring is fixed to the surface of the limiting block, second sliding rods are fixed on both sides of the inner cavity of the limiting block, a push rod is slidably arranged on the surface of the second sliding rod, a third spring is sleeved on the surface of the second sliding rod, one end of the third spring is fixed to the inner cavity of the limiting block, and the other end of the third spring is fixed to the surface of the push rod, and one side of the surface of the limiting block is inclined and can slide in contact with the engaging rod.

[0017] Preferably, the transmission mechanism includes a second fixed tooth plate fixed to one side of the inner cavity of the agricultural machinery arm, a tooth plate tooth body is fixed on the surface of the second fixed tooth plate, a second movable gear is meshed on the surface of the tooth plate tooth body, a first transmission rod is fixed to the inner cavity of the second movable gear, the first transmission rod bearing moves following the sleeve, the other end of the first transmission rod is provided with a second transmission rod through a bevel gear transmission, a one-way ratchet is fixed to one end of the second transmission rod, a third transmission rod is fixed to the other end of the one-way ratchet, a connecting plate is rotatably provided on the surface of the third transmission rod, a fixed shell is fixed to the surface of the connecting plate, and one end of the connecting plate is fixed to the surface of the sleeve.

[0018] Preferably, the cutting mechanism includes a fourth transmission rod rotating on one side of the fixed shell surface, the fourth transmission rod is transmitted through bevel gears and the third transmission rod, a driving gear is fixed on the surface of the fourth transmission rod, a driven gear is meshed on one side of the surface of the driving gear, a shaft is fixed to the inner cavity of the driven gear, meshing teeth are fixed on the surface of the shaft, the surface of the meshing teeth is also meshed with meshing teeth, the shaft is also arranged in the inner cavity of the meshing teeth on the other side, cutting knives are fixed on the surfaces of the shaft on both sides, torsion springs are fixed on the surfaces of the shaft on both sides, a connecting block is fixed to the other end of the torsion spring, and the other end of the connecting block is fixed to the surface of the fixed shell.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] When the robot picks fruits with smooth surfaces through the agricultural machine arm, the airbag mechanism can adsorb the fruits under the action of the electric push rod, and the airbag mechanism can be assisted to adsorb the fruits under the action of the blowing mechanism and the turning mechanism, thereby improving the efficiency of the airbag mechanism in adsorbing the fruits.

[0021] In addition, under the action of the rotating mechanism and the auxiliary mechanism, the airbag mechanism absorbs the fruit and then rotates, thereby facilitating the separation of the fruit stem from the tree stem. Under the action of the transmission mechanism and the cutting mechanism, the fruit stem can be cut, further assisting the work of the airbag mechanism and improving the practicality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure from another side perspective of the present invention;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the agricultural machine arm after being cut open in the present invention;

[0025] Figure 4 It is a partial three-dimensional structural schematic diagram of the electric push rod and the airbag mechanism in the present invention;

[0026] Figure 5 It is a partial three-dimensional structural schematic diagram of the airbag mechanism in the present invention;

[0027] Figure 6 It is a partial three-dimensional structural schematic diagram of the rotating mechanism in the present invention;

[0028] Figure 7 For the present invention Figure 6 A schematic diagram of the enlarged local three-dimensional structure at point A in the middle;

[0029] Figure 8 It is a partial three-dimensional structural schematic diagram of the rotating mechanism and the auxiliary mechanism in the present invention;

[0030] Fig. 9 For the present invention Figure 8 Schematic diagram of the enlarged local three-dimensional structure at B in the middle;

[0031] Fig.10 It is a partial three-dimensional structural schematic diagram of the blowing mechanism and the flipping mechanism in the present invention;

[0032] Fig.11 It is a partial three-dimensional structural schematic diagram of the turning mechanism in the present invention;

[0033] Fig.12 It is a partial three-dimensional structural schematic diagram of the transmission mechanism and the cutting mechanism in the present invention;

[0034] Fig.13 It is a partial three-dimensional structural schematic diagram of the cutting mechanism in the present invention;

[0035] Fig.14 It is a schematic diagram of the partial three-dimensional structure of the pipeline connection of the blowing mechanism in the present invention.

[0036] In the figure: 1, agricultural machine arm; 2, electric push rod; 3, action shaft; 4, connecting shaft; 5, first fixed ring; 6, second fixed ring; 7, air bag mechanism; 71, first air bag; 72, first connecting air pipe; 73, connecting pipe; 74, connecting hard air pipe; 75, suction cup; 8, blowing mechanism; 81, piston rod; 82, second connecting air pipe; 83, blowing cover; 84, air intake pipe; 85, one-way valve; 9, flip mechanism; 91, first fixed gear plate; 92, first moving gear; 93, rotating shaft; 94, flip block; 95, first receiving plate; 96, second receiving plate; 97, follower block; 10, sleeve; 11, telescopic rod; 12, rotating mechanism; 121, meshing groove; 122, meshing rod; 123, first spring; 124. Limit rod; 125. Limit groove; 126. Fixed block; 13. Auxiliary mechanism; 131. First slide rod; 132. Second spring; 133. Limit block; 134. Push rod; 135. Third spring; 136. Second slide rod; 14. Transmission mechanism; 141. Fixed shell; 142. Connecting plate; 143. Second fixed tooth plate; 144. Tooth plate tooth body; 145. Second moving gear; 146. First transmission rod; 147. Second transmission rod; 148. One-way ratchet; 149. Third transmission rod; 15. Cutting mechanism; 151. Fourth transmission rod; 152. Active gear; 153. Driven gear; 154. Shaft; 155. Meshing teeth; 156. Cutting knife; 157. Torsion spring; 158. Connecting block. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-14 As shown, a robot clamp for agricultural picking includes an agricultural machine arm 1 connected to the agricultural robot, an electric push rod 2 is fixed to the inner cavity of the agricultural machine arm 1, an action shaft 3 is fixed to the output shaft of the electric push rod 2, a connecting shaft 4 is rotatably provided at the other end of the action shaft 3, a first fixing ring 5 is fixed to the surface of the electric push rod 2, a second fixing ring 6 is fixed to the other side of the inner cavity of the agricultural machine arm 1, telescopic rods 11 are fixed to both sides of the inner cavity of the agricultural machine arm 1, a sleeve 10 is fixed to the other end of the telescopic rod 11, and further includes:

[0039] An air bag mechanism 7 for picking is arranged on the surface of the first fixing ring 5;

[0040] An air blowing mechanism 8 for assisting picking is arranged on one side of the surface of the agricultural machine arm 1, and a flipping mechanism 9 for flipping the air blowing mechanism 8 is arranged on the surface of the air blowing mechanism 8;

[0041] A rotating mechanism 12 for assisting picking is provided on the surface of the connecting shaft 4, and an auxiliary mechanism 13 for assisting the rotating mechanism 12 is provided on the surface of the rotating mechanism 12;

[0042] A transmission mechanism 14 is connected to the surface of the connecting shaft 4, and a cutting mechanism 15 for cutting the fruit stem is arranged on the surface of the transmission mechanism 14.

[0043] When the robot of the present invention picks fruits with smooth surfaces through the agricultural machine arm 1, the airbag mechanism 7 can adsorb the fruits under the action of the electric push rod 2, and the airbag mechanism 7 can be assisted to adsorb the fruits under the action of the blowing mechanism 8 and the flipping mechanism 9, thereby improving the efficiency of the airbag mechanism 7 in adsorbing the fruits.

[0044] In addition, under the action of the rotating mechanism 12 and the auxiliary mechanism 13, the airbag mechanism 7 rotates after adsorbing the fruit, thereby facilitating the separation of the fruit stem from the tree trunk. Under the action of the transmission mechanism 14 and the cutting mechanism 15, the fruit stem can be cut, further assisting the work of the airbag mechanism 7 and improving the practicality of the device.

[0045] The airbag mechanism 7 includes a plurality of first airbags 71 fixed to the surface of the first fixing ring 5 and a plurality of connecting hard air tubes 74 connected to the surface of the connecting shaft 4. The other end of the first airbag 71 is fixed to the surface of the second fixing ring 6. The surface of the first airbag 71 is connected to the first connecting air tube 72. The other end of the first connecting air tube 72 rotates and is connected to a connecting tube 73. The connecting tube 73 is arranged in the inner cavity of the connecting shaft 4. The other end of the connecting tube 73 is connected to the connecting hard air tube 74. The other end of the connecting hard air tube 74 is connected to a suction cup 75. In this embodiment, through the first airbag 71, The first connecting air pipe 72, the connecting pipe 73, the connecting hard air pipe 74 and the suction cup 75 are arranged so that when the electric push rod 2 drives the first fixing ring 5 to move, the plurality of first air bags 71 fixed on the surface of the first fixing ring 5 can be squeezed with the assistance of the second fixing ring 6, and then the gas is transported to the connecting hard air pipe 74 under the action of the first connecting air pipe 72 and the connecting pipe 73, and finally the gas is discharged under the action of the suction cup 75. Conversely, when the electric push rod 2 drives the first fixing ring 5 to reset, the outside gas can enter the first air bag 71.

[0046] A dustproof part is provided at the connection position of the hard air tube 74 and the suction cup 75. In this embodiment, through this arrangement, when the suction cup 75 delivers external air to the hard air tube 74, the dust in the gas can be blocked on the outside, thereby improving the practicality of the airbag mechanism 7.

[0047] The blowing mechanism 8 includes a piston rod 81 fixed to the surface of the first fixing ring 5, the piston head of the piston rod 81 is fixed to the surface of the first fixing ring 5, the piston tube body of the piston rod 81 is fixed to the surface of the second fixing ring 6, one side of the surface of the piston rod 81 is connected with a second connecting air pipe 82, the connection part between the second connecting air pipe 82 and the piston rod 81 is different from the connection part between the first air bag 71 and the first connecting air pipe 72, the other end of the second connecting air pipe 82 is connected with a blowing cover 83, one side of the surface of the second connecting air pipe 82 is connected with an air inlet pipe 84, and the air inlet pipe 8 4 is provided with a one-way valve 85, and the one-way valve 85 is also provided on the surface of the second connecting air pipe 82. In this embodiment, through the arrangement of the piston rod 81, the second connecting air pipe 82, the blowing hood 83, the air inlet pipe 84 and the one-way valve 85, when the piston rod 81 is squeezed, the air pressure in the inner cavity of the piston rod 81 changes, thereby causing the air pressure of the second connecting air pipe 82 or the air inlet pipe 84 to change, and under the action of the one-way valve 85, the blowing hood 83 can only emit air but not intake air, thereby preventing the blowing hood 83 from taking in air and sucking the fruit.

[0048] The flip mechanism 9 includes a first fixed tooth plate 91 fixed on both sides of the inner cavity of the agricultural machine arm 1, and the surfaces of the first fixed tooth plates 91 on both sides are meshed with first moving gears 92, and the inner cavities of the first moving gears 92 on both sides are fixed with a rotating shaft 93, and the surface of the rotating shaft 93 is fixed with a flip block 94, and the surface of the flip block 94 is fixed with a first receiving plate 95, and the other end of the first receiving plate 95 is fixed with a second receiving plate 96, and the blowing hood 83 is opened on the surface of the second receiving plate 96, and the surface of the rotating shaft 93 is rotatably provided with a follower block 97, and the other end of the follower block 97 is fixed to the surface of the sleeve 10. In this embodiment, through the arrangement of the first fixed tooth plate 91, the first movable gear 92, the rotating shaft 93, the flip block 94, the first receiving plate 95, the second receiving plate 96 and the follower block 97, when the sleeve 10 moves following the connecting shaft 4, the follower block 97 drives the rotating shaft 93 to move under the drive of the sleeve 10, and then under the action of the rotating shaft 93, the first movable gear 92 and the first fixed tooth plate 91 are engaged, and the flip blocks 94 fixed on both sides of the surface of the rotating shaft 93 can flip the first receiving plate 95 and the second receiving plate 96.

[0049] A plurality of holes are formed on the surface of the first receiving plate 95. In this embodiment, dust or debris can flow out of the holes through such a configuration.

[0050] The rotating mechanism 12 includes an engagement groove 121 provided on both sides of the surface of the connecting shaft 4, an engagement rod 122 is slidably provided on the surface of the engagement groove 121, a fixing block 126 is slidably provided on the surface of the engagement rod 122, a first spring 123 is fixed to the inner cavity of the fixing block 126, the other end of the first spring 123 is fixed to the surface of the engagement rod 122, a limiting groove 125 is provided on the surface of the engagement rod 122, a plurality of limiting rods 124 are fixed to the inner cavity of the fixing block 126, the limiting rod 124 slides on the surface of the limiting groove 125, and the fixing blocks 126 on both sides are fixed to the inner cavity of the agricultural machine arm 1. In this embodiment, the engagement groove 121 and the engagement rod 122 are connected to the inner cavity of the agricultural machine arm 1. , the first spring 123, the limiting rod 124, the limiting groove 125 and the fixing block 126 are arranged, because the fixing block 126 is fixed to the inner cavity of the agricultural machine arm 1, and the engaging rod 122 slides in the inner cavity of the fixing block 126, and then when the connecting shaft 4 drives the engaging groove 121 to move, the engaging groove 121 and the engaging rod 122 can be engaged, and under the action of the engaging rod 122, the connecting shaft 4 can be rotated. In addition, under the action of the first spring 123, the limiting rod 124 and the limiting groove 125, the engaging rod 122 can change its length relative to the engaging groove 121, which is suitable for changing the position of the engaging groove 121.

[0051] The auxiliary mechanism 13 includes a first slide bar 131 fixed on both sides of the inner cavity of the connecting shaft 4, a limiting block 133 is slidably arranged on the surface of the first slide bar 131, a second spring 132 is sleeved on the surface of the first slide bar 131, one end of the second spring 132 is fixed to the inner cavity of the connecting shaft 4, the other end of the second spring 132 is fixed to the surface of the limiting block 133, second slide bars 136 are fixed on both sides of the inner cavity of the limiting block 133, a push rod 134 is slidably arranged on the surface of the second slide bar 136, a third spring 135 is sleeved on the surface of the second slide bar 136, one end of the third spring 135 is fixed to the inner cavity of the limiting block 133, the other end of the third spring 135 is fixed to the surface of the push rod 134, one side of the surface of the limiting block 133 is inclined and can slide in contact with the meshing rod 122, in this embodiment, through the first slide bar 131 and the second spring 132 The setting of the limiting block 133, the push rod 134, the third spring 135 and the second sliding rod 136, under the action of the second spring 132, the limiting block 133 is on the surface of the meshing groove 121, and under the action of the meshing rod 122, the limiting block 133 can slide along the first sliding rod 131. After the meshing rod 122 slides over the surface of one side of the limiting block 133, the limiting block 133 can be popped out under the action of the second spring 132, and then the sliding of the meshing rod 122 can be limited by the inclined surface on the other side of the limiting block 133. In addition, under the action of the third spring 135 and the second sliding rod 136, the push rod 134 can act on the surface of the meshing rod 122, so that a force is generated between the meshing rod 122 and the meshing groove 121, thereby achieving the purpose of assisting the meshing between the meshing groove 121 and the meshing rod 122.

[0052] The transmission mechanism 14 includes a second fixed tooth plate 143 fixed to one side of the inner cavity of the agricultural machine arm 1, a tooth plate tooth body 144 is fixed on the surface of the second fixed tooth plate 143, a second movable gear 145 is meshed on the surface of the tooth plate tooth body 144, a first transmission rod 146 is fixed to the inner cavity of the second movable gear 145, the first transmission rod 146 bearing moves following the sleeve 10, the other end of the first transmission rod 146 is provided with a second transmission rod 147 through a bevel gear transmission, a one-way ratchet 148 is fixed to one end of the second transmission rod 147, a third transmission rod 149 is fixed to the other end of the one-way ratchet 148, a connecting plate 142 is rotatably provided on the surface of the third transmission rod 149, a fixed shell 141 is fixed to the surface of the connecting plate 142, one end of the connecting plate 142 is fixed to the surface of the sleeve 10, in this embodiment, through the fixed shell 141, the connecting plate 142, the second fixed tooth plate 143, the tooth plate tooth body 1 44. The second moving gear 145, the first transmission rod 146, the second transmission rod 147, the one-way ratchet 148 and the third transmission rod 149 are arranged so that when the sleeve 10 drives the first transmission rod 146 to move, the second moving gear 145 and the tooth plate tooth body 144 can be meshed, so that the second moving gear 145 rotates, and under the action of the first transmission rod 146, the second transmission rod 147, the one-way ratchet 148 and the third transmission rod 149 rotate. It is worth noting that in the present application, when the electric push rod 2 drives the sleeve 10 to move outward, the second moving gear 145 can drive the third transmission rod 149 to rotate through the one-way ratchet 148, and when the electric push rod 2 drives the sleeve 10 to reset, although the second moving gear 145 rotates, the third transmission rod 149 cannot be rotated under the action of the one-way ratchet 148.

[0053] The working principle of the one-way ratchet 148 is known in the art and will not be described in detail here.

[0054] The cutting mechanism 15 includes a fourth transmission rod 151 rotating on one side of the surface of the fixed shell 141, the fourth transmission rod 151 is transmitted through the bevel gear and the third transmission rod 149, a driving gear 152 is fixed on the surface of the fourth transmission rod 151, a driven gear 153 is meshed on one side of the surface of the driving gear 152, a shaft 154 is fixed to the inner cavity of the driven gear 153, a meshing tooth 155 is fixed on the surface of the shaft 154, the meshing tooth 155 is also meshed on the surface of the meshing tooth 155, the shaft 154 is also arranged in the inner cavity of the meshing tooth 155 on the other side, cutting knives 156 are fixed on the surfaces of the shafts 154 on both sides, torsion springs 157 are fixed on the surfaces of the shafts 154 on both sides, a connecting block 158 is fixed to the other end of the torsion spring 157, and the other end of the connecting block 158 is fixed to the surface of the fixed shell 141. In the embodiment, by arranging the fourth transmission rod 151, the driving gear 152, the driven gear 153, the shaft 154, the meshing teeth 155, the cutting knife 156, the torsion spring 157 and the connecting block 158, when the third transmission rod 149 rotates, the fourth transmission rod 151 can be rotated, and then under the action of the fourth transmission rod 151, the driving gear 152, the driven gear 153 and the meshing teeth 155 are rotated, and then under the action of the shafts 154 on both sides, the cutting knife 156 is closed toward the fixed shell 141, and the torsion spring 157 accumulates force at this time. When the third transmission rod 149 does not rotate, that is, the shaft 154 cannot drive the torsion spring 157 to accumulate force, and the torsion spring 157 releases the rotational force, and then the cutting knives 156 on both sides reverse half a circle and collide, thereby cutting the fruit stem.

[0055] Working principle: When the fruit is ripe, an agricultural robot can be used to drive the agricultural machine arm 1 to move, and the agricultural machine arm 1 and the suction cup 75 can be placed near the fruit. It is worth noting that the robot and the agricultural machine arm 1 should have visual recognition technology, mechanical arm and end effector technology, position sensor application technology, walking device and central control system. The above technologies are all existing technologies and will not be elaborated here. Then the electric push rod 2 can be used.

[0056] Under the action of the electric push rod 2, the action shaft 3 drives the connecting shaft 4 and the suction cup 75 to move toward the fruit. When the action shaft 3 and the connecting shaft 4 move, the airbag mechanism 7, the blowing mechanism 8, the flipping mechanism 9, the sleeve 10, the rotating mechanism 12, the auxiliary mechanism 13, the transmission mechanism 14 and the cutting mechanism 15 can work.

[0057] The first fixing ring 5 and the second fixing ring 6 fixed on the surface of the action shaft 3 can cause the first air bag 71 and the piston rod 81 to deform, and then under the action of the first air bag 71, air is blown in the first connecting air pipe 72, and the gas enters the suction cup 75 through the connecting pipe 73 and the connecting hard air pipe 74, and then the gas is blown toward the surface of the fruit, so as to achieve the purpose of cleaning the dust and debris of the fruit.

[0058] At this time, under the action of the piston rod 81, the external air enters the piston rod 81 through the air inlet pipe 84. At this time, under the action of the sleeve 10, the first movable gear 92 and the first fixed gear plate 91 are meshed, and then under the action of the rotating shaft 93 and the flip block 94, the first receiving plate 95 and the second receiving plate 96 are rotated, so that the first receiving plate 95 is on the lower side of the fruit.

[0059] At this time, when the sleeve 10 drives the first transmission rod 146 to move, the second moving gear 145 and the tooth plate tooth body 144 can be meshed, so that the second moving gear 145 rotates, and under the action of the first transmission rod 146, the second transmission rod 147, the one-way ratchet 148 and the third transmission rod 149 rotate, and when the third transmission rod 149 rotates, the fourth transmission rod 151 can be rotated, and then under the action of the fourth transmission rod 151, the driving gear 152, the driven gear 153 and the meshing tooth 155 rotate, and then under the action of the two side shafts 154, the cutting knife 156 is closed to the fixed shell 141, and the torsion spring 157 accumulates force at this time.

[0060] At this time, under the action of the auxiliary mechanism 13 and the transmission mechanism 14, the connecting shaft 4 drives the suction cup 75 to move linearly outward.

[0061] When the airbag mechanism 7 completes dust treatment on the surface of the fruit, the first receiving plate 95 and the second receiving plate 96 are located at the lower side of the fruit, and the cutting knife 156 is located in the inner cavity of the fixed shell 141, and the torsion spring 157 completes force storage.

[0062] Then the electric push rod 2 can drive the action shaft 3 to reset. When the action shaft 3 is reset, the first air bag 71 can be suppressed under the action of the first fixing ring 5 and the second fixing ring 6, and then under the action of the first connecting air pipe 72, the connecting pipe 73 and the connecting hard air pipe 74, the suction cup 75 generates suction, and the suction cup 75 sucks the fruit. At this time, under the action of the blowing mechanism 8, the blowing hood 83 generates blowing force, and the fruit is blown to the suction cup 75. Under the action of the suction cup 75, the fruit can be adsorbed on the surface of the suction cup 75.

[0063] At this time, when the action shaft 3 is reset, the fruit is adsorbed on the surface of the suction cup 75, and the fruit stem is still connected to the tree trunk. At this time, since the third transmission rod 149 is not subject to the transmission restriction of the one-way ratchet 148, the rotational force of the fourth transmission rod 151, the driving gear 152, the driven gear 153, the shaft 154 and the meshing teeth 155 is released, and the torsion spring 157 releases the rotational force, thereby causing the cutting knives 156 on both sides to perform a half-circle motion, so that the cutting knives 156 on both sides cut on the surface of the fruit stem, completing the cutting of the fruit stem.

[0064] In addition, when the electric push rod 2 drives the action shaft 3 to reset, the rotating mechanism 12 and the auxiliary mechanism 13 can work. When the engaging rod 122 enters one side of the engaging groove 121, due to the obstruction of the limiting block 133 and the push of the top rod 134, the engaging rod 122 can slide into the other side of the engaging groove 121. Under the action of the engaging grooves 121 and the engaging rod 122 on both sides, the connecting shaft 4 rotates, and then the fruit is driven to rotate through the suction cup 75. The fruit stem is cut by the cutting mechanism 15 and the fruit is rotated by the suction cup 75, so that the fruit and the fruit stem are separated from the fruit stem.

[0065] While the suction cup 75 is sucking the fruit, the agricultural robot drives the agricultural machine arm 1 to work, and the fruit can be placed in the fruit basket through the agricultural machine arm 1, thereby completing the picking of the fruit.

[0066] After the fruit is separated from the surface of the suction cup 75, the device can be used for the next step of picking.

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic gripper for agricultural harvesting, comprising an agricultural robot arm (1) connected to an agricultural robot, characterized in that: An electric push rod (2) is fixed to the inner cavity of the agricultural machine arm (1), an action shaft (3) is fixed to the output shaft of the electric push rod (2), a connecting shaft (4) is rotatably provided at the other end of the action shaft (3), a first fixing ring (5) is fixed to the surface of the electric push rod (2), a second fixing ring (6) is fixed to the other side of the inner cavity of the agricultural machine arm (1), telescopic rods (11) are fixed to both sides of the inner cavity of the agricultural machine arm (1), a sleeve (10) is fixed to the other end of the telescopic rod (11), and further comprises: An air bag mechanism (7) for picking arranged on the surface of the first fixing ring (5); An air blowing mechanism (8) for assisting picking is arranged on one side of the surface of the agricultural machine arm (1), and a flipping mechanism (9) for flipping the air blowing mechanism (8) is arranged on the surface of the air blowing mechanism (8); A rotating mechanism (12) for assisting picking is provided on the surface of the connecting shaft (4), and an auxiliary mechanism (13) for assisting the rotating mechanism (12) is provided on the surface of the rotating mechanism (12); A transmission mechanism (14) is driven on the surface of the connecting shaft (4), and a cutting mechanism (15) for cutting the fruit stem is arranged on the surface of the transmission mechanism (14).

2. The robot clamp for agricultural picking according to claim 1, characterized in that: The airbag mechanism (7) comprises a plurality of first airbags (71) fixed to the surface of a first fixing ring (5) and a plurality of connecting hard air tubes (74) connected to the surface of a connecting shaft (4); the other end of the first airbag (71) is fixed to the surface of a second fixing ring (6); the surface of the first airbag (71) is connected to a first connecting air tube (72); the other end of the first connecting air tube (72) is rotatable and connected to a connecting tube (73); the connecting tube (73) is arranged in the inner cavity of the connecting shaft (4); the other end of the connecting tube (73) is connected to a connecting hard air tube (74); the other end of the connecting hard air tube (74) is connected to a suction cup (75).

3. A robotic gripper for agricultural harvesting according to claim 2, characterized in that: A dustproof part is provided at the connection position between the hard air pipe (74) and the suction cup (75).

4. The robot clamp for agricultural picking according to claim 2, characterized in that: The blowing mechanism (8) comprises a piston rod (81) fixed to the surface of a first fixing ring (5), a piston head of the piston rod (81) fixed to the surface of the first fixing ring (5), a piston tube of the piston rod (81) fixed to the surface of a second fixing ring (6), one side of the surface of the piston rod (81) is connected to a second connecting air pipe (82), a connection portion between the second connecting air pipe (82) and the piston rod (81) is different from a connection portion between the first air bag (71) and the first connecting air pipe (72), the other end of the second connecting air pipe (82) is connected to a blowing hood (83), one side of the surface of the second connecting air pipe (82) is connected to an air inlet pipe (84), a one-way valve (85) is provided on the surface of the air inlet pipe (84), and the one-way valve (85) is also provided on the surface of the second connecting air pipe (82).

5. The robot clamp for agricultural picking according to claim 1, characterized in that: The flipping mechanism (9) comprises a first fixed tooth plate (91) fixed on both sides of the inner cavity of the agricultural machine arm (1); the surfaces of the first fixed tooth plates (91) on both sides are meshed with first movable gears (92); the inner cavities of the first movable gears (92) on both sides are fixed with rotating shafts (93); the surface of the rotating shaft (93) is fixed with a flipping block (94); the surface of the flipping block (94) is fixed with a first receiving plate (95); the other end of the first receiving plate (95) is fixed with a second receiving plate (96); the blowing hood (83) is opened on the surface of the second receiving plate (96); the surface of the rotating shaft (93) is rotatably provided with a follower block (97); the other end of the follower block (97) is fixed to the surface of the sleeve (10).

6. The robot clamp for agricultural picking according to claim 5, characterized in that: A plurality of holes are formed on the surface of the first receiving plate (95).

7. The robotic gripper for agricultural harvesting according to claim 1, characterized in that: The rotating mechanism (12) comprises an engagement groove (121) provided on both sides of the surface of the connecting shaft (4); an engagement rod (122) is slidably provided on the surface of the engagement groove (121); a fixing block (126) is slidably provided on the surface of the engagement rod (122); a first spring (123) is fixed to the inner cavity of the fixing block (126); the other end of the first spring (123) is fixed to the surface of the engagement rod (122); a limiting groove (125) is provided on the surface of the engagement rod (122); a plurality of limiting rods (124) are fixed to the inner cavity of the fixing block (126); the limiting rods (124) slide on the surface of the limiting groove (125); and the fixing blocks (126) on both sides are fixed to the inner cavity of the agricultural machine arm (1).

8. The robotic gripper for agricultural harvesting according to claim 7, characterized in that: The auxiliary mechanism (13) comprises a first sliding rod (131) fixed on both sides of the inner cavity of the connecting shaft (4); a limiting block (133) is slidably arranged on the surface of the first sliding rod (131); a second spring (132) is sleeved on the surface of the first sliding rod (131); one end of the second spring (132) is fixed to the inner cavity of the connecting shaft (4); the other end of the second spring (132) is fixed to the surface of the limiting block (133); second sliding rods (136) are fixed on both sides of the inner cavity of the limiting block (133); a push rod (134) is slidably arranged on the surface of the second sliding rod (136); a third spring (135) is sleeved on the surface of the second sliding rod (136); one end of the third spring (135) is fixed to the inner cavity of the limiting block (133); the other end of the third spring (135) is fixed to the surface of the push rod (134); one side of the surface of the limiting block (133) is inclined and can slide in contact with the engaging rod (122).

9. The robotic gripper for agricultural harvesting according to claim 1, characterized in that: The transmission mechanism (14) comprises a second fixed tooth plate (143) fixed to one side of the inner cavity of the agricultural machine arm (1); a tooth plate tooth body (144) is fixed to the surface of the second fixed tooth plate (143); a second movable gear (145) is meshed on the surface of the tooth plate tooth body (144); a first transmission rod (146) is fixed to the inner cavity of the second movable gear (145); a bearing of the first transmission rod (146) moves following the sleeve (10); a second transmission rod (147) is arranged at the other end of the first transmission rod (146) through bevel gear transmission; a one-way ratchet (148) is fixed to one end of the second transmission rod (147); a third transmission rod (149) is fixed to the other end of the one-way ratchet (148); a connecting plate (142) is rotatably arranged on the surface of the third transmission rod (149); a fixing shell (141) is fixed to the surface of the connecting plate (142); and one end of the connecting plate (142) is fixed to the surface of the sleeve (10).

10. The robotic gripper for agricultural harvesting according to claim 9, characterized in that: The cutting mechanism (15) comprises a fourth transmission rod (151) which rotates on one side of the surface of the fixed shell (141); the fourth transmission rod (151) is driven by bevel gears and the third transmission rod (149); a driving gear (152) is fixed on the surface of the fourth transmission rod (151); a driven gear (153) is meshed on one side of the surface of the driving gear (152); a shaft rod (154) is fixed in the inner cavity of the driven gear (153); a gear (154) is meshed on the surface of the shaft rod (154); The meshing teeth (155) are meshed with meshing teeth (155) on the surface thereof, and the shaft rod (154) is also arranged in the inner cavity of the meshing teeth (155) on the other side. Cutting knives (156) are fixed to the surfaces of the shaft rod (154) on both sides, and torsion springs (157) are fixed to the surfaces of the shaft rod (154) on both sides. A connecting block (158) is fixed to the other end of the torsion spring (157), and the other end of the connecting block (158) is fixed to the surface of the fixed shell (141).

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