Shearing and picking integrated flexible fruit and vegetable picking mechanical claw

Abstract

The utility model relates to the technical field of mechanical grippers, and designs a shearing and picking integrated flexible fruit and vegetable picking mechanical gripper which is composed of a driving mechanism, a shearing mechanism and a flexible clamping jaw mechanism, the driving mechanism is used for controlling the overall movement of the mechanical gripper, including 360-degree rotation and opening and closing of the flexible clamping jaw, the shearing mechanism is used for shearing fruit and vegetable stem handles, and the flexible clamping jaw mechanism is used for clamping the fruit and vegetable stems. The flexible clamping jaw mechanism comprises two flexible jaw assemblies, the steering engine is connected with the gripper, the metal main steering engine disc controls the overall rotation of the gripper, drives the steering engine to be matched with the gear and drives the flexible mechanical jaw to move, and the two symmetrical spring clamping jaws are arranged and matched with the steering engine to control the triangular mechanical clamp, so that the fruit and vegetable picking stability can be guaranteed; meanwhile, by matching with the shearing mechanism, fruits and vegetables can be conveniently taken down from plants, plant damage caused by forcible hard pulling is prevented, and shearing and picking integrated lossless picking is achieved.

Description

Technical Field

[0001] The utility model belongs to the field of agricultural machinery parts, in particular to a flexible fruit and vegetable picking mechanical claw with integrated cutting and picking functions. Technical Background

[0002] The flexible fruit and vegetable picking mechanical claw that can cut and pick fruits is of great significance in the context of China's agricultural machinery development. With the acceleration of my country's agricultural modernization process, agricultural production methods are changing from traditional manual labor to mechanization and intelligence. However, since agricultural product picking operations often require meticulous and arduous labor, traditional picking methods can no longer meet the needs of high efficiency, speed, and stable quality. In this context, mechanized picking technology has become one of the important directions of agricultural mechanization.

[0003] In view of the poor stability of traditional mechanical claws during use, the claw tips are prone to slipping when clamping, the clamping is unstable, and the fruits and vegetables are easily damaged. We designed a flexible fruit and vegetable picking mechanical claw with integrated cutting and picking. The design structure takes into account the particularity of fruit and vegetable picking, and realizes the multifunctional operation of mechanized picking through the ingenious combination of driving structure, cutting structure and flexible clamping claw mechanism.

[0004] In the context of the development of agricultural mechanization in my country, this innovative flexible mechanical claw technology has broad market prospects. On the one hand, it can greatly improve the efficiency and quality of fruit and vegetable picking, reduce labor costs and labor intensity, and is expected to become an indispensable and important tool in agricultural production. On the other hand, this technology is also universal, not only suitable for a specific fruit and vegetable, but also can be applied to the picking of other similar forms of agricultural products. Utility Model Content

[0005] The purpose of the utility model is to provide a non-destructive picking, precise control, variable stiffness flexible shearing, picking integrated mechanical claw. The integrated mechanical claw can easily pick fruits and vegetables, and the device can also be used for non-destructive picking of other small fruits and vegetables, which can better assist agricultural work.

[0006] In order to achieve the above purpose, the technical solution of the utility model is:

[0007] A flexible fruit and vegetable picking mechanical claw capable of cutting and picking in one, comprising a driving mechanism, a shearing mechanism and a flexible clamping claw mechanism group; the driving mechanism comprises a rear single-axis steering gear (3), a lower single-axis steering gear (6), a metal main steering gear disc (4), a mounting buckle (14), a hand claw (5), a gear (2) and a small cross bar (8); the output end of the rear single-axis steering gear (3) is fixedly connected to the metal main steering gear disc (4) so ​​that the mechanical claw can rotate 360 ​​degrees as a whole; the upper end of the lower single-axis steering gear (6) is fixedly connected to the gear (2) so as to drive the small cross bar (8) to drive the triangular mechanical clamp (10) and the movable clamp (11) to open and close.

[0008] The flexible claw mechanism comprises two flexible claw components, which are symmetrically arranged at the left and right ends of the hand claw; the flexible claw component comprises a spring (9), a triangular mechanical clamp (10), a movable clamp (11), and an elastic silicone gasket (12); the hand claw (5) is the chassis of the flexible claw component, and two small cross bars (8) are connected thereto; the cross bars are used to increase the overall length of the mechanical claw and adjust the angle and posture of the mechanical claw for easy grasping; a triangular mechanical clamp (10) is connected to the cross bars on the left and right sides; the movable clamp (11) is installed at the two inner ends of the triangular mechanical clamp (10) so that the clamp can firmly grasp individual small fruits and vegetables; the elastic silicone gasket (12) is adhered to the movable clamp (10) to prevent the fruits and vegetables from being damaged during the picking process and to increase the friction gripping force; the lower end of the spring (9) is fixedly connected to the hooks on both sides of the hand claw (5), and the upper end is buckled with the triangular mechanical clamp (10) to limit the degree of opening and closing of the movable clamp (11). The cutting mechanism comprises two blades (13) of a specially-made shape, two studs (7) on the left and right, and a fixed shell (1) covering the upper and lower sides of the blades. The blade (13) is fixed to the middle of the fixed shell (1). The fixed shell (1) is connected to a small crossbar (8) and a gear (2) through the studs (7) and moves in coordination with a triangular mechanical clamp (10).

[0009] Furthermore, the single-axis motor (6) drives the small crossbar (8), thereby controlling the opening and closing of the mechanical clamp, first allowing the mechanical clamp to open to a certain angle, and then tightening after grasping the object; the mechanical clamp opens to a certain angle, and the blade (13) fixed on the upper side opens at the same time, and when the movable clamp (11) just grasps the fruit and vegetable, the single-axis motor (6) controls the mechanical clamp to tighten slightly; further, since the movable clamp (11) grasps the fruit and vegetable at this time, the mechanical clamp still remains in an open state, and the spring (9) connected to the mechanical clamp is compressed and deformed due to being squeezed, generating an elastic force inward along the triangular mechanical clamp (10), and the force is transmitted to the movable clamp (11), so that the movable clamp (11) can firmly grasp the object and complete the grasping work.

[0010] The beneficial effects of the utility model are as follows: on the basis of the grasping force controlled by the single-axis steering gear (6) below, an elastic force that can be adjusted according to the size of the fruit and vegetable is added, so that flexible grasping can be achieved for fruits and vegetables of different sizes; the handles of the fruit and vegetables are cut off while the mechanical claw grasps, so that the cutting and picking are integrated, and the quality of fruit and vegetable picking is guaranteed; the mechanical claw of the utility model can firmly grasp the fruit and vegetables through the flexible clamping mechanism, avoiding the damage to the fruit and vegetables caused by the traditional mechanical claw's hard pulling picking method. The utility model device has a simple structure, low manufacturing cost, high grasping stability, and the clamped object is not easily damaged. It is expected to become an important driving force for the development of agricultural mechanization in my country, help improve agricultural production efficiency and quality, and promote the process of agricultural modernization. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the utility model; Figure 2 It is a closed schematic diagram of the utility model; Figure 3 This is a schematic diagram of the opening of the flexible clamping claw mechanism of the utility model;

[0012] Figure 4 This is the shear blade of the utility model; DETAILED DESCRIPTION

[0013] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0014] See also Figures 1 to 4 :

[0015] Figure 1The utility model is a schematic diagram of the overall structure of the utility model, including all components of the flexible fruit and vegetable picking mechanical claw for cutting and picking. The single-axis servo (3) at the rear and the single-axis servo (6) at the bottom, wherein the output end of the single-axis servo (3) at the rear is fixedly connected to the metal main servo disk (4) so ​​that the mechanical claw can rotate 360 ​​degrees as a whole, and the single-axis servo (6) at the bottom is fixedly connected to the gear (2). The hand claw (5) is the chassis of the flexible claw assembly. The flexible claw mechanism includes two flexible claw assemblies, and the two flexible claw assemblies are symmetrically arranged at the left and right ends of the hand claw. The flexible claw assembly includes a spring (9), a triangular mechanical clamp (10), a movable clamp (11), an elastic silicone gasket (12), and left and right small cross bars (8), each of which is connected to the triangular mechanical clamp (10) on both sides. The cross bar (8) is used to increase the overall length of the mechanical claw and adjust the angle and posture of the mechanical claw for convenience. Grasping, the movable clamp (11) is installed at the two ends inside the triangular mechanical clamp (10), and the movable clamp (11) is adhered with an elastic silicone gasket (12) to prevent the fruits and vegetables from being damaged during the picking process and increase the friction gripping force. The lower end of the spring (9) is fixedly connected to the hooks on both sides of the hand claw (5), and the upper end is buckled with the triangular mechanical clamp (10) to limit the degree of tightness of the movable clamp. The cutting mechanism includes two specially shaped blades (13) and a fixed shell (1) covering the upper and lower sides of the blade (13). The blade (13) is fixed to the middle of the fixed shell (1), and the fixed shell is connected to the gear (2) through a stud (7) and a small cross bar (8), and moves in coordination with the triangular mechanical clamp (10).

[0016] For detailed diagrams of the structures of various parts, see Figures 2 to 4 :

[0017] 1. The single-axis steering engine (6) at the bottom is fixedly connected to the gear (2), the small cross bar (8) is connected to the gear (2), and then movably connected to the triangular mechanical clamp (10). Through the transmission of the gear (2), the small cross bar (8) is driven to drive the flexible clamp to move, making the device control relatively simple.

[0018] 2. The movable clamp (11) is installed at both ends of the inside of the triangular mechanical clamp (10). The clamp can firmly grasp small fruits and vegetables. The elastic silicone gasket (12) is fixed on the movable clamp (11), which can better fit the surface of objects such as pencils, effectively prevent the fruits and vegetables from being damaged during the picking process, and increase the friction gripping force, further improving the clamping stability.

[0019] 3. The movable clamp (11) is connected to the triangular mechanical clamp (10) by bolts, which is convenient for disassembly and replacement.

[0020] 4. The fixed housing (1) is connected to the small crossbar (8) and the gear (2) through a stud. The movement of the gear (2) drives the fixed housing (1) to move. The blade (13) is fixed to the middle of the fixed housing (1) and moves in coordination with the triangular mechanical clamp (10). When the movable clamp (11) just grasps the grasped object, the blade (13) is combined and clamped to cut off the fruit and vegetable handle, thereby completing the integrated cutting and picking.

[0021] In summary, when the utility model is in use, the lower single-axis steering gear (6) drives the triangular mechanical clamp (10) to open, compressing the springs (9) on both sides, and the springs (9) transmit force back to the triangular mechanical clamp (10). When the movable clamp (11) clamps the fruits and vegetables, the lower single-axis steering gear (6) drives the triangular mechanical clamp (10) to contract. At this time, the triangular mechanical clamp (10) is still opened at a certain angle compared with the initial state, and the spring (9) is compressed. The elastic force exists, and the triangular mechanical clamp (10) is inwardly directed. On the basis of the grasping force controlled by the steering gear, the elastic force that can be adjusted according to the size of the fruits and vegetables is added, so that flexible grasping can be achieved for fruits and vegetables of different sizes, thereby ensuring the quality of fruit and vegetable picking. The utility model has a simple structure, low manufacturing cost, high grasping stability, and the clamped objects are not easily damaged.

[0022] Taking peppers, which are relatively small fruits and vegetables, as an example, we briefly explain the implementation case:

[0023] First, the single-axis steering gear (3) at the rear is controlled to adjust the posture of the mechanical claw, and then the single-axis steering gear (6) at the bottom is controlled to drive the triangular mechanical clamp (10) to open and grasp the pepper, the triangular mechanical clamp (10) is tightened inward, the springs (9) on both sides generate elastic force to stabilize the pepper, and the blades (13) are combined and clamped to cut the pepper stem, completing the cutting and picking work.

[0024] The above embodiments are only used to illustrate the technical solution of the utility model, but the structural features of the utility model are not limited thereto; the utility model can be used on similar products, and any changes or modifications made by any technician in the field of the utility model are covered by the patent scope of the utility model.

Claims

1. A flexible fruit and vegetable picking mechanical claw with integrated cutting and picking features: The invention comprises a driving mechanism, a shearing mechanism and a flexible clamping claw mechanism, wherein the driving mechanism comprises a rear single-axis steering gear (3) and a lower single-axis steering gear (6), a metal main steering gear disc (4), a mounting buckle (14), a hand claw (5), a gear (2), a spring (9) and a small cross bar (8); the output end of the rear single-axis steering gear (3) is fixedly connected to the metal main steering gear disc (4) so ​​that the mechanical claw can rotate 360 ​​degrees as a whole; the lower single-axis steering gear (6) is fixedly connected to the gear (2) and is used to drive the small cross bar (8) to drive the triangular mechanical clamp (10) and the movable clamp (11) to open and close.

2. The flexible fruit and vegetable picking mechanical claw with integrated cutting and picking function according to claim 1 is characterized in that: The flexible claw mechanism comprises two flexible claw assemblies, which are symmetrically arranged at the left and right ends of the hand claw; the flexible claw assembly comprises a spring (9), a triangular mechanical clamp (10), a movable clamp (11), and an elastic silicone gasket (12); the hand claw (5) is the bottom plate of the flexible claw assembly, and is connected to a triangular mechanical clamp (10) on the left and right sides; the movable clamp (11) is installed at the two ends of the triangular mechanical clamp (10) by bolts and can be disassembled and replaced; the elastic silicone gasket (12) is adhered to the movable clamp (11) to prevent fruits and vegetables from being damaged during the picking process; the lower end of the spring (9) is fixedly connected to the hooks on both sides of the hand claw (5), and the upper end is buckled with the triangular mechanical clamp (10) to limit the degree of opening and closing of the movable clamp (11).

3. The flexible fruit and vegetable picking mechanical claw with integrated cutting and picking function according to claim 1 is characterized in that: The shearing mechanism comprises two blades (13) of a specially-shaped shape and a fixed shell (1) covering the upper and lower sides of the blades (13); the blades (13) are fixed to the middle of the fixed shell (1); the fixed shell (1) is connected to a small crossbar (8) via a stud (7) and moves in coordination with a triangular mechanical clamp (10); the single-axis steering gear (6) below drives a gear, thereby controlling the opening and closing of the mechanical clamp.

4. The flexible fruit and vegetable picking mechanical claw with integrated cutting and picking according to claim 1 is characterized in that: The lower end of the spring (9) is fixedly connected to the hooks on both sides of the hand claw (5), and the upper end is buckled with the triangular mechanical clamp (10) to limit the degree of tightness of the movable clamp (11).

5. The flexible fruit and vegetable picking mechanical claw with integrated cutting and picking function according to claim 1 is characterized in that: The shearing mechanism is fixed above the triangular mechanical clamp (10) of the picking mechanism and moves in coordination with the triangular mechanical clamp (10). When the movable clamp (11) just grasps the grasped object, the blade (13) is combined and clamped to cut off the fruit and vegetable stems.

6. The flexible fruit and vegetable picking mechanical claw with integrated cutting and picking function according to claim 1, characterized in that: The movable clamping claws (11) are installed at both ends of the triangular mechanical clamp (10) by means of bolts and can be disassembled and replaced.

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