Camellia oleifera fruit picking clamping jaw

Abstract

The camellia oleifera fruit picking clamping jaw comprises a connecting frame, a driving connecting part used for being connected with a driving arm is arranged on one side of the connecting frame, and a clamping connecting part used for being connected with a clamping jaw mechanism is arranged on the other side of the connecting frame; the clamping jaw mechanism comprises two sets of clamping frames, the clamping frames are symmetrically arranged on the connecting frame, and each clamping frame comprises a rotating end and a swinging end; the clamping connecting part comprises two sets of swing drivers, and the rotating end of the clamping frame is coaxially fixed to the swing output ends of the swing drivers; wherein a plurality of clamping protrusions are arranged at the swing end of the clamping frame along the rotating axis of the clamping frame in a linear array mode, and inserting grooves are formed between the clamping protrusions. A clamping interval is arranged between the bottom of the inserting groove of the clamping frame and the rotating end of the clamping frame. The clamping protrusions and the inserting grooves of the two sets of clamping frames are arranged in a staggered mode. And the width of the inserting groove is greater than that of the clamping bulge.

Description

Technical Field

[0001] The invention relates to a tea-oil fruit picking clamp and belongs to the field of agricultural machinery equipment. Background Art

[0002] At present, the picking of tea oil fruits mainly relies on manual labor. Since the diameter of tea oil fruits is small, the branches of tea oil trees are hard and dense when they are picked manually, so the branches will bring greater obstacles to the collection during the manual collection process. In addition, the shells of mature tea oil fruits are more likely to break due to squeezing. There are two main technical directions of the auxiliary devices for picking tea oil fruits in the prior art. The first one can only clamp a single tea oil fruit by simulating human hands. When picking, it is necessary to aim at a single tea oil fruit, which is not only inefficient, but also easy to squeeze and cause the shell of the tea oil fruit to break. The second one is to use a net bag with a cutting saw structure. During the cutting process, the branches and leaves of the tea oil tree will fall into the net bag together, requiring secondary screening. The extra steps increase the extra labor cost. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the technical problems in the prior art of low efficiency of manual picking and auxiliary equipment picking, and easy breakage of the shell of tea fruit, and to provide an improved tea fruit picking claw; the claw can pick tea fruit with the help of a visual algorithm, replacing manual labor, and picking tea fruit efficiently and with high quality.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A tea fruit picking gripper, comprising:

[0006] A connecting frame, wherein one side of the connecting frame is provided with a driving connecting portion for connecting to the driving arm, and the other side of the connecting frame is provided with a clamping connecting portion for connecting to the clamping claw mechanism;

[0007] The clamping mechanism comprises two sets of clamping frames, which are symmetrically arranged on the connecting frame, and the clamping frames comprise a rotating end and a swinging end;

[0008] and, a clamping connection portion, comprising two sets of swing actuators, wherein the rotating end of the clamping frame is coaxially fixed to the swing output end of the swing actuator;

[0009] Among them, the swing end of the clamping frame is provided with a plurality of clamping protrusions in a linear array along the rotation axis of the clamping frame, and plug-in grooves are provided between the clamping protrusions;

[0010] Wherein, a clamping section is provided between the bottom of the plug-in slot of the clamping frame and the rotating end of the clamping frame;

[0011] The clamping protrusions and the plug-in slots of the two groups of clamping frames are arranged alternately.

[0012] As a further improvement of the present invention, a folding and limiting mechanism is further provided between the two groups of clamping frames; the folding and limiting mechanism comprises a pushing arm and a first limiting arm rotatably connected to each other;

[0013] The push arm is rotatably connected to the rotating end of one group of clamping frames, and the first limit arm is rotatably connected to the swinging end of the other group of clamping frames; the first limit arm is used to limit the maximum pushing distance between the rotational connection position of the push arm and the first limit arm to the rotational connection position of the first limit arm and the clamping frame when the clamping frame is folded;

[0014] The folding limit mechanism can limit the spacing between the clamping frames when they are folded, which can not only prevent collision between the two groups of clamping frames and affect the structural stability of the clamping frames, but also the spacing limit during folding can ensure the storage space of the oil tea fruit and prevent the shell of the oil tea fruit from breaking due to excessive squeezing. The broken oil tea fruit is easily contaminated and affects transportation and processing.

[0015] As a further improvement of the present invention, an expansion limiting mechanism is further provided between the two groups of clamping frames, and the expansion limiting mechanism comprises a pulling wall and a second limiting arm rotatably connected to each other;

[0016] The pulling arm is rotationally connected to the rotating end of one group of clamping frames, and the second limiting arm is rotationally connected to the swinging end of the other group of clamping frames; the second limiting arm is used to limit the maximum stretching distance between the rotational connection position of the pulling arm and the second limiting arm to the rotational connection position of the second limiting arm and the clamping frame when the two groups of clamping frames are in the unfolded state;

[0017] The expansion limit mechanism can limit the maximum expansion spacing of the clamping frame to ensure that the clamping frame can move parallel to the moving direction of the connecting frame when it is in the expanded state, thereby facilitating the insertion of the clamping frame and reducing the interference between the branches and the clamping frame when the clamping frame is tilted in the moving direction. In addition, it can prevent the possibility of the clamping frame colliding with the connecting frame when the connecting frame is over-expanded, and at the same time, prevent some of the oil-tea fruits that fall off prematurely from sliding along the clamping frame tilted outward when the angle between the clamping frames is obtuse, thereby reducing the collection efficiency.

[0018] As a further improvement of the present invention, the clamping connection part further includes two sets of auxiliary rotating seats, and an auxiliary connecting part is also provided on the clamping frame, the auxiliary rotating seats are rotationally connected to the auxiliary connecting part, and the rotation axis of the auxiliary rotating seat and the auxiliary connecting part is coaxially arranged with the swing axis of the swing drive;

[0019] The auxiliary rotating seat can provide auxiliary rotation support for the clamping frame, thereby reducing the radial load brought by the clamping frame to the swing drive.

[0020] As a further improvement of the present invention, the clamping connection portion includes two groups of connecting plates fixed on the connecting frame, an auxiliary rotating seat is provided at one axial end of the connecting plate, and the other axial end of the connecting plate is fixedly connected to the swing driver; the rotation axis of the auxiliary rotating seat and the swing driver is arranged perpendicular to the plane of the connecting plate;

[0021] The independent connecting plate structure, as an extension of the connecting frame structure, can convert the relative force of the clamping process of the two sets of clamping frames into a torsional moment of the connecting plate. Moreover, the longer the connecting plate is, the larger the space for the mechanism arrangement is, and the better the torsional resistance of the connecting plate is. This solution can reduce the deformation or damage of the connecting part of the connecting frame caused by the torsional moment directly acting on the connecting frame.

[0022] As a further improvement of the present invention, the clamping frame includes a plurality of clamping rods arranged in parallel to the rotation plane of the clamping frame, the clamping protrusion is located at the front end of the clamping rod, the plug-in slot is located between the front ends of adjacent clamping rods, and the ends of the clamping rods are fixedly connected by a plurality of support columns arranged perpendicular to the clamping rods;

[0023] The clamping frame uses a frame structure composed of prefabricated parts of clamping rods and support columns. Compared with plate cutting or integral casting structure, the cost is lower and the mechanical properties of the prefabricated parts are better.

[0024] As a further improvement of the present invention, a driving plate is integrally fixedly connected to the clamping rod at the end of the clamping rod array of the clamping frame, and the driving plate is fixedly connected to the swing output end of the swing driver;

[0025] The integrated drive plate on the clamping rod increases the drive transmission efficiency and stability of the clamping rod.

[0026] As a further improvement of the present invention, a supporting film is fixed on the clamping rod through the clamping groove, the supporting film extends toward the retracting direction of the clamping rod, and the supporting film is integrally provided with a plurality of protrusions in the plane direction of the clamping frame, and the protrusions are arranged in a wave structure;

[0027] The supporting film can improve the detachment efficiency of the oil-tea fruit through the friction of the film, and can also prevent the oil-tea fruit from detaching from the gaps between the clamping frame and the gaps between the clamping rods when the clamping mechanism rotates.

[0028] As a further improvement of the present invention, the swing driver is a servo motor.

[0029] The beneficial effects of the present invention are:

[0030] The present invention uses a clamping mechanism connected by a mechanical arm and the interlacing of clamping protrusions of two groups of clamping frames. When inserted between the branches of the oil tea fruit, the clamping claws can be quickly moved to pull the oil tea fruit off the branches, and the branches will fall out of the plug-in grooves between the clamping protrusions. Compared with the prior art, there is no need to accurately align the oil tea fruit, and the influence of the branches on the clamping claws can be largely ignored; the leaves of the oil tea tree can also be removed or separated through the plug-in grooves; the oil tea fruit is removed by pulling action and is not squeezed during clamping, which reduces the possibility of damage, and allows the branches and leaves to be separated, reducing the difficulty of the subsequent processing process, greatly saving labor costs and improving the quality of the oil tea fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0032] Figure 1 It is an oblique upper axonometric schematic diagram of the present invention;

[0033] Figure 2 It is a schematic diagram of the oblique lower axonometric view of the present invention;

[0034] Figure 3 is an oblique rear axonometric schematic diagram of the present invention;

[0035] Figure 4 is a top view of the arrangement of the clamping rod;

[0036] Figure 5 is a side view of the clamping rod;

[0037] In the figure: 1. connecting frame; 2. rotating plate; 3. adapter plate; 4. rotating driver; 5. adapter ring; 6. connecting plate; 7. auxiliary rotating seat; 8. swing driver; 9. clamping rod; 10. supporting column; 11. driving plate; 12. plug-in slot; 13. pushing arm; 14. first limiting arm; 15. pulling arm; 16. second limiting arm; 17. rotating bushing; 18. supporting film; 19. protrusion. DETAILED DESCRIPTION

[0038] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0039] Example 1

[0040] like Figures 1 to 3 As shown, the present invention is a tea fruit picking clamp, comprising:

[0041] A connecting frame 1 is a plate-like structure used to support the entire clamp. An adapter ring 5 is rotatably connected to the middle of the connecting frame 1, and a rotating plate 2 is rotatably connected to the middle of the connecting frame 1 through the adapter ring 5. A rotating driver 4 is fixed on the rotating plate 2. The driving shaft of the rotating driver 4 is fixedly connected to the connecting frame 1. An adapter plate 3 is vertically fixed on the rotating plate 2. The adapter plate 3 is fixedly connected to the robotic arm. The position of the connecting frame 1 relative to the oil fruit tree is adjusted by the robotic arm, and then the angle of the entire clamp relative to the oil fruit tree and the angle of the clamp relative to the ground are adjusted by the rotating driver 4.

[0042] The clamping connection part has two groups of plate-shaped connecting plates 6 vertically fixed on both sides of the connecting frame 1. The connecting plates 6 are arranged in a mirror image. An auxiliary rotating seat 7 extending toward the bottom of the connecting frame 1 is integrally provided on one end of the connecting plate 6, and a swing drive 8 is fixed on the other end of the connecting plate 6. The two groups of clamping frames of the clamping mechanism are rotated and connected between the two groups of connecting plates 6 through the swing drive 8 and the auxiliary rotating seat.

[0043] The clamping mechanism includes two groups of symmetrically arranged clamping frames, which are composed of several groups of clamping rods 9 with long sheet structures combined at a fixed interval. The upper halves of the clamping rods 9 are laterally supported and fixed by support columns 10 with stud structures, and plug-in grooves 12 are arranged between the lower halves of adjacent clamping rods 9; a driving plate 11 is integrally fixed to the top of the clamping rod 9 located at the lateral end of the clamping frame, and the driving plate 11 is fixedly connected to the driving shaft of the swing driver 8, and the swing of the clamping rod 9 at the lateral end is driven to drive the swing of the entire clamping frame; a rotating shaft is arranged between the tops of the two groups of clamping rods 9 at the other lateral end, and two groups of rotating bushings 17 are sleeved on the rotating shaft, and the rotating shaft is rotationally connected to the auxiliary rotating seat 7, and the rotating bushing 17 is in rotational contact with the end of the auxiliary rotating seat 7 to assist the rotation support of the swing driver 8.

[0044] The lower half of the two groups of clamping frames is a collecting part, which is inserted between the branches of the nectarine tree and swung to screen and fix the nectarine fruits. The upper half of the two groups of clamping frames is a receiving part. When the two groups of clamping frames swing toward each other, the clamping rod 9 of the clamping frame will be embedded in the plug-in slot 12 of the other group of clamping frames to close the receiving part. By moving the entire clamping claw, the nectarine fruits in the receiving part will be separated from the branches, so that the nectarine fruits can be picked; and the branches and leaves of the nectarine tree will be separated from the gaps between the clamping rods 9 to ensure that non-essential items such as branches and leaves will not be collected.

[0045] Two groups of folding and extending limiting mechanisms are also arranged between the two groups of clamping frames. The folding and extending limiting mechanisms are stacked and arranged between one lateral end of the clamping frames.

[0046] The folding and limiting mechanism includes a push arm 13 and a first limit arm 14 which are rotatably connected to each other; the push arm 13 is rotatably connected between one group of clamping frames and the driving shaft of the swing driver 8, and the first limit arm 14 is rotatably connected to the swing end of the other group of clamping frames. A first rotating column is provided at the end of the support column 10 of the clamping frame, and the first limit arm 14 is rotatably connected to the first rotating column; Figure 3 The first limit arm 14 is used to limit the maximum pushing distance between the rotational connection position of the push arm 13 and the first limit arm 14 to the rotational connection position of the first limit arm 14 and the clamping frame when the clamping frame is in the folded state.

[0047] Among them, the unfolding limit mechanism includes a pulling wall and a second limit arm 16 that are rotatably connected to each other; the pulling arm 15 is rotatably connected to the pushing arm 13 and the rotational connection position of the driving shaft of the swing driver 8, the pulling arm 15 is stacked on the outside of the pushing arm 13, the second limit arm 16 is rotatably connected to the swing end of another group of clamping frames, and a second rotating column is arranged below the support column 10 of the clamping frame corresponding to the first rotating column, and the second limit arm 16 is rotatably connected to the second rotating column; the second limit arm 16 is used to limit the maximum stretching distance between the rotational connection position of the pulling arm 15 and the second limit arm 16 to the rotational connection position of the second limit arm 16 and the clamping frame when the two groups of clamping frames are unfolded.

[0048] When in use, first, the connecting frame 1 can be moved to a position close to the tea fruit with the help of the visual sensing mechanism on the robotic arm, and then the rotating drive 4 is used to make the rotation axis of the clamping frame parallel to the ground, and at the same time, the clamping frames are parallelly unfolded by the swinging drive 8, and then the clamping frame is inserted between the branches of the tea fruit tree through the robotic arm, and then the swinging drive 8 is used to retract the clamping frame again, so that the tea fruit slides to the end of the clamping frame along with the clamping rod 9, and then the robotic arm is used to pull the clamping frame out from between the branches, and at the same time, the tea fruit is pulled apart relative to the branch, so that the tea fruit is separated from the branch, and then the rotating drive 4 is used again to make the rotation axis of the clamping frame perpendicular to the ground, and the clamping frame is moved to the top of the storage part, and the clamping frame is opened by the swinging drive 8, so that the tea fruit falls, and the collection is completed.

[0049] Example 2

[0050] like Figure 4 and Figure 5As shown, a clamping groove is coaxially arranged on the clamping rod 9, and a supporting film 18 is fixed through the clamping groove. The bottom of the supporting film 18 is inserted into the clamping groove, and the top of the supporting film 18 extends toward the retraction direction of the clamping rod. The supporting film 18 is integrally provided with a plurality of protrusions 19 in the plane direction of the clamping frame, and the protrusions 19 are arranged in a wave structure; the protrusions 19 of adjacent supporting films 18 can form a circular or semicircular inlay area, and at the same time, with the help of the friction force of the supporting film 18 itself, the separation efficiency of the oil-tea fruit is guaranteed, and the oil-tea fruit can be prevented from falling from the gap between the clamping frame when the clamping claw mechanism rotates.

[0051] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A tea fruit picking claw, characterized in that ,include: A connecting frame (1), wherein one side of the connecting frame (1) is provided with a driving connecting portion for connecting to a driving arm, and the other side of the connecting frame (1) is provided with a clamping connecting portion for connecting to a clamping claw mechanism; The clamping mechanism comprises two groups of clamping frames, the clamping frames are symmetrically arranged on the connecting frame (1), and the clamping frames include a rotating end and a swinging end; and, a clamping connection part, comprising two sets of swing drivers (8), wherein the rotating end of the clamping frame is coaxially fixed to the swing output end of the swing driver (8); The swing end of the clamping frame is provided with a plurality of clamping protrusions in a linear array along the rotation axis of the clamping frame, and a plug-in slot (12) is provided between the clamping protrusions; Wherein, a clamping area is provided between the bottom of the insertion slot (12) of the clamping frame and the rotating end of the clamping frame; The clamping protrusions and the plug-in slots (12) of the two sets of clamping frames are arranged alternately. Wherein, the width of the insertion groove (12) is greater than the width of the clamping protrusion.

2. The tea fruit picking gripper according to claim 1, characterized in that: A folding and limiting mechanism is also provided between the two groups of clamping frames; the folding and limiting mechanism comprises a pushing arm (13) and a first limiting arm (14) which are rotatably connected to each other; The pushing arm (13) is rotationally connected to the rotating end of one group of clamping frames, and the first limiting arm (14) is rotationally connected to the swinging end of the other group of clamping frames; the first limiting arm (14) is used to limit the maximum pushing distance between the rotational connection position of the pushing arm (13) and the first limiting arm (14) to the rotational connection position of the first limiting arm (14) and the clamping frame when the clamping frame is in a folded state.

3. The tea fruit picking gripper according to claim 2, characterized in that: An expansion limiting mechanism is also provided between the two groups of clamping frames, and the expansion limiting mechanism comprises a pulling wall and a second limiting arm (16) which are rotatably connected to each other; The pulling arm (15) is rotationally connected to the rotating end of one group of clamping frames, and the second limiting arm (16) is rotationally connected to the swinging end of the other group of clamping frames; the second limiting arm (16) is used to limit the maximum stretching distance between the rotational connection position of the pulling arm (15) and the second limiting arm (16) to the rotational connection position of the second limiting arm (16) and the clamping frames when the two groups of clamping frames are in an unfolded state.

4. The tea fruit picking gripper according to claim 1, characterized in that: The clamping connection part also includes two groups of auxiliary rotating seats (7). An auxiliary connecting part is also arranged on the clamping frame. The auxiliary rotating seats (7) are rotationally connected to the auxiliary connecting part. The rotation axes of the auxiliary rotating seats (7) and the auxiliary connecting part are coaxially arranged with the swing axis of the swing driver (8).

5. The tea fruit picking gripper according to claim 4, characterized in that: The clamping connection portion comprises two groups of connecting plates (6) fixed on the connecting frame (1); an auxiliary rotating seat (7) is arranged at one axial end of the connecting plate (6); and the other axial end of the connecting plate (6) is fixedly connected to a swing driver (8); the rotation axes of the auxiliary rotating seat (7) and the swing driver (8) are arranged perpendicular to the plane of the connecting plate (6).

6. The tea fruit picking gripper according to claim 5, characterized in that: The clamping frame comprises a plurality of clamping rods (9) arranged in parallel with the rotation plane of the clamping frame, the clamping protrusion is located at the front end of the clamping rod (9), the insertion groove (12) is located between the front ends of adjacent clamping rods (9), and the ends of the clamping rods (9) are fixedly connected by a plurality of support columns (10) arranged perpendicular to the clamping rods (9).

7. The tea fruit picking gripper according to claim 7, characterized in that: A driving plate (11) is integrally fixedly connected to the clamping rod (9) at the end of the clamping rod (9) array of the clamping frame, and the driving plate (11) is fixedly connected to the swing output end of the swing driver (8).

8. The method according to claim 5, wherein: A supporting film (18) is fixed on the clamping rod (9) through a clamping groove. The supporting film (18) extends in the direction of the clamping rod to be retracted. The supporting film (18) is integrally provided with a plurality of protrusions (19) in the plane direction of the clamping frame. The protrusions (19) are arranged in a wave structure.

9. The tea fruit picking gripper according to claim 1, characterized in that: The swing drive (8) is a servo motor.

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