Picking clamping jaw

Abstract

The utility model discloses a picking clamping jaw which comprises a frame body, a connecting arm rotationally installed on the frame body, a clamping jaw assembly installed at the bottom of the connecting arm and a swing assembly installed on the connecting arm and driving the clamping jaw assembly to deflect. The clamping jaw assembly comprises a jaw seat hinged to the connecting arm, at least one pair of jaw bodies installed at the bottom of the jaw seat and capable of clamping an object to be picked, and a picking drive installed on the jaw seat, wherein the output end of the picking drive is at least connected with one jaw body, and the picking drive can drive the jaw bodies to be opened and closed. The connecting arm is used for installing the clamping jaw assembly and can rotate, so that the clamping jaw assembly is driven to rotate to change the position so as to be matched with the position of the to-be-picked object, the deflection assembly drives the clamping jaw assembly to deflect so as to be close to the to-be-picked object, then the picking drive drives the jaw bodies to be closed, and the to-be-picked object is picked. The picking efficiency is improved, and the picking clamping jaw is adopted to replace manpower, so that the picking cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of picking, in particular to a picking jaw. Background Art

[0002] In recent years, China's agricultural economy has been continuously developing. Industries such as fruits and vegetables, tea, scented tea, and flowers have become important pillars of China's rural economy and the main source of farmers' income. In the production processes of fruits and vegetables, tea, scented tea, and flowers, picking accounts for about 40% of the entire workload. At present, the picking methods of crops such as fruits and vegetables, tea, scented tea, and flowers in China mainly rely on manual picking, with high picking costs and low picking efficiency. Obviously, manual picking no longer meets the development requirements of crop picking. Therefore, it is urgent to develop a picking jaw to achieve the purpose of reducing picking costs and improving picking efficiency. Content of the Utility Model

[0003] The purpose of the utility model is to provide a picking jaw to solve the problems of high picking costs and low picking efficiency.

[0004] To achieve the above purpose, the utility model provides the following technical solutions:

[0005] A picking jaw includes a frame body, a connecting arm rotatably installed on the frame body, a jaw assembly installed at the bottom of the connecting arm, and a swinging assembly installed on the connecting arm and driving the jaw assembly to deflect; the jaw assembly includes a jaw seat hinged to the connecting arm, at least one pair of jaw bodies installed at the bottom of the jaw seat for clamping the object to be picked, and a picking drive installed on the jaw seat and having an output end connected to at least one of the jaw bodies, and the picking drive can drive the jaw bodies to open and close.

[0006] As an implementable embodiment, the swinging assembly includes a yaw drive installed on the connecting arm, and the output end of the yaw drive is connected to the jaw seat. When the yaw drive works, the jaw seat deflects up and down around its hinge point with the connecting arm.

[0007] As an implementable embodiment, the swinging assembly further includes a transmission member, and the yaw drive is connected to the jaw seat through the transmission member.

[0008] As an implementable embodiment, the yaw drive adopts a rotary motor; the transmission member includes a driving shaft and a driven shaft arranged at intervals in the vertical direction and rotatably installed on the connecting arm, and a transmission belt connecting the driving shaft and the driven shaft. The output end of the rotary motor is connected to the driving shaft, and the driven shaft is connected to the jaw seat.

[0009] As an implementable embodiment, the yaw drive adopts any one of an electric telescopic rod, a cylinder, or an oil cylinder; the output end of the yaw drive is hinged to the jaw seat.

[0010] As an implementable manner, a rotary drive is installed on the frame body, and the output end of the rotary drive is connected to the connecting arm, and the rotary drive can drive the connecting arm to rotate circumferentially.

[0011] As an implementable manner, the picking jaw further includes a regulation system, the regulation system includes a detection unit and a control unit that are electrically connected, and the detection unit includes a detection probe installed on the connecting arm; wherein, the position information of the object to be picked is detected by the detection probe and fed back to the control unit, and the control unit controls the action of the rotary drive electrically connected thereto; and / or, the position information of the object to be picked is detected by the detection probe and fed back to the control unit, and the control unit controls the action of the yaw drive electrically connected thereto.

[0012] As an implementable manner, the detection unit uses a depth camera.

[0013] As an implementable manner, the picking drive uses any one of an electric telescopic rod, a cylinder or an oil cylinder; wherein, the output end of the picking drive is connected to one of the claw bodies of a pair of claw bodies, and the picking drive can drive the claw body to move in a direction close to or away from the other claw body; or, the output end of the picking drive is connected to a pair of claw bodies, and the picking drive can drive a pair of the claw bodies to open and close.

[0014] As an implementable manner, a cutting part is arranged on one side where a pair of claw bodies face each other; and / or, a connecting part is arranged on the frame body.

[0015] Compared with the prior art, the beneficial effects of the present utility model are: by arranging a connecting arm for installing a claw assembly, and the connecting arm can rotate, thereby driving the claw assembly to rotate and change its position to adapt to the position of the object to be picked, driving the claw assembly to deflect by a yaw assembly to approach the object to be picked, and then driving the claw body to close by a picking drive to pick the object to be picked. The picking jaw can be used for long-time picking work, improving the picking efficiency, and using the picking jaw instead of manual labor to reduce the picking cost. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a picking jaw disclosed in an embodiment of the present utility model;

[0017] Figure 2 It is a schematic structural diagram of another picking jaw disclosed in an embodiment of the present utility model;

[0018] Figure 3 It is Figure 2 A schematic structural diagram from another perspective.

[0019] In the figure: 1, frame body; 2, connecting arm; 3, jaw assembly; 31, jaw base; 32, jaw body; 321, cutting part; 33, picking drive; 4, swinging assembly; 41, yaw drive; 42, transmission part; 421, driving shaft; 422, driven shaft; 423, transmission belt; 5, depth camera; 6, connecting part; 7, rotation drive; 8, rotating shaft. Detailed implementation mode

[0020] In order to enable those skilled in the art of this technology to better understand the solution of the present utility model, the present utility model will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0021] In this article, terms such as "upper, lower, inner, outer" are established based on the positional relationship shown in the drawings. Depending on the different drawings, the corresponding positional relationship may also change accordingly. Therefore, it cannot be understood as an absolute limitation of the protection scope; moreover, relational terms such as "first" and "second" are only used to distinguish one component with the same name from another, and do not necessarily require or imply any such actual relationship or order between these components.

[0022] The picking jaws disclosed in the embodiments of the present utility model can be used for the picking work of fruits and vegetables, tea, scented tea, flowers, etc., without specific limitations.

[0023] Embodiment 1

[0024] As Figure 1 shown, the picking jaws disclosed in this embodiment include a frame body 1, a connecting arm 2 rotatably installed on the frame body 1, a jaw assembly 3 installed at the bottom of the connecting arm 2, and a swinging assembly 4 installed on the connecting arm 2 and driving the jaw assembly 3 to deflect; the jaw assembly 3 includes a jaw base 31 hinged to the connecting arm 2, at least one pair of jaw bodies 32 installed at the bottom of the jaw base 31 for clamping the object to be picked, and a picking drive 33 installed on the jaw base 31 and the output end of which is at least connected to one of the jaw bodies 32. The picking drive 33 can drive the jaw body 32 to open and close. Among them, the opening and closing of the jaw body 32 refers to the opening and closing of a pair of jaw bodies 32. A pair of jaw bodies 32 serves as a picking unit. A pair of jaw bodies 32 opens to release the object to be picked, and a pair of jaw bodies 32 closes to clamp and pick the object to be picked. It can be understood that multiple pairs of jaw bodies 32 can also be provided, and the specific selection is based on the actual situation. In addition, as Figure 1 shown, the connecting arm 2 includes a top plate installed on the frame body 1 and two side plates installed on the top plate; the two side walls enclose a structure with an open bottom surface and two side surfaces, and the jaw assembly 3 is installed at the bottom of the two side plates to facilitate providing a deflection space for the jaw base 31.

[0025] Specifically, by setting the connecting arm 2 for installing the jaw assembly 3, and the connecting arm 2 can rotate, thereby driving the jaw assembly 3 to rotate and change its position to adapt to the position of the object to be picked. The jaw assembly 3 is driven by the yaw assembly to deflect towards the object to be picked, and then the picking drive 33 drives the jaw body 32 to close to pick the object to be picked. The picking jaws can be used for long-term picking work to improve the picking efficiency. In addition, using the picking jaws instead of manual labor can reduce the picking cost. Moreover, by driving the jaw assembly 3 to deflect by the yaw assembly, the deflection angle of the jaw assembly 3 can change according to the position of the object to be picked, which can be applicable to various picking situations to improve the general performance of the picking jaws.

[0026] Further, as Figures 1 - 3 shown, the frame 1 is equipped with a rotary drive 7, and the output end of the rotary drive 7 is connected to the connecting arm 2. The rotary drive 7 can drive the connecting arm 2 to rotate circumferentially. Among them, the rotary drive 7 uses a rotary motor, which can be a unidirectional motor or a bidirectional motor. There is no specific limitation as long as it can achieve the rotation and rotation reset of the connecting arm 2. As Figure 1 shown, the output end of the rotary drive 7 is connected to the top plate of the connecting arm 2.

[0027] Further, as Figure 3 shown, the picking drive 33 can be any one of an electric telescopic rod, a cylinder or an oil cylinder.

[0028] Specifically, the output end of the picking drive 33 is connected to one of the jaw bodies 32 of a pair of jaw bodies 32. The picking drive 33 can drive the jaw body 32 to move towards or away from the other jaw body 32 to realize the opening and closing of a pair of jaw bodies 32. Or, as Figures 1 - 3 shown, the output end of the picking drive 33 is connected to a pair of jaw bodies 32, and the picking drive 33 can drive a pair of jaw bodies 32 to open and close.

[0029] Further, as Figure 3 shown, a cutting part 321 is provided on one side of a pair of jaw bodies 32 opposite to each other. The thickness of the cutting part 321 is smaller than the thickness of the rest of the jaw body 32, and a cutting edge is provided at the end of the cutting part 321 to facilitate picking the object to be picked.

[0030] Further, as Figure 2 and Figure 3 shown, the frame 1 is provided with a connecting part 6. The frame 1 is connected to an external frame through the connecting part 6, thereby realizing the connection between the picking jaws and the external frame. The external frame can drive the whole picking jaws to lift, rotate, yaw, etc., so as to change the working area of the picking jaws and improve the flexibility of using the picking jaws.

[0031] Embodiment Two

[0032] In this embodiment, the parts that are the same as those in the first embodiment are given the same reference numerals and the same textual descriptions are omitted.

[0033] Compared with the first embodiment, the picking jaw provided in this embodiment also has the following different structural designs: As Figures 1 - 3 shown, the swing assembly 4 includes a yaw drive 41 installed on the connecting arm 2, and the output end of the yaw drive 41 is connected to the claw base 31. When the yaw drive 41 works, the claw base 31 deflects up and down around its hinge point with the connecting arm 2.

[0034] Specifically, the swing assembly 4 further includes a transmission member 42, and the yaw drive 41 and the claw base 31 are connected through the transmission member 42; the transmission member 42 transmits the power of the yaw drive 41 to the claw base 31 to realize the deflection of the claw base 31; more specifically, as Figures 1 - 3 shown, the yaw drive 41 adopts a rotary motor; the transmission member 42 includes a driving shaft 421 and a driven shaft 422 that are arranged at intervals in the vertical direction and rotatably installed on the connecting arm 2, and a transmission belt 423 connecting the driving shaft 421 and the driven shaft 422. The output end of the rotary motor is connected to the driving shaft 421, and the driven shaft 422 is connected to the claw base 31; wherein, the driving shaft 421 and the driven shaft 422 are connected to the two side plates of the connecting arm 2 through a rotating shaft 8; the rotary motor drives the rotating shaft 8 connected to the driving shaft 421 to rotate, thereby driving the driving shaft 421 to rotate. The driving shaft 421 drives the claw base 31 connected to the driven shaft 422 to deflect through the transmission belt 423, so as to realize the claw body 32 approaching or departing from the object to be picked. It can be understood that the transmission member 42 can also adopt other structural forms, and specific limitations are not made as long as transmission can be achieved.

[0035] It can be understood that the yaw drive 41 can also adopt other forms. For example: the yaw drive 41 adopts any one of an electric telescopic rod, a cylinder, or an oil cylinder; the output end of the yaw drive 41 is hinged to the claw base 31; the yaw drive 41 drives the claw base 31 to deflect by stretching. Of course, the yaw drive 41 can also adopt other forms, and specific limitations are not made.

[0036] Embodiment Three

[0037] In this embodiment, the parts that are the same as those in the first and second embodiments are given the same reference numerals and the same textual descriptions are omitted.

[0038] Compared with Example 1 and Example 2, the picking claw provided in this embodiment has the following different structural design: the picking claw also includes a control system, the control system includes an electrically connected detection unit and a control unit, the detection unit includes a detection probe installed on the connecting arm 2; wherein, the position information of the object to be picked is detected by the detection probe and the position information is fed back to the control unit, the control unit controls the action of the rotary drive 7 electrically connected thereto, the rotary drive 7 drives the connecting arm 2 to rotate until the direction of the claw body 32 is consistent with the inclination direction of the object to be picked, or, after the picking is completed, the rotary drive 7 drives the connecting arm 2 to rotate until the claw body 32 is away.

[0039] Furthermore, the detection probe detects the position information of the object to be picked and feeds this information back to the control unit. The control unit then controls the operation of the yaw drive 41 electrically connected thereto. The yaw drive 41 causes the claw body 32 to deflect closer to the object to be picked, thereby achieving precise picking of the object to be picked. The control unit can be electrically connected to either the rotation drive 7 or the yaw drive 41 to control the operation of one of them. In one embodiment, the control unit is electrically connected to both the rotation drive 7 and the yaw drive 41, so that the control unit can control the rotation drive 7 and the yaw drive 41 in a coordinated manner, thereby further improving the automation level of the picking gripper and improving the picking accuracy and efficiency of the picking gripper.

[0040] Furthermore, the control unit can be arranged on the picking clamp or on an external frame, and there is no specific limitation, as long as it can be electrically connected to the detection probe.

[0041] Specifically, the detection unit adopts a depth camera 5, which can collect the relative position information of the objects to be picked. The specific use principle of the depth camera 5 belongs to the existing technology and will not be elaborated here. It can be understood that the detection unit can also adopt other structures, as long as it can realize the position detection of the objects to be picked, and there is no specific limitation.

[0042] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A picking jaw, characterized in that, It includes a frame body, a connecting arm rotatably mounted on the frame body, a jaw assembly mounted at the bottom of the connecting arm, and a swinging assembly mounted on the connecting arm and driving the jaw assembly to deflect; the jaw assembly includes a jaw base hinged to the connecting arm, at least one pair of jaw bodies mounted at the bottom of the jaw base for clamping the object to be picked, and a picking drive mounted on the jaw base and having an output end connected to at least one of the jaw bodies, and the picking drive can drive the jaw bodies to open and close.

2. The picking jaw according to claim 1, characterized in that, The swinging assembly includes a yaw drive mounted on the connecting arm, and the output end of the yaw drive is connected to the jaw base. When the yaw drive works, the jaw base deflects up and down around its hinge with the connecting arm.

3. The picking jaw according to claim 2, wherein, The swinging assembly further includes a transmission member, and the yaw drive and the jaw base are connected through the transmission member.

4. The picking jaw according to claim 3, characterized in that, The yaw drive uses a rotary motor; The transmission member includes a driving shaft and a driven shaft arranged at intervals in the vertical direction and rotatably mounted on the connecting arm, and a transmission belt connecting the driving shaft and the driven shaft. The output end of the rotary motor is connected to the driving shaft, and the driven shaft is connected to the jaw base.

5. The picking jaw according to claim 2, characterized in that, The yaw drive uses any one of an electric telescopic rod, a cylinder or an oil cylinder; the output end of the yaw drive is hinged to the jaw base.

6. The picking jaw according to any one of claims 2-5, characterized in that, The frame body is provided with a rotary drive, and the output end of the rotary drive is connected to the connecting arm, and the rotary drive can drive the connecting arm to rotate circumferentially.

7. The picking jaw according to claim 6, wherein The picking jaw further includes a regulation system, and the regulation system includes a detection unit and a control unit which are electrically connected. The detection unit includes a detection probe mounted on the connecting arm; Wherein, the position information of the object to be picked is detected by the detection probe and fed back to the control unit, and the control unit controls the rotary drive electrically connected thereto to act; and / or, the position information of the object to be picked is detected by the detection probe and fed back to the control unit, and the control unit controls the yaw drive electrically connected thereto to act.

8. The picking jaw according to claim 7, characterized in that, The detection unit uses a depth camera.

9. The picking jaw according to any one of claims 1-5, 7-8, characterized in that, The picking drive uses any one of an electric telescopic rod, a cylinder or an oil cylinder; Wherein, the output end of the picking drive is connected to one of the jaw bodies of a pair of jaw bodies, and the picking drive can drive the jaw body to move in a direction close to or away from the other jaw body; Or, the output end of the picking drive is connected to a pair of jaw bodies, and the picking drive can drive a pair of the jaw bodies to open and close.

10. The picking jaw according to claim 9, characterized in that, A cutting part is arranged on one side of a pair of jaw bodies opposite to each other; and / or, the frame body is provided with a connecting part.

Images