Automatic gripper for picking jasmine buds

Abstract

The utility model discloses an automatic clamp for picking jasmine buds, including a driving mechanism, a support shaft assembly connected to the driving mechanism, and a clamp assembly connected to the support shaft assembly; the clamp assembly includes a clamp seat and a plurality of clamp pieces, the clamp seat is arranged on the support shaft assembly, and has a movable displacement on the support shaft assembly, the clamp piece is connected to the clamp seat and the support shaft assembly through a connecting rod mechanism, the clamp seat moves on the support shaft assembly to cause the plurality of clamp pieces to open or close under the drive of the connecting rod mechanism, and the clamp piece forms a closed structure when it is closed. The utility model drives the clamp piece to close through the connecting rod mechanism to achieve shearing of the jasmine buds, and at the same time, the closed structure formed when the clamp piece is closed can accommodate the jasmine buds to prevent the buds from falling, and no additional blades are required. The structure is cleverly designed and can be used as a special picking clamp for jasmine buds, filling the gap of jasmine picking clamps.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic picking of jasmine buds, and particularly relates to an automatic clamping claw used for picking jasmine buds. Background Art

[0002] Jasmine tea is a specialty agricultural product in my country. The process of making jasmine tea includes tea embryo preparation, picking flowers, flower processing, tea flower mixing, flower fragrance penetration, fragrance fixation, etc. There are many processes. A large number of jasmine buds are needed in the process of making jasmine tea. The picking of jasmine buds has always been mainly traditional pure manual work. Due to the growth characteristics of jasmine flowers, picking buds requires a large number of skilled personnel. With the shortage of labor in rural areas, flower fields are facing serious labor shortages and labor shortages during the harvest season.

[0003] With the continuous development of industrialization, it has become a trend to use industrial robots for agricultural picking. However, there is currently no clamp specifically designed for jasmine picking. The existing clamps, as described in "CN201720610667.2 A picking device on a picking device", require the design of a special blade on the one hand, and the clamp is easy to fall off when clamping the jasmine buds on the other hand. Therefore, this application proposes a picking clamp specifically for jasmine buds.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to a person skilled in the art. Utility Model Content

[0005] The purpose of the utility model is to provide an automatic clamping claw for picking jasmine buds, thereby overcoming the defects in the above-mentioned prior art.

[0006] To achieve the above-mentioned purpose, the utility model provides an automatic clamp for picking jasmine buds, comprising a driving mechanism, a supporting shaft assembly connected to the driving mechanism, and a clamp assembly connected to the supporting shaft assembly; the clamp assembly comprises a clamp seat and a plurality of clamp pieces, the clamp seat is arranged on the supporting shaft assembly, and has a movable displacement on the supporting shaft assembly, the clamp piece is connected to the clamp seat and the supporting shaft assembly through a connecting rod mechanism, the clamp seat moves on the supporting shaft assembly to cause the plurality of clamp pieces to open or close under the drive of the connecting rod mechanism, and the clamp piece forms a closed structure when closed.

[0007] Further, preferably, the end of the clamping jaw is a blade structure.

[0008] Further, as a preference, the clamping jaw piece is composed of a clamping jaw piece body and an end shearing clamping piece, and when the plurality of clamping jaw pieces are closed, the end shearing clamping piece forms a closed bowl-shaped accommodating cavity structure.

[0009] Further, as a preference, the number of the clamping jaws is three, and the three clamping jaws are evenly arranged on the outer circumference of the clamping jaw seat.

[0010] Further, preferably, the support shaft assembly includes a slider and a shaft rod connected to the slider, the clamping jaw seat is arranged on the shaft rod, and the slider is arranged on the driving mechanism.

[0011] Furthermore, preferably, the driving mechanism adopts a servo electric cylinder.

[0012] Furthermore, preferably, a module integrated board is also provided on the driving mechanism.

[0013] Furthermore, preferably, the module integrated board is also provided with an integrated seat, and the integrated seat is arranged on the support shaft assembly and fixed to the clamping claw seat.

[0014] Compared with the prior art, one aspect of the utility model has the following beneficial effects:

[0015] The utility model drives the support shaft assembly to move through a driving mechanism, so that the clamping claw seat is displaced on the support shaft assembly, thereby driving the clamping claw to open or close, and the shearing action of the jasmine bud is completed when it is closed. At the same time, the formed closed structure can accommodate the jasmine bud, which can prevent the bud from falling, and no additional blade is required;

[0016] The utility model is cleverly designed and can be used as a special picking clamp for jasmine buds, thus filling the gap of jasmine picking clamps. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of an automatic gripper for picking jasmine buds according to the utility model;

[0018] Figure 2 It is a schematic diagram of the enlarged structure of a clamping jaw assembly of an automatic clamping jaw for picking jasmine buds according to the utility model;

[0019] Figure 3 This is a schematic diagram of the enlarged structure of the clamping jaw assembly of the automatic clamping jaw for picking jasmine buds of the utility model from another angle;

[0020] Figure markings: 1-driving mechanism, 2-support shaft assembly, 21-slider, 22-shaft rod, 3-clamp assembly, 31-clamp seat, 32-clamp plate, 321-clamp plate body, 322-end shear clamping plate, 4-connecting rod mechanism, 5-module integrated board, 6-integrated seat. DETAILED DESCRIPTION

[0021] The specific implementation modes of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0022] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components. Example

[0023] like Figure 1-3 As shown, an automatic gripper for picking jasmine buds includes a driving mechanism 1, a support shaft assembly 2 connected to the driving mechanism 1, and a gripper assembly 3 connected to the support shaft assembly 2; the gripper assembly 3 includes a gripper seat 31 and a plurality of gripper pieces 32, the gripper seat 31 is arranged on the support shaft assembly 2, and has a movable displacement on the support shaft assembly 2, the gripper pieces 32 are connected to the gripper seat 31 and the support shaft assembly 2 through a connecting rod mechanism 4, the gripper seat 31 moves on the support shaft assembly 2 to cause the plurality of gripper pieces 32 to open or close under the drive of the connecting rod mechanism 4, and the gripper pieces 32 form a closed structure when closed, and more specifically, the side and bottom of the gripper pieces 32 form a closed structure.

[0024] In this embodiment, as a specific solution, the end of the clamping claw piece 32 is a blade structure; when the clamping claw piece 32 is closed, the shearing and clamping actions of the jasmine bud can be achieved simultaneously.

[0025] In this embodiment, as a specific solution, the clamping jaw 32 is composed of a clamping jaw main body 321 and an end shear clamping piece 322. When the plurality of clamping jaws 32 are closed, the end shear clamping piece 322 forms a closed bowl-shaped accommodating cavity structure; more specifically, the clamping jaw main body 321 is an arc surface structure, and similarly, when the plurality of clamping jaws 32 are closed, the clamping jaw main body 321 forms a closed cylindrical structure; overall, when the plurality of clamping jaws 32 are closed, a closed cavity structure is formed at the bottom of the side area; of course, the clamping jaw main body 321 can also be other shapes. In this embodiment, an arc surface structure is used as an example. As long as it can form a side and ground closed structure when closed, it is within the protection scope of this application.

[0026] In this embodiment, as a more specific solution, three clamping jaws 32 are provided, and the three clamping jaws 32 are evenly arranged on the outer circumference of the clamping jaw seat 31; of course, it can also be other numbers, and three are taken as an example in this embodiment.

[0027] In this embodiment, as a specific solution, the support shaft assembly 2 includes a slider 21 and a shaft rod 22 connected to the slider 21, the clamping claw seat 31 is arranged on the shaft rod 22, and the slider 21 is arranged on the driving mechanism 1; the slider 21 can move upward under the drive of the driving mechanism 1, thereby driving the shaft rod 22 to move up and down, and the up and down movement of the shaft rod 22 can drive the connecting rod mechanism 4 to work so that the clamping claw piece 32 is opened or closed.

[0028] In this embodiment, as a specific solution, the driving mechanism 1 adopts a servo electric cylinder.

[0029] In this embodiment, as a specific solution, a module integrated board 5 is further provided on the driving mechanism 1; the module integrated board 5 can be used to adapt the automatic gripper to the six-axis robot.

[0030] In this embodiment, as a specific solution, the module integrated board 5 is further provided with an integrated seat 6, and the integrated seat 6 is arranged on the support shaft assembly 2 and fixed to the clamping claw seat 31, so as to improve the stability of the overall structure.

[0031] The working principle of the utility model is as follows:

[0032] The utility model is adapted to a six-axis robot. When picking, the robot controls the automatic clamp to be sent to the top of the flower bud. The initial state of the clamp 32 is open, and the driving mechanism 1 drives the slider 21 upward. The movement of the slider 21 drives the shaft 22 upward. Since the position of the clamp seat 31 remains unchanged, the connecting rod mechanism 4 is retracted when the shaft 22 moves upward, so that the connecting rod mechanism 4 drives the clamp 32 to close. When closed, the end of the clamp 32 cuts off and collects the jasmine buds.

[0033] The closed structure formed when the clamping claw piece 32 of the utility model is closed can accommodate jasmine buds, prevent the buds from falling, and does not need to be additionally provided with blades; the utility model is cleverly designed and can be used as a special picking clamp for jasmine buds, filling the gap of jasmine picking clamps.

[0034] The foregoing description of specific exemplary embodiments of the utility model is for the purpose of illustration and illustration. These descriptions are not intended to limit the utility model to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the utility model and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the utility model and various different options and changes. The scope of the utility model is intended to be defined by the claims and their equivalents.

Claims

1. An automatic gripper for picking jasmine buds, characterized by: It includes a driving mechanism, a supporting shaft assembly connected to the driving mechanism, and a clamping jaw assembly connected to the supporting shaft assembly; the clamping jaw assembly includes a clamping jaw seat and a plurality of clamping jaw pieces, the clamping jaw seat is arranged on the supporting shaft assembly and has a movable displacement on the supporting shaft assembly, the clamping jaw piece is connected to the clamping jaw seat and the supporting shaft assembly through a connecting rod mechanism, the clamping jaw seat moves on the supporting shaft assembly to cause the plurality of clamping jaw pieces to open or close under the drive of the connecting rod mechanism, and the clamping jaw piece forms a closed structure when closed.

2. The automatic gripper for picking jasmine buds according to claim 1, characterized in that: The end of the clamping claw piece is a blade structure.

3. The automatic gripper for picking jasmine buds according to claim 1, characterized in that: The clamping jaw piece is composed of a clamping jaw piece body and an end shearing clamping piece. When the plurality of clamping jaw pieces are closed, the end shearing clamping piece forms a closed bowl-shaped accommodating cavity structure.

4. The automatic gripper for picking jasmine buds according to claim 3, characterized in that: The clamping jaws are provided with three pieces, and the three clamping jaws are evenly arranged on the outer periphery of the clamping jaw seat.

5. The automatic gripper for picking jasmine buds according to claim 1, characterized in that: The support shaft assembly comprises a slider and a shaft rod connected to the slider, the clamping jaw seat is arranged on the shaft rod, and the slider is arranged on the driving mechanism.

6. The automatic gripper for picking jasmine buds according to claim 1, characterized in that: The driving mechanism adopts a servo electric cylinder.

7. The automatic gripper for picking jasmine buds according to claim 1, characterized in that: The driving mechanism is also provided with a module integrated board.

8. The automatic gripper for picking jasmine buds according to claim 7, characterized in that: The module integrated board is also provided with an integrated seat, which is arranged on the support shaft assembly and fixed to the clamping claw seat.

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