Clamping jaw mechanism of intelligent pomegranate tree sprout tillers removing device

Abstract

The invention discloses a clamping jaw mechanism of an intelligent pomegranate tree sprout tillers removing device, and belongs to the technical field of agricultural machinery. The mechanism comprises a robot connecting rod, a base, a clamping jaw driving mechanism and a dynamic clamping mechanism. The dynamic clamping mechanism is composed of an elastic cloth belt and a rotatable rubber roller and is rapidly installed on a clamping jaw vertical rod through a lock catch, the elastic cloth belt can stretch out and draw back along with the diameter change of a trunk, the rubber roller rolls to be attached to the surface of the trunk, and bark is prevented from being damaged. The clamping jaw driving mechanism adopts a double-shaft-extension electric cylinder to drive clamping jaws to open and close, and precise clamping is achieved in cooperation with servo torque control. The clamping jaw solves the problems that a traditional clamping jaw is high in trunk damage risk, poor in adaptability and insufficient in terrain compatibility, has the advantages of being high in protectiveness, outstanding in dynamic adaptability, convenient and fast to maintain and the like, and meets the efficient automation requirement of pomegranate orchard sprout tillers removing operation.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a clamping claw mechanism of a pomegranate tree sucker intelligent removal device. Background Art

[0002] Pomegranate suckers refer to the extra branches that naturally sprout from the base or roots of the pomegranate tree, mainly developed from the root system or the main trunk hidden buds. These branches usually grow rapidly, but most of them are leggy branches, which will compete with the main branches for nutrients, affecting the normal growth and fruiting of the tree.

[0003] During the pomegranate planting process, it is necessary to regularly prune and remove the suckers. Currently, this is done manually, which is time-consuming and labor-intensive. For this reason, the applicant has designed a pomegranate tree sucker removal robot, which needs to fix the trunk with a clamping device to achieve the tree-circling cutting operation. The following problems were found during the design process: 1. High risk of trunk damage: Rigid clamps are prone to scratches or indentations on the bark when they come into direct contact with the trunk. Long-term use may cause pests and diseases, affecting the health of fruit trees. 2. Lack of adaptability: The diameters of pomegranate trunks vary significantly and the surface is uneven. Traditional clamps are difficult to stably clamp trunks of different thicknesses or irregular shapes, which can easily lead to clamping failure or positioning deviation; 3. Poor terrain compatibility: The ground in the pomegranate orchard is uneven. When the robot moves around the tree, the bumps will cause rigid impact between the gripper and the tree trunk. Long-term operation can easily cause fatigue or even damage to the mechanical structure.

[0004] In the prior art, although some clamping devices use elastic materials (such as rubber pads) to improve contact protection, they still do not effectively address the need for dynamic adaptability. For example, fixed elastic pads cannot adapt to the continuous change in trunk diameter, and lack buffering margin when the robot shakes, resulting in insufficient clamping stability. In addition, the rigid connection structure is difficult to offset the mechanical stress caused by the undulating terrain, limiting the reliability and service life of the equipment.

[0005] To this end, the present application designs a clamping mechanism of a pomegranate tree sucker intelligent removal device to solve the above-mentioned problems. Summary of the invention

[0006] In order to make up for the deficiencies in the prior art, the present invention provides a clamping claw mechanism of a pomegranate tree sucker intelligent removal device.

[0007] A gripper mechanism of a pomegranate tree sucker intelligent removal device comprises a robot connecting rod, and is characterized in that: The robot connecting rod connects the clamping mechanism to the front of the pomegranate tree sucker intelligent removal device, the robot connecting rod is connected to the base, the base is provided with a clamping jaw driving mechanism and the clamping jaw is hinged, the clamping jaw driving mechanism drives the clamping jaw to open and close, and a detachable dynamic clamping mechanism is provided on the clamping portion of the clamping jaw. The dynamic clamping mechanism fits the surface of the trunk when the clamping jaw clamps the trunk, and generates deformation for buffering when the pomegranate tree sucker intelligent removal device rotates and shakes around the trunk.

[0008] Furthermore, in order to better realize the present invention, the base is a T-shaped structure, one end of which is provided with a hinge column, the hinge column is hinged to the scissor-type clamping jaws, and a telescopic electric cylinder mounting seat is opened on the base, and a double-axis extension electric cylinder of the clamping jaw driving mechanism is fixedly connected in the telescopic electric cylinder mounting seat.

[0009] Furthermore, in order to better realize the present invention, the piston shafts at both ends of the double-axis extension electric cylinder of the clamp driving mechanism are respectively connected to a slider, the piston shaft and the slider form a T-shaped structure, and the slider is slidably connected to the rear rod of the clamp.

[0010] Furthermore, in order to better realize the present invention, a sliding groove is opened on the rear rod of the clamping jaw, and a sliding block is slidably connected in the sliding groove. One end of the rear rod of the clamping jaw is connected to the U-shaped front rod of the clamping jaw, and the two ends of the front rod of the clamping jaw are vertically connected to vertical poles, and a dynamic clamping mechanism is detachably connected between the two vertical poles.

[0011] Furthermore, in order to better realize the present invention, the upper and lower ends of the vertical pole are hinged with lock buckles, and the lock buckles fix the dynamic clamping mechanism to the upper and lower ends of the vertical pole. Anti-slip teeth are arranged at both ends of the vertical pole, and a lock hole is opened at the position adjacent to the anti-slip teeth on the vertical pole. The lock hole is a semi-through hole that is narrow on the outside and wide on the inside. Step holes are connected at both ends of the lock hole, and an unlocking button with a step shaft structure is slidably connected in the step hole. When the lock buckle is embedded in the lock hole, the lock buckle squeezes the dynamic clamping mechanism onto the anti-slip teeth, and the lock can be released by pressing the unlocking buttons on both sides.

[0012] Furthermore, in order to better realize the present invention, the lock includes a pressure plate hinged at the end of the vertical rod, and the side of the pressure plate facing the anti-slip teeth is also provided with anti-slip grooves. A handle is provided on one side of the pressure plate, and an elastic lock core is provided on the other side. The elastic lock core is an integrally bent elastic U-shaped part that is narrow at both ends and wide in the middle. After being embedded in the lock, it fits the inner surface of the lock hole. When the unlocking button is pressed, the raised area in the middle of the elastic lock core can be pressed to narrow it, and the elastic lock core can be disengaged from the lock hole by pulling the handle.

[0013] Furthermore, in order to better realize the present invention, the dynamic clamping mechanism includes two elastic cloth belts that are detachably clamped at the upper and lower ends of the vertical pole, and a plurality of fixed shafts are distributed on the elastic cloth belts. The fixed shafts are fixed to the elastic cloth belts through straps, and limit rings fixed to the fixed shafts are provided on the upper and lower sides of the straps to prevent the fixed shafts from moving up and down and detaching. A rubber roller is rotatably connected in the middle of the fixed shaft.

[0014] The beneficial effects of the present invention are: Strong trunk protection: Through the combined design of the elastic cloth belt and the rotatable rubber roller in the dynamic clamping mechanism, the rubber roller rolls against the surface of the trunk during clamping, avoiding bark damage caused by rigid friction or extrusion, reducing the risk of disease and ensuring the health of fruit trees.

[0015] Outstanding dynamic adaptability: The elastic cloth belt can freely expand and contract with the change of tree trunk diameter. Combined with the distributed layout of multiple sets of rubber rollers, it can fit tree trunks of different thicknesses or uneven surfaces, ensuring clamping stability and consistency, and avoiding clamping failure or positioning deviation.

[0016] Excellent terrain compatibility: The elastic fabric allows the gripper mechanism to tilt or shake slightly with the terrain as the robot moves around the tree trunk, effectively buffering mechanical shock, avoiding fatigue damage caused by stress concentration in the rigid connection structure, and extending the service life of the equipment.

[0017] Quick disassembly and convenient maintenance: Through the coordinated design of the lock and unlock buttons, the dynamic clamping mechanism can be quickly disassembled and replaced, which is convenient for replacement and maintenance, and improves equipment maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 The third is a schematic diagram of the three-dimensional structure of the present invention; Figure 3 This is a partial structural schematic diagram of the clamping jaw driving mechanism of the present invention; Figure 4 The second schematic diagram of the partial structure of the clamping jaw driving mechanism of the present invention; Figure 5 This is a schematic diagram of the dynamic clamping mechanism of the present invention when being disassembled; Figure 6 It is a cross-sectional view of the locking dynamic clamping mechanism of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the lock buckle of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the dynamic clamping mechanism of the present invention.

[0019] In the figure, 1. Robot connecting rod, 2. Base, 3. Gripper driving mechanism, 4. Gripper, 5. Dynamic clamping mechanism, 201. Hinge column, 202. Telescopic electric cylinder mounting seat, 301. Double-axis extension electric cylinder, 302. Slider, 401. Gripper rear rod, 402. Sliding groove, 403. Gripper front rod, 404. Vertical rod, 405. Lock hole, 406. Unlock button, 407. Anti-slip teeth, 408. Lock buckle, 4081. Pressure plate, 4082. Elastic lock core, 4083. Handle, 501. Elastic cloth belt, 502. Binding belt, 503. Fixed shaft, 504. Limiting ring, 505. Rubber roller. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0022] Figure 1-Figure 8 This is a specific embodiment of the present invention, which is a clamping claw mechanism of a pomegranate tree sucker removal device.

[0023] 1. Overall assembly and installation of the clamping mechanism: 1. Assembly and installation of the clamping mechanism (combined with Figure 1-Figure 4 ) 1) Installation of base and drive mechanism: Fix the base 2 to the front end of the robot connecting rod 1 by bolts to ensure the levelness of the base 2.

[0024] A double-axis extension electric cylinder 301 is fixed in the telescopic electric cylinder mounting seat 202 of the base 2, and piston shafts at both ends of the electric cylinder are respectively connected to the sliders 302 through threads.

[0025] The rear rod 401 of the scissor-type clamping jaw 4 is hinged to the base 2 through the hinge column 201 to ensure that the clamping jaw 4 can be freely opened and closed around the hinge column.

[0026] 2) Gripper drive mechanism connection: The slider 302 of the double-axis extension electric cylinder 301 is embedded in the sliding groove 402 of the clamping claw rear rod 401, and grease is applied in the sliding groove 402 to reduce friction resistance.

[0027] The telescopic action of the double-axis extension electric cylinder 301 is tested to ensure that the slider 302 moves smoothly in the sliding groove 402 and drives the clamping jaw 4 to complete the opening and closing action.

[0028] 2. Dynamic clamping mechanism installation: Lay two elastic cloth belts 501 flat on a workbench, install the binding belts 502 at a fixed interval, and fix each binding belt 502 on the elastic cloth belt 501 by sewing or heat pressing.

[0029] Pass the fixed shaft 503 through the center hole of the binding belt 502, and put the limiting rings 504 (which can be in the form of motor shaft clamps) on both ends and press them tightly to prevent axial movement.

[0030] The rubber roller 505 is inserted into the middle of the fixed shaft 503 to ensure that the rubber roller can rotate freely around the fixed shaft.

[0031] 3. Dynamic clamping mechanism and pole fixation: Align the two ends of the elastic cloth belt 501 with the vertical rod 404 of the clamping jaw front rod 403 to ensure that the elastic cloth belt 501 is located at the upper and lower ends of the vertical rod 404 .

[0032] Press the pressing plate 4081 of the lock buckle 408 to make the elastic lock core 4082 fit into the lock hole 405, and the anti-slip pattern of the lock buckle 408 and the anti-slip teeth 407 of the vertical rod 404 are tightly engaged to complete the fixation of the dynamic clamping mechanism 5 ( Figure 6-Figure 7 ).

[0033] 2. Working process of the clamping mechanism (combined with Figure 1-Figure 8 ) 1. Preparation stage for clamping the tree trunk: The pomegranate tree sucker removal device is started, and after the visual system identifies the target tree trunk, the robot moves to the working position.

[0034] The double-axis extension electric cylinder 301 pushes the slider 302 to move outward along the sliding groove 402, driving the clamping jaws 4 to open to the maximum opening.

[0035] 2. Clamping jaws closing and dynamic adjustment: The robot adjusts its position so that the gripper 4 is aligned with the tree trunk, the double-axis extension electric cylinder 301 contracts the piston shaft, and the slider 302 drives the gripper 4 to close.

[0036] During the closing process, the rubber roller 505 on the elastic cloth belt 501 contacts the surface of the tree trunk. As the clamping force increases, the elastic cloth belt 501 stretches to match the diameter of the tree trunk, and the rubber roller 505 rolls on the concave and convex surface of the tree trunk to avoid damage to the bark ( Figure 8 ).

[0037] The servo motor monitors the clamping torque in real time and stops driving when the preset threshold is reached to ensure moderate clamping force.

[0038] 3. Cutting around trees and adapting to terrain: After the jaws are clamped, the robot rotates around the trunk and the cutting device removes the suckers.

[0039] When the robot shakes due to the ups and downs of the ground, the elastic cloth belt 501 is deformed, allowing the gripper mechanism to tilt or deflect slightly to buffer the mechanical impact; the rubber roller 505 continues to roll to reduce the sliding friction with the tree trunk ( Figure 5 ).

[0040] 4. Reset the clamping jaws and disassemble the dynamic clamping mechanism: After the cutting is completed, the double-axis extension electric cylinder 301 reversely drives the clamping jaws 4 to open, and the servo motor controls the clamping force to be gradually released.

[0041] Press the unlocking buttons 406 on both sides of the vertical rod 404, the middle protrusion of the elastic lock core 4082 is compressed and narrowed, pull the handle 4083 to release the lock buckle 408, and remove the dynamic clamping mechanism for cleaning or replacement ( Figure 6-Figure 7 ).

[0042] 3. Key Component Functions and Coordination Mechanisms 1. Elastic cloth belt 501 and rubber roller 505: The elastic cloth belt 501 is made of high-elastic nylon woven material with a stretch rate of ≥200%, and can adapt to tree trunks with a diameter of 50-200mm.

[0043] The surface of the rubber roller 505 is designed with corrugated anti-skid and has a hardness of Shore A60±5, which can provide friction and avoid scratching the bark.

[0044] 2. Lock buckle 408 and anti-slip teeth 407: The anti-skid teeth 407 are sawtooth structures with a pitch of 2 mm and a depth of 1 mm. After engaging with the anti-skid patterns of the lock buckle 408, they can withstand an axial tensile force of ≥500N.

[0045] The elastic lock core 4082 is made of 304 stainless steel spring steel sheet with a thickness of 0.5 mm, which is bent into a U shape and embedded in the lock hole 405 to form a self-locking state.

[0046] 3. Double-axis extension electric cylinder 301 and servo control: The electric cylinder has a stroke of 200mm, a thrust of 500N, and a repeat positioning accuracy of ±0.1mm, ensuring precise opening and closing of the gripper jaws.

[0047] The servo system monitors current changes in real time and automatically stops when the clamping torque reaches 30N·m to prevent overload.

[0048] 4. Maintenance and debugging 1. Dynamic clamping mechanism replacement: When disassembling, press the unlocking button 406 and pull the handle 4083 to remove the old elastic band 501.

[0049] When installing a new elastic band, ensure that the band 502 is aligned with the fixed shaft 503 and the lock buckle 408 is fully embedded in the lock hole 405.

[0050] 2. Lubrication and cleaning: Apply lithium-based grease to the sliding groove 402 and the hinge column 201 every month.

[0051] The surface of the rubber roller 505 is wiped with a damp cloth regularly to prevent dirt accumulation from affecting the rolling performance.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in the field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A gripper mechanism of an intelligent device for removing pomegranate tree suckers, comprising a robot connecting rod (1), characterized in that: The robot connecting rod (1) connects the clamping mechanism to the front of the pomegranate tree sucker intelligent removal device. The robot connecting rod (1) is connected to a base (2). The base (2) is provided with a clamping driving mechanism (3) and is hinged with a clamping claw (4). The clamping driving mechanism (3) drives the clamping claw (4) to open and close. A detachable dynamic clamping mechanism (5) is provided at the clamping portion of the clamping claw (4). The dynamic clamping mechanism (5) fits the surface of the tree trunk when the clamping claw (4) clamps the tree trunk, and is deformed to provide buffering when the pomegranate tree sucker intelligent removal device rotates and shakes around the tree trunk.

2. The clamping mechanism of the intelligent device for removing pomegranate tree suckers according to claim 1 is characterized in that: The base (2) is a T-shaped structure, one end of which is provided with a hinge column (201), the hinge column (201) being hinged to a scissor-type clamping claw (4), a telescopic electric cylinder mounting seat (202) being provided on the base (2), a double-axis extension electric cylinder (301) of the clamping claw driving mechanism (3) being fixedly connected to the telescopic electric cylinder mounting seat (202).

3. The clamping mechanism of the intelligent device for removing pomegranate tree suckers according to claim 2 is characterized in that: The piston shafts at both ends of the double-axis extension electric cylinder (301) of the clamping jaw driving mechanism (3) are respectively connected to a slider (302), the piston shaft and the slider (302) form a T-shaped structure, and the slider (302) is slidably connected to the clamping jaw rear rod (401) of the clamping jaw (4).

4. The clamping mechanism of the intelligent device for removing pomegranate tree suckers according to claim 3 is characterized in that: The clamping jaw (4) has a sliding groove (402) on its rear rod (401), a sliding block (302) is slidably connected in the sliding groove (402), one end of the clamping jaw rear rod (401) is connected to a U-shaped clamping jaw front rod (403), both ends of the clamping jaw front rod (403) are vertically connected to vertical rods (404), and a dynamic clamping mechanism (5) is detachably connected between the two vertical rods (404).

5. The clamping mechanism of the intelligent device for removing pomegranate tree suckers according to claim 4 is characterized in that: The upper and lower ends of the vertical pole (404) are hinged with lock buckles (408), and the lock buckles (408) fix the dynamic clamping mechanism (5) to the upper and lower ends of the vertical pole (404). Anti-skid teeth (407) are provided at both ends of the vertical pole (404), and a lock hole (405) is provided on the vertical pole (404) at a position adjacent to the anti-skid teeth (407). The lock hole (405) is a semi-through hole that is narrow on the outside and wide on the inside. Step holes are connected at both ends of the lock hole (405), and an unlocking button (406) with a step shaft structure is slidably connected in the step hole. When the lock buckle (408) is embedded in the lock hole (405), the lock buckle (408) presses the dynamic clamping mechanism (5) onto the anti-skid teeth (407), and the lock can be released by pressing the unlocking buttons (406) on both sides.

6. The clamping mechanism of the intelligent device for removing pomegranate tree suckers according to claim 5 is characterized in that: The lock buckle (408) comprises a pressing plate (4081) hinged at the end of the vertical rod (404); a side of the pressing plate (4081) facing the anti-slip teeth (407) is also provided with anti-slip grooves; a handle (4083) is provided on one side of the pressing plate (4081); and an elastic lock core (4082) is provided on the other side; the elastic lock core (4082) is an integrally bent elastic member with narrow ends and a wide middle, and is fitted to the inner surface of the lock hole (405) after being embedded in the lock buckle (408); when the unlocking button (406) is pressed, the raised area in the middle of the elastic lock core (4082) can be pressed to become narrower; and the handle (4083) can be pulled to allow the elastic lock core (4082) to be separated from the lock hole (405).

7. The clamping mechanism of the intelligent device for removing pomegranate tree suckers according to claim 5 is characterized in that: The dynamic clamping mechanism (5) comprises two elastic cloth belts (501) detachably clamped at the upper and lower ends of the vertical pole (404); a plurality of fixed shafts (503) are distributed on the elastic cloth belts (501); the fixed shafts (503) are fixed to the elastic cloth belts (501) via binding belts (502); limiting rings (504) fixed to the fixed shafts (503) are provided on the upper and lower sides of the binding belts (502); and a rubber roller (505) is rotatably connected to the middle of the fixed shaft (503).

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