Mechanical gripper and gripping device

Abstract

The invention provides a mechanical gripper and a gripping device, and relates to the technical field of robots. The bearing seat is movably connected to the base in the vertical direction; the clamping jaws are distributed in the circumferential direction of the bearing base at intervals, each clamping jaw is connected to the side, away from the base, of the bearing base, the bottom of each clamping jaw is hinged to the bearing base so as to swing relative to the bearing base, the clamping jaws are used for clamping or loosening fruits, and the swing axis of each clamping jaw is parallel to the horizontal direction; the collecting part is connected to the side, away from the base, of the bearing seat, the collecting part is provided with a containing groove and an opening communicating with the containing groove, and the opening is located in the side, away from the bearing seat, of the collecting part and used for allowing the fruits to fall into the containing groove. According to the scheme, the fruit picking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical claw and a grabbing device. BACKGROUND

[0002] Fruit picking is a crucial link in the agricultural production chain, and its operation efficiency and fruit picking quality directly affect the overall benefit of agricultural production. At present, fruit picking operation at home and abroad still mainly adopts traditional manual picking mode. The above operation process is complicated and time-consuming, which not only needs to invest a large amount of manpower, resulting in high labor intensity of operation personnel, but also leads to low picking efficiency, thereby reducing the picking efficiency of fruits. SUMMARY

[0003] The problem solved by the present application is how to improve the picking efficiency of fruits.

[0004] To solve the above problems, the present application provides a mechanical claw and a grabbing device.

[0005] In a first aspect, the present application provides a mechanical claw, comprising: a base; a receiving seat movably connected to the base in a vertical direction; a plurality of clamping claws arranged in a circumferential direction of the receiving seat, each clamping claw being connected to one side of the receiving seat away from the base, and the bottom of each clamping claw being hinged to the receiving seat to swing relative to the receiving seat, the clamping claw being used for clamping or releasing fruits, and the swing axis of the clamping claw being parallel to the horizontal direction; and a collecting member connected to one side of the receiving seat away from the base, the collecting member having an accommodating groove and an opening communicating with the accommodating groove, the opening being located on one side of the collecting member away from the receiving seat and being used for dropping the fruits into the accommodating groove.

[0006] The mechanical claw has the following beneficial effects: Through the above structure, the base serves as a bearing component of the mechanical claw, which can ensure that the mechanical claw will not be deviated in positioning due to shaking during picking, and the fixed support of the base can also avoid the interruption of work caused by body imbalance during manual picking, reduce the repeated adjustment time caused by positioning errors, and thus reduce the time loss of the picking process.

[0007] Secondly, the receiving seat is movably connected to the base in a vertical direction, so that the receiving seat has height adjustment capability. In traditional manual picking, for fruits of different heights such as high and low parts of the tree, personnel need to frequently use ladders, bend down or move the picking position, and each adjustment of height will produce additional time cost. The receiving seat can be directly moved in a vertical direction to quickly adapt to the growth position of fruits of different heights, so that the mechanical claw or manual auxiliary adjustment is not needed, and the fruit picking time is greatly shortened to improve the picking efficiency.

[0008] Furthermore, the plurality of clamping jaws are arranged in a circumferential direction of the receiving seat, and each clamping jaw is hinged at the bottom to swing in the horizontal axis direction, so that the fruit can be clamped synchronously from multiple radial directions, thereby being able to more stably adapt to different shapes of fruits such as circles and ellipses, and avoiding the fruit from falling due to a single angle of grabbing. Meanwhile, the plurality of clamping jaws can reduce the stress load of a single clamping jaw and reduce the probability of deformation of the clamping jaw or damage to the fruit.

[0009] In addition, the collecting member is connected to the side of the receiving seat away from the base. In traditional manual picking, the worker needs to first pick the fruit from the tree and then put it into a container such as a basket or bag carried by the worker. This process is relatively cumbersome, thereby wasting time. In the embodiment, the clamping jaws clamp the fruit, the receiving seat moves downward to separate the fruit from the main stem, and then the clamping jaws release the fruit. The fruit can directly fall into the containing groove through the opening of the collecting member, realizing synchronous collection after picking without additional manual operation, eliminating the intermediate transfer link between picking and collection, and reducing the interruption time of the operation. Meanwhile, the containing groove can temporarily store multiple fruits, and the fruits are uniformly transferred after being stored to a certain amount, thereby further improving the effective picking amount per unit time.

[0010] Optionally, the mechanical claw further comprises a first driving assembly arranged on the circumferential surface of the receiving seat away from the base. The first driving assembly comprises: a first driving motor arranged on the circumferential surface of the receiving seat away from the base; a first driving seat connected to the driving end of the first driving motor, the first driving motor being capable of driving the first driving seat to move in the vertical direction; and a plurality of first transmission members arranged in a circumferential direction of the first driving seat, and the first transmission members are arranged one by one corresponding to the clamping jaws. One end of the first transmission member is hinged to the first driving seat, and the other end of the first transmission member is hinged to the side of the corresponding clamping jaw.

[0011] Optionally, the driving end of the first driving motor is a screw rod, the rotation axis of the screw rod is parallel to the vertical direction, and the screw rod is screwed with the first driving seat to drive the first driving seat to reciprocate.

[0012] Optionally, the mechanical claw further comprises a connecting seat arranged on the side of the first driving seat away from the receiving seat and a second driving assembly arranged on the side of the connecting seat away from the first driving seat. The second driving assembly is drivingly connected to the circumferential edge of the collecting member to control the opening size of the collecting member.

[0013] Optionally, a plurality of first connecting members are arranged at the edge of the connecting seat in a circumferential direction, and the second driving assembly comprises: a second driving motor arranged on the circumferential surface of the connecting seat away from the first driving seat; a second driving seat connected with the driving end of the second driving motor, the second driving motor being capable of driving the second driving seat to move reciprocally in the vertical direction; a plurality of second transmission members arranged in the circumferential direction of the connecting seat, and the second transmission members are arranged one by one corresponding to the first connecting members, one end of the second transmission member is hinged to the second driving seat, the other end of the second transmission member is connected with the circumferential edge of the collecting member, and the middle part of the second transmission member is hinged to the first connecting member, the second driving motor drives the second driving seat to move, so that the second transmission member swings, and the opening size of the collecting member is controlled.

[0014] Optionally, a plurality of second connecting members are arranged at the edge of the connecting seat in a circumferential direction, and the second connecting members are arranged one by one corresponding to the clamping jaws, and each of the second connecting members is provided with a groove body extending in a horizontal direction and facing the corresponding clamping jaw, the clamping jaw comprises: a third connecting member, one end of the third connecting member is hinged to the receiving seat, and the first transmission member is hinged to the side of the third connecting member; a jaw body, one end of the jaw body is used for clamping or loosening the fruit, the middle part of the jaw body is hinged to the other end of the third connecting member, and the other end of the jaw body is movably arranged in the corresponding groove body.

[0015] Optionally, an elastic buffer is arranged between the first driving seat and the connecting member, and the two ends of the elastic buffer are respectively abutted with the end surface of the first driving seat facing the connecting seat and the end surface of the connecting seat facing the first driving seat.

[0016] Optionally, a plurality of elastic buffers are arranged, and the buffers are arranged in the circumferential direction of the connecting seat.

[0017] Optionally, the collecting member comprises an elastic net.

[0018] In the second aspect, the application provides a grabbing device comprising the mechanical claw.

[0019] The beneficial effects of the grabbing device of the embodiment relative to the prior art are the same as those of the mechanical claw, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 The mechanical claw provided by the embodiment of the application is a structural schematic view after the grabbing is completed. Figure 2 The mechanical claw provided by the embodiment of the application is a partial structural schematic view. Figure 3 Part structure schematic view of mechanical claw provided for the embodiment of the present application; Figure 4 Part structure schematic view of mechanical claw provided for the embodiment of the present application; Figure 5 Structure schematic view of mechanical claw provided for the embodiment of the present application before grabbing; Figure 6 Structure schematic view of mechanical claw provided for the embodiment of the present application before starting to grab; Figure 7 Structure schematic view of mechanical claw provided for the embodiment of the present application when grabbing.

[0021] Explanation of reference signs: Base 10, Supporting seat 20, Clamping claw 30, third connecting piece 31, claw body 32, Collecting piece 40, First driving motor 50, first driving seat 51, first transmission piece 52, screw rod 53, Connecting seat 60, second driving motor 61, second driving seat 62, second transmission piece 63, First connecting piece 70, Second connecting piece 80, groove body 81, Elastic buffer 90, horizontal direction X, vertical direction Z. DETAILED DESCRIPTION

[0022] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments described herein, on the contrary, these embodiments are provided to make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for illustrative purposes, and are not intended to limit the scope of protection of the present application.

[0023] The X axis in the drawing represents the horizontal direction, and the Z axis in the drawing represents the vertical direction. It should be noted that the meanings of the aforementioned X axis, Y axis and Z axis are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0024] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0025] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0026] like Figures 1 to 7 As shown, in a first aspect, the present invention provides a mechanical gripper comprising: a base 10; a receiving seat 20 movably connected to the base 10 in a vertical direction; a plurality of grippers 30 arranged circumferentially at intervals along the receiving seat 20, each gripper 30 being connected to the side of the receiving seat 20 away from the base 10, and the bottom of each gripper 30 being hinged to the receiving seat 20 to swing relative to the receiving seat 20, the grippers 30 being used to clamp or release fruit, the swing axis of the grippers 30 being parallel to the horizontal direction; and a collecting member 40 connected to the side of the receiving seat 20 away from the base 10, the collecting member 40 having a receiving groove and an opening communicating with the receiving groove, the opening being located on the side of the collecting member 40 away from the receiving seat 20, and being used to allow fruit to fall into the receiving groove.

[0027] In this embodiment, by setting the above structure, the base 10 serves as the supporting component of the mechanical claw, which can ensure that the mechanical claw will not have positioning deviations due to shaking during the picking process. Furthermore, the fixed support of the base 10 can also prevent work interruptions caused by body imbalance during manual picking, reduce the time spent on repeated adjustments due to positioning errors, and thus reduce the time loss in the picking process.

[0028] Secondly, the receiving seat 20 moves vertically to connect to the base 10, enabling the receiving seat 20 to have height adjustment capability. In traditional manual harvesting, for fruits at different heights such as high or low on the tree, personnel need to frequently use ladders, bend over, or move the harvesting position. Each adjustment of height incurs additional time costs. However, the receiving seat 20 can be moved directly along the vertical direction to quickly adapt to the growth position of fruits at different heights, thus eliminating the need to move the mechanical claw as a whole or to assist in the adjustment, greatly shortening the fruit harvesting time and improving harvesting efficiency.

[0029] Furthermore, the plurality of clamping jaws 30 are arranged circumferentially on the receiving seat 20, and each clamping jaw 30 is hinged at the bottom to swing in the horizontal axis direction, so that the fruit can be clamped synchronously from multiple radial directions, thereby being able to more stably adapt to different shapes of fruit such as circles and ellipses, and avoiding the fruit from falling due to a single angle of grabbing. At the same time, the plurality of clamping jaws 30 cooperatively clamping can reduce the stress load of a single clamping jaw 30, and reduce the probability of deformation of the clamping jaw 30 or damage to the fruit.

[0030] In addition, the collecting member 40 is connected to the side of the receiving seat 20 away from the base 10. In traditional manual picking, the worker needs to first pick the fruit from the tree and then put it into a container such as a basket or bag carried by the worker. This process is relatively cumbersome, thereby causing a waste of time. In the embodiment, after the clamping jaw 30 clamps the fruit, the receiving seat 20 is moved downward to separate the fruit from the main stem, and then the clamping jaw 30 is loosened, so that the fruit can directly fall into the containing groove through the opening of the collecting member 40, realizing synchronous collection after picking without additional manual operation, eliminating the intermediate transfer link between picking and collection, and reducing the interruption time of the operation. At the same time, the containing groove can temporarily store multiple fruits, and after being stored to a certain amount, the fruits are uniformly transferred, thereby further improving the effective picking amount per unit time. In the embodiment, a connecting rod structure is arranged between the base 10 and the receiving seat 20, and the receiving seat 20 is moved in the vertical direction by folding or opening of the connecting structure.

[0031] In the embodiment, the base 10 is placed on the ground when picking the fruit, so that the components on the receiving seat 20 can be provided with a good foundation.

[0032] As shown in Figures 1 to 4 Optionally, the mechanical claw further comprises a first driving assembly arranged on the circumferential surface of the receiving seat 20 away from the base 10. The first driving assembly comprises: a first driving motor 50 arranged on the circumferential surface of the receiving seat 20 away from the base 10; a first driving seat 51 connected with the driving end of the first driving motor 50, the first driving motor 50 being capable of driving the first driving seat 51 to move in the vertical direction; and a plurality of first transmission members 52 arranged circumferentially on the first driving seat 51, and the first transmission members 52 are one-to-one corresponding to the clamping jaws 30. One end of the first transmission member 52 is hinged to the first driving seat 51, and the other end of the first transmission member 52 is hinged to the side of the corresponding clamping jaw 30.

[0033] By arranging the above structure, the first driving motor 50 is fixed to the circumferential surface of the receiving seat 20 away from the base 10, and the output speed and torque can be adjusted by an electric control system, thereby controlling the opening and closing force and speed of the clamping jaw 30. For example, the driving force can be reduced for soft fruit to avoid damaging the fruit skin, and the force can be appropriately increased for hard fruit to ensure stable grabbing. In this way, the damage to the fruit caused by improper force can be greatly reduced, thereby being able to protect the fruit and improve the yield of good fruit.

[0034] Secondly, the first driving seat 51 can convert the rotating power of the motor into vertical linear motion to avoid power dispersion caused by movement deviation, thereby improving power transmission efficiency and making the opening and closing action of the clamping jaw 30 more rapid and without delay.

[0035] In addition, the two ends of the first transmission member 52 are respectively hinged with the first driving seat 51 and the side part of the clamping jaw 30. The hinging can realize the conversion of the power direction to adapt to the different opening and closing angle requirements of the clamping jaw 30, further improving the grabbing efficiency of the device. For example, when picking different sizes of fruits, only the movement amplitude of the driving seat needs to be adjusted by the first driving motor 50, and the first transmission member 52 can adapt to the swinging requirements of the clamping jaw 30 through the angle change of the hinge point, without disassembling and replacing the clamping jaw 30. This avoids the problem of stopping and replacing the clamping jaw 30 due to the change of fruit size in traditional equipment, thereby reducing the equipment adjustment time and improving the continuity and efficiency of fruit picking.

[0036] In the embodiment, the first driving motor 50 can be a stepping motor or a servo motor.

[0037] As shown in Figures 1 to 4 , optionally, the driving end of the first driving motor 50 is a screw rod 53, the rotation axis of the screw rod 53 is parallel to the vertical direction, and the screw rod 53 is screwed with the first driving seat 51 to drive the first driving seat 51 to move reciprocatingly.

[0038] Through the above structure, since the pitch of the screw rod 53 is a fixed parameter, the vertical movement distance of the first driving seat 51 is exactly equal to the pitch when the screw rod 53 is rotated one circle by the motor, and the precise control of the movement distance of the driving seat can be realized by controlling the rotation angle of the motor. Through the above transmission mode, the movement stroke of the driving seat can be preset according to the size of the fruit to ensure that the swinging angle of the clamping jaw 30 is exactly adapted to the fruit size, so that the clamping jaw 30 is not damaged due to excessive clamping, and the fruit is not caused to slip due to insufficient clamping force. Therefore, the grabbing failure rate can be greatly reduced to improve the picking efficiency of the fruit.

[0039] In the embodiment, the middle part of the first driving seat 51 is provided with a threaded hole extending in the vertical direction, and the screw rod 53 is threadedly connected with the threaded hole.

[0040] As shown in Figures 1 to 4 , optionally, the mechanical claw further comprises a connecting seat 60 arranged on the side of the first driving seat 51 away from the receiving seat 20 and a second driving assembly arranged on the side of the connecting seat 60 away from the first driving seat 51, and the second driving assembly is drivingly connected with the periphery of the collecting piece 40 to control the opening size of the collecting piece 40.

[0041] Through the above structure, during the picking process, the second driving assembly drives the collecting piece 40 to generate a certain reaction force, the connecting seat 60 can uniformly disperse these forces to the first driving seat 51 through its structural rigidity, avoiding local stress concentration leading to deformation and damage of the first driving seat 51 or the connecting seat 60, and the driving connection between the second driving assembly and the periphery of the collecting piece 40 can adjust the opening size according to the actual picking demand, for example, adjusting the opening size when picking large fruits and adjusting the opening size when picking small fruits, which can adapt to the collection demand of fruits of different sizes, and improve the operation continuity of the device.

[0042] As shown in Figures 1 to 4 Optionally, the edge of the connecting seat 60 is provided with a plurality of first connecting pieces 70 arranged along the circumferential direction of the connecting seat 60, and the second driving assembly comprises: a second driving motor 61 arranged on the circumferential surface of the connecting seat 60 away from the first driving seat 51; a second driving seat 62 connected with the driving end of the second driving motor 61, the second driving motor 61 can drive the second driving seat 62 to move reciprocatingly along the vertical direction; a plurality of second transmission pieces 63 arranged along the circumferential direction of the connecting seat 60, and the second transmission piece 63 is arranged one by one corresponding to the first connecting piece 70, one end of the second transmission piece 63 is hinged to the second driving seat 62, the other end of the second transmission piece 63 is connected with the periphery of the collecting piece 40, and the middle part of the second transmission piece 63 is hinged to the first connecting piece 70, the second driving motor 61 drives the second driving seat 62 to move, so as to make the second transmission piece 63 swing and control the opening size of the collecting piece 40.

[0043] Through the above structure, the first connecting piece 70 is arranged along the circumferential direction of the connecting seat 60 and serves as the middle hinge point of the second transmission piece 63, which can provide a stable lever fulcrum for the second transmission piece 63, and the middle part of the second transmission piece 63 is hinged to the first connecting piece 70, which can avoid the swing deviation caused by the lack of fixed fulcrum of the second transmission piece 63, which is conducive to maintaining the stability of the assembly during operation.

[0044] Secondly, the first connecting piece 70 corresponds to the second transmission piece 63 and is uniformly distributed along the circumferential direction of the connecting seat 60, which can make each stress point on the periphery of the collecting piece 40 obtain synchronous and uniform driving force, so as to ensure that the periphery of the collecting piece 40 uniformly contracts or expands, thereby avoiding the impact of the opening on the side wall of the collecting piece 40 due to the asymmetric opening, and reducing the damage to the skin of the fruit.

[0045] Furthermore, the second drive motor 61, as the power source of the second drive assembly, can provide power for the vertical movement of the second drive seat 62. The output speed of the second drive motor 61 can be adjusted by the electronic control system, thereby controlling the moving speed and displacement of the second drive seat 62. For example, when picking soft fruits, the motor drives the drive seat to move at low speed, so that the opening of the collecting part 40 slowly retracts, avoiding the fruit being pinched by the opening adjustment too quickly; when picking hard fruits, the motor can speed up the drive to quickly complete the opening adjustment to match the gripping rhythm of the gripper 30. This allows the mechanical claw to adapt to picking fruits of different hardness and different sizes, thereby broadening the applicability of the device.

[0046] In this embodiment, the second drive motor 61 can be a stepper motor or a servo motor.

[0047] In this embodiment, the driving end of the second drive motor 61 is also a screw 53, and the screw 53 is threadedly connected to the second drive component.

[0048] In this embodiment, the mechanical gripper has four states: before gripping, about to start gripping, during gripping, and after gripping.

[0049] like Figure 5 The diagram shows the structure of the mechanical gripper before gripping according to an embodiment of the present invention. The first drive motor 50 drives the first drive seat 51 to open the gripper 30, preparing to start the gripping operation. At the same time, the second drive motor 61 controls the collecting component 40 to be in a closed state.

[0050] like Figure 6 As shown, Figure 6 This is a schematic diagram of the mechanical claw provided in an embodiment of the present invention, showing it about to begin grasping. The first drive motor 50 stops working, and the second drive motor 61 controls the collecting component 40 to be in an open state, ready to receive the fruit.

[0051] like Figure 7 As shown, Figure 7 This is a schematic diagram of the mechanical claw in the embodiment of the present invention during grasping. The first drive motor 50 drives the first drive seat 51 to retract the gripper 30 inward, thereby grasping the fruit and causing the fruit to fall into the collection member 40.

[0052] like Figure 1 As shown, Figure 1 This is a schematic diagram of the mechanical claw provided in an embodiment of the present invention when the grasping is completed. When the fruit falls into the collecting member 40, the second drive motor 61 quickly controls the collecting member 40 to close, so as to collect the fruit.

[0053] like Figures 1 to 4As shown, optionally, the edge of the connecting seat 60 is also provided with a plurality of second connecting members 80 arranged along the circumference of the connecting seat 60, and the plurality of second connecting members 80 are arranged one-to-one with the plurality of clamping jaws 30, and each second connecting member 80 is provided with a groove 81 extending in the horizontal direction and facing the corresponding clamping jaw 30. The clamping jaw 30 comprises: a third connecting member 31, one end of the third connecting member 31 is hinged to the receiving seat 20, and the first driving member 52 is hinged to the side of the third connecting member 31; a jaw body 32, one end of the jaw body 32 is used for clamping or loosening the fruit, the middle part of the jaw body 32 is hinged to the other end of the third connecting member 31, and the other end of the jaw body 32 is movably arranged in the corresponding groove 81.

[0054] By arranging the above structure, the second connecting member 80 is arranged along the circumference of the connecting seat 60 and corresponds to the clamping jaw 30, and the horizontal groove 81 of the second connecting member 80 provides a directional sliding channel for the end of the jaw body 32, so as to limit the movement direction of the end of the jaw body 32. For example, when picking fruits, the ends of the jaw bodies 32 of the clamping jaws 30 slide horizontally along the respective grooves 81, ensuring that the clamping ends of all jaw bodies 32 move synchronously towards the center of the fruit, and the failure of fruit picking caused by the deviation of a jaw body 32 is avoided, which can greatly reduce the failure rate of picking.

[0055] In addition, the length of the horizontal groove 81 can be designed according to the maximum opening and closing requirement of the jaw body 32, and the end of the jaw body 32 can slide flexibly in the horizontal direction in the groove 81, thereby supporting the jaw body 32 to realize large-angle swinging around the middle hinge point, so as to improve the picking ability of different fruits.

[0056] Secondly, the clamping jaw 30 needs to swing around the horizontal axis to realize clamping or loosening, and the third connecting member 31 serves as an intermediate transmission carrier, which is hinged to the first driving member 52 through the side, and then hinged to the jaw body 32 through the other end, so as to transmit the vertical force of the first driving member 52 to the swinging power of the jaw body 32. In this way, the power of the first driving assembly can be transmitted to the jaw body 32 to meet the picking requirement.

[0057] As shown, Figures 1 to 4 Optionally, the first driving seat 51 and the connecting member are provided with an elastic buffer 90, and the two ends of the elastic buffer 90 are respectively in abutment with the end face of the first driving seat 51 facing the connecting seat 60 and the end face of the connecting seat 60 facing the first driving seat 51.

[0058] By arranging the above structure, the first driving assembly generates periodic vibration when operating, and the clamping jaw 30 generates instantaneous impact when picking fruits and the collecting member 40 receives fruits, and the elastic buffer 90 can actively absorb the vibration and impact energy through its elastic deformation, avoiding the transmission and diffusion of the vibration and impact energy between the first driving seat 51 and the connecting seat 60, so as to ensure the accurate clamping of the clamping jaw 30 on the fruit and avoid the fruit from slipping or being clamped due to vibration.

[0059] Optionally, a plurality of elastic buffers are arranged, and the plurality of buffers are arranged in a circumferential direction of the connecting seat 60.

[0060] Through the above structure, since the connecting seat 60 is a circumferential ring structure, a single buffer can only bear a local load, and the plurality of buffers are arranged in a circumferential direction. When the clamping jaw 30 grabs the fruit and generates a downward pressure, or the collecting member 40 receives the impact load of the fruit, the load is transmitted to the corresponding buffer of the connecting seat 60, and then the plurality of buffers bear and disperse the load to the first driving seat 51. The deformation of the connecting seat 60 caused by excessive local stress can be avoided, thereby prolonging the service life of the component.

[0061] In the embodiment, the elastic buffer 90 is specifically a spring.

[0062] Optionally, the collecting member 40 comprises an elastic mesh bag.

[0063] Through the above structure, when the fruit falls into the collecting member 40 after being released from the clamping jaw 30, a certain falling impact force is generated due to gravity. When the fruit contacts the mesh bag, the mesh bag will be deformed flexibly with the weight of the fruit, so as to greatly weaken the impact force. In this way, the surface of the fruit can be ensured to be uniformly stressed, the risk of damage is further reduced, and the appearance of the fruit is protected.

[0064] In a second aspect, the application provides a grabbing device comprising the mechanical claw.

[0065] The beneficial effects of the grabbing device of the embodiment relative to the prior art are the same as those of the mechanical claw, which will not be repeated here. Although the application is disclosed as above, the protection scope of the application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the application, and these changes and modifications will fall within the protection scope of the application.

Claims

1. A mechanical claw for fruit picking, characterized in that, It comprises: a base (10); a receiving seat (20) connected to the base (10) in a vertical direction; a plurality of clamping jaws (30) arranged circumferentially on the receiving seat (20), each of the clamping jaws (30) being connected to a side of the receiving seat (20) away from the base (10), and the bottom of each of the clamping jaws (30) being hinged to the receiving seat (20) to swing relative to the receiving seat (20), the clamping jaws (30) being used for clamping or releasing fruits, and the swinging axis of the clamping jaws (30) being parallel to the horizontal direction; a collecting member (40) connected to a side of the receiving seat (20) away from the base (10), the collecting member (40) having a receiving groove and an opening communicating with the receiving groove, the opening being located on a side of the collecting member (40) away from the receiving seat (20) and being used for dropping the fruits into the receiving groove.

2. The mechanical gripper of claim 1, wherein, The mechanical claw further comprises a first driving assembly arranged on the circumferential surface of the receiving seat (20) away from the base (10), and the first driving assembly comprises: a first driving motor (50) arranged on the circumferential surface of the receiving seat (20) away from the base (10); a first driving seat (51) connected to the driving end of the first driving motor (50), the first driving motor (50) being capable of driving the first driving seat (51) to move in the vertical direction; a plurality of first transmission members (52) arranged circumferentially on the first driving seat (51), and the first transmission members (52) are arranged one-to-one corresponding to the clamping jaws (30), one end of the first transmission member (52) being hinged to the first driving seat (51), and the other end of the first transmission member (52) being hinged to the side of the corresponding clamping jaw (30).

3. The mechanical gripper of claim 2, wherein, The driving end of the first driving motor (50) is a screw rod (53), the rotation axis of the screw rod (53) being parallel to the vertical direction, and the screw rod (53) is screwed with the first driving seat (51) to drive the first driving seat (51) to reciprocate.

4. The mechanical gripper of claim 2, wherein, The mechanical claw further comprises a connecting seat (60) arranged on a side of the first driving seat (51) away from the receiving seat (20) and a second driving assembly arranged on a side of the connecting seat (60) away from the first driving seat (51), and the second driving assembly is drivingly connected to the circumferential edge of the collecting member (40) to control the opening size of the opening of the collecting member (40).

5. The mechanical gripper of claim 4, wherein, The edge of the connecting seat (60) is provided with a plurality of first connecting members (70) arranged circumferentially, and the second driving assembly comprises: a second driving motor (61) arranged on the circumferential surface of the connecting seat (60) away from the first driving seat (51); a second driving seat (62) connected to the driving end of the second driving motor (61), the second driving motor (61) being capable of driving the second driving seat (62) to reciprocate in the vertical direction; A plurality of second transmission members (63) are arranged at intervals in the circumferential direction of the connecting seat (60), and the second transmission members (63) are arranged one-to-one with the first connecting members (70). One end of the second transmission member (63) is hingedly connected to the second driving seat (62), the other end of the second transmission member (63) is connected to the periphery of the collecting member (40), and the middle part of the second transmission member (63) is hingedly connected to the first connecting member (70). The second driving motor (61) drives the second driving seat (62) to move, so as to swing the second transmission member (63) and control the opening size of the opening of the collecting member (40).

6. The mechanical gripper of claim 5, wherein, The edge of the connecting seat (60) is also provided with a plurality of second connecting members (80) arranged at intervals in the circumferential direction thereof. A plurality of the second connecting members (80) are arranged one-to-one with a plurality of the clamping jaws (30). Each of the second connecting members (80) is provided with a groove (81) extending in the horizontal direction and facing the corresponding clamping jaw (30). The clamping jaw (30) comprises: A third connecting member (31) is hingedly connected to the receiving seat (20) at one end. The first transmission member (52) is hingedly connected to the side of the third connecting member (31). A jaw body (32) is used for clamping or loosening fruits at one end. The middle part of the jaw body (32) is hingedly connected to the other end of the third connecting member (31). The other end of the jaw body (32) is movably arranged in the corresponding groove (81).

7. The mechanical gripper of claim 4, wherein, The first driving seat (51) and the connecting member are provided with an elastic buffer (90). The two ends of the elastic buffer (90) are respectively in abutment with the end face of the first driving seat (51) facing the connecting seat (60) and the end face of the connecting seat (60) facing the first driving seat (51).

8. The mechanical gripper of claim 7, wherein, A plurality of elastic buffers are arranged at intervals in the circumferential direction of the connecting seat (60).

9. The mechanical gripper according to any one of claims 1-8, wherein, The collecting member (40) comprises an elastic mesh bag.

10. A gripping device, characterized in that The mechanical claw comprises the mechanical claw according to any one of claims 1 to 9. The mechanical claw comprises the mechanical claw according to any one of claims 1 to 9.

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