Clamping and shearing integrated fruit picking mechanical claw based on single active degree of freedom

Abstract

The utility model discloses a clamping and shearing integrated fruit picking mechanical claw based on a single active degree of freedom, and relates to the technical field of agricultural picking. In the fruit picking mechanical claw, a driving assembly is used for driving a moving frame to move front and back and driving a clamping mechanism to move front and back to enable a follower to move front and back in a cam groove; when the clamping mechanism moves backwards, the follower moves backwards along the cam groove, so that the clamping mechanism clamps the fruit stems in sequence and maintains clamping of the fruit stems; when the clamping mechanism keeps clamping the fruit stems, the clamping mechanism moves backwards to drive the clamped fruit stems to pass through the cutting knife, so that the fruit stems extrude the cutting knife to be cut off. According to the fruit picking mechanical claw, the structure of the fruit picking mechanical claw is simpler, and the fruit picking efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural picking, and in particular to a fruit picking mechanical claw with integrated clamping and shearing based on a single active degree of freedom. Background Art

[0002] In the agricultural field, mechanical picking equipment is often used in the fruit picking process. Mechanical picking equipment generally includes fruit picking mechanical claws, which are used to pick fruits.

[0003] For example, the Chinese patent document with application number CN202410688403.3 and publication date of August 9, 2024 (hereinafter referred to as "prior art 1") mentions a picking end effector suitable for multiple types of fruits. It reveals that a gas rod is used to provide power to drive the telescopic body to extend and retract in sequence, and the clamping mechanism and the shearing mechanism follow the movement of the telescopic body, and the second motor provides power to drive the clamping mechanism to clamp the fruit and drive the shearing mechanism to cut the fruit stem.

[0004] The end effector in prior art 1 is a fruit picking mechanical claw, but the end effector provided in prior art 1 has a relatively complex structure and low picking efficiency. Therefore, how to simplify the structure of the fruit picking mechanical claw and improve the picking efficiency of the fruit picking mechanical claw is a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] In view of this, in order to solve the above technical problems, the present application provides a fruit picking mechanical claw.

[0006] To achieve the above objectives, the present application provides a fruit picking mechanical claw with integrated clamping and shearing based on a single active degree of freedom, the fruit picking mechanical claw comprising a mounting frame, a drive assembly, a moving frame, a cutting blade and a clamping mechanism;

[0007] The driving assembly is arranged on the mounting frame; the movable frame is slidably arranged on the mounting frame; the cutting knife is arranged at the front end of the mounting frame, the mounting frame is provided with a cam groove, the clamping mechanism is arranged on the movable frame and has a follower arranged in the cam groove; the driving assembly is used to drive the movable frame to move forward and backward, drive the clamping mechanism to move forward and backward, and cause the follower to move forward and backward in the cam groove;

[0008] Among them, when the clamping mechanism moves backward, the follower moves backward along the cam groove, so that the clamping mechanism clamps the fruit stem and maintains the clamping of the fruit stem in sequence; when the clamping mechanism maintains the clamping of the fruit stem, the backward movement of the clamping mechanism can drive the clamped fruit stem to pass through the cutting knife, so that the fruit stem is squeezed by the cutting knife and cut off.

[0009] Beneficial effects: Different from the prior art, the present application has at least the following two characteristics. First, with the cooperation of the cam groove and the follower, the backward movement of the movable frame can be used to provide a driving force for the clamping mechanism to clamp the fruit stem, so as to achieve stable clamping of the fruit stem. Second, the backward movement of the movable frame can provide a driving force for the backward movement of the clamping mechanism, so that the clamping mechanism drives the clamped fruit stem to pass through the cutting knife, and then the fruit stem is squeezed by the cutting knife and cut off. In combination with the above-mentioned first and second aspects, it can be seen that the component used for active driving can only be a driving component that drives the movable frame to move forward and backward, and there is no need to additionally configure a component that actively drives the clamping mechanism to clamp the fruit stem and an additional component that actively drives the cutting knife to cut the fruit stem. The fruit picking mechanical claw of the present application can realize the movement of the movable frame, the clamping mechanism to clamp the fruit stem and the cutting of the fruit stem in a single active degree of freedom drive manner, thereby making the structure of the fruit picking mechanical claw simpler and improving the fruit picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the structure of the fruit picking mechanical claw of the present application;

[0011] Figure 2 This is a schematic diagram of the explosion of the fruit picking mechanical claw of the present application;

[0012] Figure 3 This is the part of the mounting frame of the fruit picking mechanical claw in this application located on the upper side of the mobile frame. Figure 3 Obtained by observing the upper shell from directly below it;

[0013] Figure 4 This is a schematic diagram of the assembly of the clamping mechanism, drive assembly and mobile frame of the fruit picking mechanical claw of this application. Figure 4 Obtained by observing the moving frame from the upper direction of the moving frame;

[0014] Figure 5 This is a schematic diagram of the assembly of the clamping mechanism, drive assembly and mobile frame of the fruit picking mechanical claw of this application. Figure 5 From the right front side of the mobile frame, observing from the upper side of the mobile frame to the mobile frame;

[0015] Figure 6 yes Figure 1 Schematic diagram of the enlarged area A in the middle.

[0016] Description of reference numerals:

[0017] Fruit picking mechanical claw 10; mounting frame 100; cam groove 110; clamping change section 111; clamping holding section 112; drive assembly 200; movable frame 300; avoidance hole 310; cutting blade 400; clamping mechanism 500; device housing 600; window 610; upper housing 620; lower housing 630; slider 710; slide rail 720; front-to-back direction L; left-right direction W; up-down direction H;

[0018] Driving member 210; crank 220; connecting rod 230; steering wheel 240; first circular blade 410; second circular blade 420; accommodating space 430; follower 510; shift lever 520; swing assembly 530; first rocker arm 531; second rocker arm 532; first hinge position 533; second hinge position 534; clamping claw 540; claw finger 541; protrusion 542; clamping surface 543; left claw finger 541a; right claw finger 541b; transmission assembly 550; left transmission assembly 550a; right transmission assembly 550b; lever 560. DETAILED DESCRIPTION

[0019] To enable those skilled in the art to better understand the technical solutions of this application, the present application is further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of this application.

[0020] In addition, all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] See also Figure 1-Figure 5 The fruit picking mechanical claw 10 based on single active degree of freedom and integrated clamping and shearing comprises a mounting frame 100, a driving assembly 200, a moving frame 300, a cutting knife 400 and a clamping mechanism 500.

[0022] The drive assembly 200 is mounted on the mounting frame 100. The movable frame 300 is slidably mounted on the mounting frame 100. The cutting blade 400 is mounted on the front end of the mounting frame 100. The mounting frame 100 is provided with a cam slot 110. The clamping mechanism 500 is mounted on the movable frame 300 and has a follower 510 disposed within the cam slot 110. The drive assembly 200 is used to drive the movable frame 300 to move back and forth, driving the clamping mechanism 500 to cause the follower 510 to move back and forth within the cam slot 110.

[0023] When the clamping mechanism 500 moves backward, the follower 510 moves backward along the cam slot 110, causing the clamping mechanism 500 to sequentially clamp and maintain the fruit stem. While the clamping mechanism 500 maintains the fruit stem, the backward movement of the clamping mechanism 500 can drive the clamped fruit stem past the cutting blade 400, causing the fruit stem to be pressed against the cutting blade 400 and severed.

[0024] Through the above-mentioned manner, at least the following two characteristics are achieved. On the one hand, with the cooperation of the cam groove 110 and the follower 510, the backward movement of the movable frame 300 can be used to provide a driving force for the clamping mechanism 500 to clamp the fruit stem, so as to achieve the clamping of the fruit stem. On the other hand, the backward movement of the movable frame 300 can provide a driving force for the backward movement of the clamping mechanism 500, so that the clamping mechanism 500 drives the clamped fruit stem to pass through the cutting knife 400, and then the fruit stem is squeezed by the cutting knife 400 and cut off. In combination with the above-mentioned first and second aspects, it can be known that the component for active driving can only be the driving assembly 200 that drives the movable frame 300 to move forward and backward, and there is no need to additionally configure a component that actively drives the clamping mechanism 500 to clamp the fruit stem and an additional component that actively drives the cutting knife 400 to cut the fruit stem. The fruit picking mechanical claw 10 of the present application can realize the movement of the movable frame 300, the clamping of the fruit stalk by the clamping mechanism 500 and the cutting of the fruit stalk in a single active degree of freedom driven manner, thereby making the structure of the fruit picking mechanical claw 10 simpler, lighter and more efficient and suitable for picking a variety of fruits with fruit stalks.

[0025] It should be noted that when the drive assembly 200 drives the movable frame 300 to move forward, the clamping mechanism 500 moves forward, causing the follower 510 to move forward in the cam slot 110. When the drive assembly 200 drives the movable frame 300 to move backward, the clamping mechanism 500 moves backward, causing the follower 510 to move backward in the cam slot 110.

[0026] Alternatively, as Figure 1-Figure 5 As shown, the clamping mechanism 500 includes a lever 520, a swing assembly 530 and a clamping claw 540 in order from back to front. The swing assembly 530 is disposed on the movable frame 300 and is connected to the clamping claw 540 and the lever 520. The rear end of the lever 520 is connected to the follower 510.

[0027] The clamping jaw 540 includes at least two claw fingers 541, arranged in the left-right direction W and designated as a left claw finger 541a and a right claw finger 541b. The cam slot 110, follower 510, lever 520, and swing assembly 530, connected in sequence, form a transmission assembly 550. The movable frame 300 includes two transmission assemblies 550, designated as a left transmission assembly 550a and a right transmission assembly 550b. The left claw finger 541a is connected to the swing assembly 530 of the left transmission assembly 550a, while the right claw finger 541b is connected to the swing assembly 530 of the right transmission assembly 550b.

[0028] When the followers 510 of the two transmission assemblies 550 move rearward along the corresponding cam slots 110, the followers 510 of the two transmission assemblies 550 sequentially swing the levers 520 of the two transmission assemblies 550 in a direction of relative expansion and restrict the swinging of the levers 520 of the two transmission assemblies 550. The swinging of the levers 520 of the two transmission assemblies 550 in the direction of relative expansion causes the swinging assemblies 530 of the two transmission assemblies 550 to swing toward each other, driving the left and right claw fingers 541a, 541b to move toward each other and grip the fruit stem. The swinging of the levers 520 of the two transmission assemblies 550 is restricted, allowing the left and right claw fingers 541a, 541b to maintain their grip on the fruit stem.

[0029] In the above manner, when the movable frame 300 moves forward and backward, the cam groove 110, the follower 510, the lever 520 and the swing assembly 530 are used for transmission to drive the corresponding claw fingers 541, so that the left claw finger 541a and the right claw finger 541b move toward or oppositely, which can make the structure of the picking mechanical claw simpler, lighter and more efficient.

[0030] Alternatively, as Figure 1-Figure 5 As shown, the cam groove 110 includes, from front to back, a clamping change section 111 and a clamping retention section 112. In the cam groove 110 of the left transmission assembly 550a, the clamping change section 111 bends toward the right side of the mounting frame 100 relative to the clamping retention section 112; in the cam groove 110 of the right transmission assembly 550b, the clamping change section 111 bends toward the left side of the mounting frame 100 relative to the clamping retention section 112.

[0031] When the followers 510 of the two transmission assemblies 550 move rearward along the clamping changing sections 111 of the corresponding cam slots 110, the clamping changing sections 111 guide the followers 510 to shift in the left-right direction W, thereby driving the levers 520 of the two transmission assemblies 550 to swing in a direction of relative expansion. When the followers 510 of the two transmission assemblies 550 move rearward along the clamping retaining sections 112 of the corresponding cam slots 110, the clamping retaining sections 112 restrict the displacement of the followers 510 in the left-right direction W, thereby limiting the swinging of the levers 520 of the two transmission assemblies 550.

[0032] Furthermore, if Figure 1-Figure 5 As shown, the swing assembly 530 includes a first swing link 531 and a second swing link 532. The first swing link 531 is hingedly connected at both ends to the corresponding claw finger 541 and the movable frame 300. The second swing link 532 is hingedly connected at both ends to the corresponding claw finger 541 and the movable frame 300. The end of the second swing link 532 that is hingedly connected to the movable frame 300 is connected to the shifting rod 520, so that the shifting rod 520 and the second swing link 532 form a lever 560.

[0033] The sequentially connected claw finger 541, swing assembly 530, and mobile frame 300 form a hinged four-bar mechanism (not shown), which is a parallelogram. The first swing link 531 and the second swing link 532 are located on opposite sides of the hinged four-bar mechanism. The swinging of the lever 520 drives the lever 560 to rotate, causing the swing assembly 530 to swing.

[0034] In the above manner, the parallelogram mechanism is used to drive the corresponding claw fingers 541, so that the left claw finger 541a and the right claw finger 541b move toward or oppositely, which can make the left claw finger 541a and the right claw finger 541b move more smoothly.

[0035] Alternatively, as Figure 1-Figure 5 As shown, the hinged position between the first swing link 531 and the mobile frame 300 is a first hinged position 533, and the hinged position between the second swing link 532 and the mobile frame 300 is a second hinged position 534. In the swing assembly 530 of the left transmission assembly 550a, the second hinged position 534 is located to the right of the first hinged position 533. In the swing assembly 530 of the right transmission assembly 550b, the second hinged position 534 is located to the left of the first hinged position 533.

[0036] Through the above method, in the two sets of transmission components 550, the distance along the left-right direction W between the two second rocker arms 532 connected to the lever 520 is smaller than the distance along the left-right direction W between the two first rocker arms 531 not connected to the lever 520, which is beneficial to reducing the distance along the left-right direction W between the two cam grooves 110 in the two sets of transmission components 550, thereby helping to reduce the overall volume of the fruit picking mechanical claw 10, making the fruit picking mechanical claw 10 more lightweight and efficient.

[0037] Furthermore, if Figure 1-Figure 5 As shown, the mounting bracket 100 is formed into a device housing 600, and the movable bracket 300 is disposed in the device housing 600. A window 610 is provided at the front end of the device housing 600 for the movable bracket 300 to extend out.

[0038] When the driving assembly 200 drives the movable frame 300 to move forward, the movable frame 300 extends forward out of the window 610. When the driving assembly 200 drives the movable frame 300 to move backward, the movable frame 300 retracts backward into the device housing 600.

[0039] In this manner, the device housing 600 can protect the cam slot 110, the follower 510, the lever 520, and at least a portion of the swing assembly 530. For example, the protective function includes, but is not limited to, blocking external dust and preventing other objects outside the device housing 600 from directly impacting the follower 510 and the lever 520.

[0040] Alternatively, as Figure 1-Figure 5 As shown, the cutting blade 400 includes a first circular blade 410 and a second circular blade 420. The first circular blade 410 and the second circular blade 420 are arranged along the left-right direction W.

[0041] When the clamping mechanism 500 moves backward and drives the clamped fruit stem to pass through the cutting knife 400, the fruit stem is located between the first circular blade 410 and the second circular blade 420 and squeezes the first circular blade 410 and the second circular blade 420 respectively so that it can be cut off.

[0042] In the above manner, the blades of the front side of the first circular blade 410 and the front side of the second circular blade 420 in the adjacent area along the left-right direction W are used to enclose a accommodating space 430 that gradually shrinks from front to back, so that when the fruit stalk passes through the cutting knife 400, it enters the accommodating space 430 and squeezes the blade of the first circular blade 410 and the blade of the second circular blade 420, so that the fruit stalk can be cut more easily.

[0043] Alternatively, as Figure 1-Figure 5 As shown, the first circular blade 410 and the second circular blade 420 are both rotatably mounted on the mounting frame 100, so that when the fruit stem presses against the cutting edges of the first circular blade 410 and the second circular blade 420, the fruit stem can drive the first circular blade 410 and the second circular blade 420 to rotate. This makes it easier for the fruit stem to squeeze between the first circular blade 410 and the second circular blade 420 and be cut.

[0044] Alternatively, as Figure 1-Figure 5In one example, the cutting blade 400 is positioned above the clamping mechanism 500. This allows the portion of the fruit stem located above the clamping mechanism 500 to press against the cutting blade 400 when the fruit stem passes through it, thus being severed. In this example, the follower 510 moves forward along the cam groove 110, causing the clamping mechanism 500 to sequentially maintain and release the fruit stem. Once the stem is released, the fruit can be released from the clamping mechanism 500 and received by a pre-configured receiving device. This prevents accidental damage to the fruit stem when the stem is cut.

[0045] Alternatively, in other alternative examples, the cutting knife 400 is located on the lower side of the clamping mechanism 500, so that when the fruit stem passes through the cutting knife 400, the portion of the fruit stem located on the lower side of the clamping mechanism 500 squeezes the cutting knife 400 and is cut off. In this example, when the portion of the fruit stem located on the lower side of the clamping mechanism 500 is cut off, although the clamping mechanism 500 still holds the remaining fruit stem, the fruit has already escaped from the clamping mechanism 500. The fruit that has escaped from the clamping mechanism 500 can be received by a pre-configured receiving device. The follower 510 moves forward along the cam groove 110, causing the clamping mechanism 500 to maintain the clamping of the fruit stem and release the fruit stem in sequence. After the fruit stem is released, the remaining fruit stem on the clamping mechanism 500 can be detached from the clamping mechanism 500. In this way, when the fruit stem is cut off, the fruit stem attached to the fruit that has escaped from the clamping mechanism 500 can be made shorter.

[0046] The following is for ease of explanation, such as Figure 1-Figure 5 As shown, the description is made by taking the example that the cutting blade 400 is located on the upper side of the clamping mechanism 500 .

[0047] Alternatively, as Figure 1-Figure 5 As shown, the driving assembly 200 includes a driving member 210, a crank 220 and a connecting rod 230. The driving member 210 is provided on the mounting frame 100, the crank 220 is provided on the driving member 210, and the connecting rod 230 is respectively hinged to the crank 220 and the moving frame 300.

[0048] Among them, the cutting knife 400 is located on the upper side of the clamping mechanism 500, and the mounting frame 100, the driving member 210, the crank 220, the connecting rod 230 and the movable frame 300 constitute a crank slider mechanism (not marked in the figure), so that the driving member 210 can be transmitted through the crank 220 and the connecting rod 230, driving the movable frame 300 to move forward and backward.

[0049] Alternatively, as Figure 1-Figure 5 As shown, the moving frame 300 is provided with an escape hole 310 , which passes through the upper side and the lower side of the moving frame 300 and extends along the front-to-back direction L.

[0050] The cutting blade 400 is located on the upper side of the clamping mechanism 500, the driving member 210 is disposed in the device housing 600 on the lower side of the movable frame 300, and the crank 220, connecting rod 230, and clamping mechanism 500 are located on the upper side of the movable frame 300. The avoidance hole 310 is used to provide space for the driving member 210 to connect to the crank 220, and the avoidance hole 310 is used to allow the movable frame 300 to avoid the driving member 210 when moving forward and backward. In this way, the driving member 210 can avoid the movable frame 300, connecting rod 230, and clamping mechanism 500 in space during movement, thereby improving the compactness of the various structures of the fruit picking mechanical claw 10 and achieving miniaturization of the fruit picking mechanical claw 10.

[0051] Alternatively, as Figure 1-Figure 5 As shown, the lower side of the mobile frame 300 is connected to the device housing 600 through the sliding cooperation of the slider 710 and the slide rail 720, so that the mobile frame 300 is slidably arranged on the device housing 600. Figure 1-Figure 5 As shown, the driving assembly 200 includes a steering wheel 240, and the driving member 210 is a servo. The driving member 210 is connected to the crank 220 through the steering wheel 240 to drive the crank 220 to rotate. The rotation of the crank 220 is transmitted through the connecting rod 230 to drive the movable frame 300 to move forward and backward relative to the device housing 600, but is not limited to this.

[0052] Alternatively, as Figure 1-Figure 5 As shown, the device housing 600 includes an upper housing 620 and a lower housing 630. The upper housing 620 is located on the upper side of the mobile frame 300, and the lower housing 630 is located on the lower side of the mobile frame 300, and the upper housing 620 is connected to the lower housing 630. The cutting blade 400 is disposed on the upper housing 620, and the lower side of the mobile frame 300 is connected to the lower housing 630 through the sliding fit of the slider 710 and the slide rail 720.

[0053] Optionally, combined Figure 1 See Figure 6 As shown, the side of the claw finger 541 that presses against the fruit stem when the clamping jaw 540 grips the fruit stem is a clamping surface 543. The clamping surface 543 is provided with an array of protrusions 542. Thus, when the clamping jaw 540 grips the fruit stem, the claw finger 541 contacts the fruit stem through the array of protrusions 542, which increases the friction between the claw finger 541 and the fruit stem, thereby improving the stability of the grip.

[0054] The above is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A fruit picking mechanical claw based on a single active degree of freedom with integrated clamping and shearing, characterized in that: The fruit picking mechanical claw includes a mounting frame, a driving assembly, a moving frame, a cutting blade and a clamping mechanism; The driving assembly is arranged on the mounting frame; the movable frame is slidably arranged on the mounting frame; the cutting knife is arranged at the front end of the mounting frame, the mounting frame is provided with a cam groove, the clamping mechanism is arranged on the movable frame and has a follower arranged in the cam groove; the driving assembly is used to drive the movable frame to move forward and backward, drive the clamping mechanism to move forward and backward, and cause the follower to move forward and backward in the cam groove; Wherein, when the clamping mechanism moves backward, the follower moves backward along the cam groove, so that the clamping mechanism clamps the fruit stalk and maintains the clamping of the fruit stalk in sequence; when the clamping mechanism maintains the clamping of the fruit stalk, the backward movement of the clamping mechanism can drive the clamped fruit stalk to pass through the cutting knife, so that the fruit stalk squeezes the cutting knife and is cut off.

2. The fruit picking mechanical claw according to claim 1, characterized in that: The clamping mechanism includes, from back to front, a shifting rod, a swinging assembly, and a clamping claw; the swinging assembly is disposed on the movable frame and is respectively connected to the clamping claw and the shifting rod; the rear end of the shifting rod is connected to the follower; The clamp includes at least two claw fingers, which are arranged in the left-right direction and are respectively a left claw finger and a right claw finger; the cam groove, the follower, the shift rod and the swing assembly connected in sequence form a transmission assembly, and the movable frame has two sets of transmission assemblies, namely a left transmission assembly and a right transmission assembly; the left claw finger is connected to the swing assembly of the left transmission assembly, and the right claw finger is connected to the swing assembly of the right transmission assembly; Among them, when the followers of the two groups of transmission assemblies move backward along the corresponding cam grooves, the followers of the two groups of transmission assemblies sequentially cause the shift rods of the two groups of transmission assemblies to swing in a relatively open direction and restrict the swinging of the shift rods of the two groups of transmission assemblies; the shift rods of the two groups of transmission assemblies swing in a relatively open direction, causing the swinging assemblies of the two groups of transmission assemblies to swing toward each other, driving the left claw finger and the right claw finger to move toward each other to clamp the fruit stem.

3. The fruit picking mechanical claw according to claim 2, characterized in that: The cam groove includes a clamping change section and a clamping holding section in sequence from front to back; in the cam groove of the left transmission assembly, the clamping change section bends toward the right side of the mounting frame relative to the clamping holding section; in the cam groove of the right transmission assembly, the clamping change section bends toward the left side of the mounting frame relative to the clamping holding section; Among them, when the followers of the two groups of transmission assemblies move backward along the clamping change section of the corresponding cam groove, the clamping change section guides the followers to shift in the left and right directions, so as to drive the shift rods of the two groups of transmission assemblies to swing in the relative opening directions; when the followers of the two groups of transmission assemblies move backward along the clamping and holding section of the corresponding cam groove, the clamping and holding section limits the displacement of the followers in the left and right directions, so that the swing of the shift rods of the two groups of transmission assemblies is limited.

4. The fruit picking mechanical claw according to claim 3, characterized in that: The swing assembly includes a first swing link and a second swing link; both ends of the first swing link are hinged to the corresponding claw finger and the movable frame, respectively; both ends of the second swing link are hinged to the corresponding claw finger and the movable frame, respectively; one end of the second swing link hinged to the movable frame is connected to one end of the shifting rod, so that the shifting rod and the second swing link form a lever; Among them, the claw finger, the swing assembly and the movable frame connected in sequence constitute a hinged four-bar mechanism, and the hinged four-bar mechanism is a parallelogram mechanism; the first rocker arm and the second rocker arm are located at opposite sides of the hinged four-bar mechanism, and the swing of the shift rod can drive the lever to rotate so that the swing assembly swings.

5. The fruit picking mechanical claw according to claim 4, characterized in that: The hinge position between the first rocker arm and the movable frame is the first hinge position, and the hinge position between the second rocker arm and the movable frame is the second hinge position; in the swing assembly of the left transmission assembly, the second hinge position is located on the right side of the first hinge position; in the swing assembly of the right transmission assembly, the second hinge position is located on the left side of the first hinge position.

6. The fruit picking mechanical claw according to claim 2, characterized in that: The claw fingers are used to press the side of the fruit stem when the clamping claws clamp the fruit stem, which is the clamping surface, and the clamping surface is provided with array-distributed protrusions.

7. The fruit picking mechanical claw according to claim 1, characterized in that: The mounting frame is formed into a device housing, and the movable frame is arranged in the device housing; a window for allowing the movable frame to extend is provided at the front end of the device housing; The cam groove is arranged on the inner side of the device housing. When the driving component drives the movable frame to move forward, the movable frame extends forward from the window; when the driving component drives the movable frame to move backward, the movable frame retracts backward to the device housing.

8. The fruit picking mechanical claw according to claim 7, characterized in that: The driving assembly includes a driving member, a crank and a connecting rod; the driving member is arranged on the mounting frame, the crank is arranged on the driving member, and the connecting rod is hinged to the crank and the moving frame respectively; The mounting frame, the driving member, the crank, the connecting rod and the movable frame form a crank slider mechanism, so that the driving member can be driven by the crank and the connecting rod to drive the movable frame to move forward and backward.

9. The fruit picking mechanical claw according to claim 8, characterized in that: The cutting knife is located on the upper side of the clamping mechanism, and the movable frame is provided with an avoidance hole, which passes through the upper side and the lower side of the movable frame and extends along the front-back direction of the fruit picking mechanical claw; In which, the driving member is arranged on the device housing on the lower side of the mobile frame, and the crank, the connecting rod, and the clamping mechanism are located on the upper side of the mobile frame; the avoidance hole is used to provide space for the driving member to connect to the crank, and the avoidance hole is used to allow the mobile frame to avoid the driving member when moving forward and backward.

10. The fruit picking mechanical claw according to claim 1, characterized in that: The cutting knife includes a first circular blade and a second circular blade; the first circular blade and the second circular blade are arranged in a left-right direction; When the clamping mechanism moves backward and drives the clamped fruit stalk to pass through the cutting knife, the fruit stalk is located between the first circular blade and the second circular blade and squeezes the first circular blade and the second circular blade respectively so as to be cut off.

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