Clamp for grabbing fruit basket and robot

Abstract

The utility model relates to the field of automation equipment, and discloses a clamp and a robot for grabbing fruit boxes. The clamp for grabbing the fruit basket comprises a main frame, a first clamping assembly, a second clamping assembly and a movable driving assembly. The first clamping assembly comprises a first mounting frame, a first rotation driving part and a first clamping part, the first rotation driving part and the first clamping part are mounted on the first mounting frame, and the first rotation driving part can drive the first clamping part to rotate; the second clamping assembly comprises a second mounting frame, a second rotation driving part and a second clamping part, the first mounting frame and the second mounting frame are movably mounted on the main frame, the second rotation driving part and the second clamping part are mounted on the second mounting frame, and the second rotation driving part can drive the second clamping part to rotate; the movable driving assembly can drive the first clamping part and the second clamping part to get close to each other or get away from each other. The technical problem that fruits and vegetables in a fruit frame are likely to be damaged when falling into water is solved.

Description

Technical Field

[0001] The utility model relates to the field of automation equipment, in particular to a clamp and a robot for grabbing fruit frames. Background Art

[0002] At present, fruits and vegetables are a type of food that people often eat, including apples, pears, tomatoes, etc.; fruits and vegetables need to be picked after they are ripe, and after picking, they are transported to the factory for processing to facilitate subsequent packaging and sales.

[0003] In the related art, the fruits and vegetables after picking will be put into boxes, and then the fruits in the boxes will be placed on the transmission device; for some fruits and vegetables with lower density, such as apples, people will place the fruit frames containing fruits and vegetables in a container filled with water, and the water in the container has a fixed flow direction. The fruits and vegetables in the fruit frames float to the surface under the action of buoyancy and flow in a directional manner according to the direction of the water flow. Finally, the fruits and vegetables are driven to the transmission device.

[0004] Generally, fruit baskets filled with fruits and vegetables are transported to a container filled with water by forklifts or manual handling, and then the fruits and vegetables are poured into the container. However, when pouring the fruits and vegetables in the fruit baskets, the forklifts or manual handling can only place the fruit baskets above the container. As a result, when the fruits and vegetables fall from a high position into the water, they may be damaged due to the high speed when they hit the water surface. Utility Model Content

[0005] The embodiments of the present utility model aim to provide a clamp and a robot for grasping a fruit basket, so as to solve the technical problem in the prior art that fruits and vegetables in the fruit basket may be damaged when falling from a high place into water during the dumping process due to the high speed when contacting the water surface.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] A clamp for grabbing a fruit frame is provided, comprising:

[0008] A main frame, the main frame being used for installation on the robotic arm;

[0009] a first clamping assembly, the first clamping assembly comprising a first mounting frame, a first rotation driving component, and a first clamping component, the first mounting frame being movably mounted on the main frame, the first rotation driving component being mounted on the first mounting frame, the first clamping component being rotationally connected to the first mounting frame, and the first rotation driving component being capable of driving the first clamping component to rotate in a vertical plane relative to the first mounting frame;

[0010] a second clamping assembly, the second clamping assembly comprising a second mounting frame, a second rotation driving component, and a second clamping component, the second mounting frame being movably mounted on the main frame, the second rotation driving component being mounted on the second mounting frame, the second clamping component being rotatably connected to the second mounting frame, the second rotation driving component being capable of driving the second clamping component to rotate relative to the second mounting frame in a vertical plane, with the first mounting frame facing the second mounting frame;

[0011] A mobile drive assembly is installed on the main frame, and the mobile drive assembly can drive the first mounting frame and the second mounting frame to move relative to the main frame, so that the first clamping component and the second clamping component are close to or away from each other.

[0012] Through the above structure, the main frame can be installed on the manipulator, and the manipulator can drive the main frame to move. The main frame moves to the fruit frame containing fruits and vegetables, and the first clamping assembly and the second clamping assembly are respectively located on opposite sides of the fruit frame; then the mobile drive assembly drives the first mounting frame and the second mounting frame to approach each other, so that the first mounting frame and the second mounting frame jointly clamp the fruit frame containing fruits and vegetables; then the main frame moves into a container filled with water, and some fruits and vegetables in the fruit frame float on the water surface under the action of buoyancy. The water flow in the container can move in a directional manner to drive the fruits and vegetables to move in a directional manner in the water; then the first rotating drive component drives the first clamping component to rotate relative to the first mounting frame in a vertical plane, and at the same time the second rotating drive component drives the second clamping component to rotate relative to the second mounting frame in a vertical plane, so that the fruit frame is tilted relative to the horizontal plane, and then the main frame moves in the water to drive the fruit frame to move in the water, so that the fruit frame can be completely separated from the fruits and vegetables in the water.

[0013] The fruits and vegetables are then directed by the water flow, with the main frame moving to the stacking area and the empty fruit frames placed there. Finally, the mobile drive assembly drives the first and second mounting frames away from each other, and the fruit frames are lowered. Furthermore, the gripper for grabbing the fruit frames in this embodiment can efficiently grab larger fruit frames and quickly place all the fruits and vegetables in the frames in the water. The empty fruit frames are then stacked, preventing damage to the fruits and vegetables while improving transport efficiency.

[0014] In some embodiments, the clamp for grasping the fruit frame further includes a transmission assembly, the transmission assembly including a connecting component, a first linkage component and a second linkage component, the connecting component is mounted on the main frame, the first linkage component is arranged between the first mounting frame and the connecting component, and the second linkage component is arranged between the second mounting frame and the connecting component;

[0015] The mobile drive assembly is connected to the transmission assembly, and the mobile drive assembly can drive the first linkage component and the second linkage component to move relative to the main frame at the same time, and drive the first mounting frame and the second mounting frame to move relative to the main frame at the same time.

[0016] Through the above structure, the mobile drive component drives the transmission component to move, so that the first linkage component and the second linkage component move at the same time, the first linkage component drives the first mounting bracket to move, and the second linkage component drives the second mounting bracket to move; so as to realize a single mobile drive component synchronously driving the first mounting bracket and the second mounting bracket to move, so that the clamp in this embodiment can have a simpler structure and can clamp the fruit frame more stably.

[0017] In some embodiments, the connecting component is a gear, the first linkage component and the second linkage component are both racks, the first linkage component and the second linkage component are both movably mounted on the main frame, the first linkage component and the second linkage component are respectively located on opposite sides of the connecting component, and the first linkage component and the second linkage component are both engaged with the connecting component;

[0018] One end of the first linkage component facing away from the second linkage component is connected to the first mounting bracket, one end of the second linkage component facing away from the first linkage component is connected to the second mounting bracket, and one end of the first linkage component facing away from the first mounting bracket is connected to the mobile drive assembly.

[0019] Through the above structure, the connecting component is a gear, and the first linkage component and the second linkage component are both racks. The reliability of the coordination between the gear and the rack is higher, so that the first linkage component and the second linkage component can move more stably and synchronously, and then the first mounting frame and the second mounting frame can clamp the fruit frame more stably.

[0020] In some embodiments, the first clamping assembly further comprises a first transmission component, the first rotation driving component is located at an end of the first mounting frame facing the main frame, the first clamping component is located at an end of the first mounting frame facing away from the main frame, the first transmission component is disposed between the first rotation driving component and the first clamping component, and the first rotation driving component can drive the first clamping component to rotate relative to the first mounting frame in a vertical plane via the first transmission component;

[0021] The second clamping assembly also includes a second transmission component, the second rotation drive component is located at one end of the second mounting frame facing the main frame, the second clamping component is located at one end of the second mounting frame away from the main frame, and the second transmission component is arranged between the second rotation drive component and the second clamping component. The second rotation drive component can drive the second clamping component to rotate in a vertical plane relative to the second mounting frame via the second transmission component.

[0022] Through the above structure, the first rotation driving component drives the first clamping component to rotate in a vertical plane relative to the first mounting frame through the first transmission component, so that the first rotation driving component can be located above the first mounting frame and the first clamping component can be located below the first mounting frame.

[0023] The second rotation driving component drives the second clamping component to rotate relative to the second mounting frame in a vertical plane through the second transmission component, so that the second rotation driving component can be located above the second mounting frame and the second clamping component can be located below the second mounting frame.

[0024] Furthermore, when the first clamping member and the second clamping member drive the fruit frame to be placed in water, the first rotation driving member and the second rotation driving member can be located above the water surface.

[0025] In some embodiments, the first transmission component includes a chain and a sprocket, the sprocket component is rotatably connected to the first mounting frame, the first clamping component is connected to the sprocket component, one end of the chain condition is connected to the first rotating drive component, and the other end of the chain condition is sleeved on the sprocket component.

[0026] Through the above structure, when the chain condition and the sprocket member cooperate with each other, there will be no slipping between the chain condition and the sprocket member, so that the transmission accuracy of the first transmission component is higher, and then the first rotation drive component can more accurately control the rotation of the first mounting frame.

[0027] In some embodiments, the first clamping component includes a clamping plate, a side limit member and a bottom limit member, the clamping plate is rotatably connected to the first mounting frame, and the first rotation driving component can drive the clamping plate to rotate in a vertical plane relative to the first mounting frame; the side limit member and the bottom limit member are both connected to the clamping plate, the side limit member is located on one side of the clamping plate, and the bottom limit member is located on the other adjacent side of the clamping plate; the side limit member is used to abut against the side surface of the fruit frame, and the bottom limit member is used to abut against the bottom surface of the fruit frame.

[0028] Through the above structure, the clamping plate is used to abut against the side of the fruit frame so that the fruit frame is clamped, and the side limit member can abut against the other adjacent side of the fruit frame to fix the fruit frame relative to the clamping plate to prevent the fruit frame from sliding in the lateral direction; the bottom limit member can abut against the bottom surface of the fruit frame to prevent the fruit frame from sliding in the vertical direction.

[0029] In some embodiments, the clamping plate is a rectangular plate-shaped structure, the side limiter is connected to a wide side of the clamping plate, and the bottom limiter is connected to a long side of the clamping plate.

[0030] Through the above structure, under normal circumstances, the bottom area of ​​the fruit frame is larger and the height is lower, and then when the side limit member is connected to a wide side of the clamping plate and the bottom limit member is connected to a long side of the clamping plate, the side limit member and the side limit member can have a better limiting effect on the fruit frame.

[0031] In some embodiments, the clamp for grabbing the fruit frame further includes a pressing frame assembly, the pressing frame assembly includes a support frame, a rotating pressure plate and a third rotating drive component, one end of the support frame is mounted on the clamping plate, the rotating pressure plate is rotatably connected to an end of the support frame away from the clamping plate, the rotating pressure plate and the bottom limit member are respectively located on two opposite sides of the clamping plate, the third rotating drive component is mounted on the support frame, and the third rotating drive component is used to drive the rotating pressure plate to rotate so that the rotating pressure plate can buckle the upper eaves of the fruit frame;

[0032] The first clamping component further includes a brush connected to the clamping plate. The brush and the bottom limiting member are respectively located on two long sides of the clamping plate.

[0033] Through the above structure, the rotating pressure plate can engage with the upper edge of the fruit frame, so that the fruit frame can be clamped more stably by the first clamping part and the second clamping part.

[0034] In addition, when the first clamping part and the second clamping part clamp the fruit frame, the brush is located at the opening of the fruit frame. In the process of the first clamping part and the second clamping part driving the fruit frame to move, the brush limits the fruits and vegetables at the inner edge of the fruit frame to prevent the fruits and vegetables from falling relative to the fruit frame. At the same time, because the brush is relatively soft, when the brush abuts against the fruits and vegetables, the fruits and vegetables can be prevented from being compressed and lost.

[0035] Another embodiment of the present invention further discloses a robot, comprising the clamp for grabbing a fruit frame in any one of the above embodiments.

[0036] In some embodiments, the robot also includes a robotic arm and a rotation drive assembly, the main frame is rotatably connected to one end of the robotic arm, the rotation drive assembly is installed on the robotic arm, and the rotation drive assembly can drive the main frame to rotate, and the rotation axis of the main frame is perpendicular to the rotation axis of the first clamping component and the rotation axis of the first clamping component.

[0037] Through the above structure, the robotic arm can drive the clamp to move so that the clamp can grab the fruit frame; and after the clamp pours the fruits and vegetables in the fruit frame into a container filled with water, the robotic arm can drive the fruit frame to the stacking area and stack the fruit frames together.

[0038] Compared with the prior art, the main frame can be installed on a manipulator, which can drive the main frame to move. The main frame moves to the fruit frame containing fruits and vegetables, and the first clamping assembly and the second clamping assembly are respectively located on opposite sides of the fruit frame; then the mobile drive assembly drives the first mounting frame and the second mounting frame to approach each other, so that the first mounting frame and the second mounting frame jointly clamp the fruit frame containing fruits and vegetables; then the main frame moves into a container filled with water, and some fruits and vegetables in the fruit frame float on the water surface under the action of buoyancy. The water flow in the container can move in a directional manner to drive the fruits and vegetables to move in a directional manner in the water; then the first rotating drive component drives the first clamping component to rotate relative to the first mounting frame in a vertical plane, and at the same time the second rotating drive component drives the second clamping component to rotate relative to the second mounting frame in a vertical plane, so that the fruit frame is tilted relative to the horizontal plane, and then the main frame moves in the water to drive the fruit frame to move in the water, so that the fruit frame can be completely separated from the fruits and vegetables in the water.

[0039] The fruits and vegetables are then directed by the water flow, with the main frame moving to the stacking area and the empty fruit frames placed there. Finally, the mobile drive assembly drives the first and second mounting frames away from each other, and the fruit frames are lowered. Furthermore, the gripper for grabbing the fruit frames in this embodiment can efficiently grab larger fruit frames and quickly place all the fruits and vegetables in the frames in the water. The empty fruit frames are then stacked, preventing damage to the fruits and vegetables while improving transport efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] One or several embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0041] Figure 1 This is a three-dimensional diagram of a clamp for grabbing a fruit frame in one embodiment of the present invention when grabbing a fruit frame;

[0042] Figure 2 yes Figure 1An exploded view of the gripper used to grab the fruit frame;

[0043] Figure 3 yes Figure 1 A three-dimensional view of the main frame of the clamp for grabbing the fruit frame;

[0044] Figure 4 yes Figure 1 A schematic diagram of the transmission assembly and the mobile drive assembly of the clamp for grabbing the fruit frame being connected to each other;

[0045] Figure 5 yes Figure 1 A perspective view of the first clamping assembly for grabbing the fruit frame without the first clamping member;

[0046] Figure 6 yes Figure 1 A perspective view of the second clamping assembly for grabbing the fruit frame without the second clamping member;

[0047] Figure 7 yes Figure 1 A three-dimensional view of the first clamping member for grabbing the fruit frame;

[0048] Figure 8 yes Figure 1 A perspective view of the first clamping member and the pressing frame assembly for grabbing the fruit frame when they are exploded;

[0049] Figure 9 It is a three-dimensional diagram of a robot in another embodiment of the present invention.

[0050] Reference numerals:

[0051] 1000. Robot; 100. Clamp; 10. Main frame; 20. First clamping assembly; 22. First mounting frame; 24. First rotating drive component; 26. First clamping component; 262. Clamping plate; 264. Side limiter; 266. Bottom limiter; 268. Brush; 28. First transmission component; 282. Chain; 284. Sprocket; 29. ​​First protective cover; 30. Second clamping assembly; 32. Second mounting frame; 34. Second rotating drive component; 36. Second clamping component; 38. Second transmission component; 39. Second protective cover; 40. Transmission assembly; 42. Connecting component; 44. First linkage component; 46. Second linkage component; 50. Moving drive assembly; 60. Press frame assembly; 62. Support frame; 64. Rotating pressure plate; 66. Third rotating drive component; 200. Robot arm; 300. Rotating drive assembly. DETAILED DESCRIPTION

[0052] In order to facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on the other element, or there can be one or more centered elements therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" used in this specification indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and the like are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0053] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art in the field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0054] The following describes in detail a clamp 100 and a robot 1000 for grabbing a fruit frame provided in an embodiment of the present application through specific embodiments in conjunction with all the drawings in the specification.

[0055] Please refer to Figure 1 、 Figure 2 and Figure 3 In one embodiment of the present invention, a clamp 100 for grasping fruit frames is disclosed, including a main frame 10, a first clamping assembly 20, a second clamping assembly 30 and a mobile drive assembly 50; the main frame 10 is used to be installed on a robotic arm 200; the first clamping assembly 20 includes a first mounting frame 22, a first rotation drive component 24 and a first clamping component 26, the first mounting frame 22 can be movably mounted on the main frame 10, the first rotation drive component 24 is mounted on the first mounting frame 22, the first clamping component 26 is rotatably connected to the first mounting frame 22, and the first rotation drive component 24 can drive the first clamping component 26 to rotate relative to the first mounting frame 22 in a vertical plane.

[0056] The second clamping assembly 30 includes a second mounting frame 32, a second rotation driving component 34 and a second clamping component 36. The second mounting frame 32 can be movably mounted on the main frame 10. The second rotation driving component 34 is mounted on the second mounting frame 32. The second clamping component 36 is rotatably connected to the second mounting frame 32. The second rotation driving component 34 can drive the second clamping component 36 to rotate in a vertical plane relative to the second mounting frame 32.

[0057] The mobile driving assembly 50 is installed on the main frame 10 , and the mobile driving assembly 50 can drive the first mounting frame 22 and the second mounting frame 32 to move relative to the main frame 10 , so that the first clamping member 26 and the second clamping member 36 move closer to or farther away from each other.

[0058] With the above structure, the main frame 10 can be mounted on a manipulator, which can drive the main frame 10 to move. The main frame 10 is moved to a fruit rack containing fruits and vegetables, with the first clamping assembly 20 and the second clamping assembly 30 positioned on opposite sides of the fruit rack. The mobile drive assembly 50 then drives the first mounting frame 22 and the second mounting frame 32 toward each other, so that the first mounting frame 22 and the second mounting frame 32 jointly clamp the fruit rack containing fruits and vegetables. The main frame 10 is then moved into a container filled with water. Some of the fruits and vegetables in the fruit rack float on the water surface due to buoyancy, and the water flow in the container can move the fruits and vegetables in a directional manner, thereby driving the fruits and vegetables to move in the water. The first rotation drive component 24 then drives the first clamping component 26 to rotate in a vertical plane relative to the first mounting frame 22, while the second rotation drive component 34 drives the second clamping component 36 to rotate in a vertical plane relative to the second mounting frame 32, so that the fruit rack is tilted relative to the horizontal plane. The main frame 10 then moves in the water, driving the fruit rack to move in the water, thereby completely separating the fruit rack from the fruits and vegetables in the water.

[0059] The fruits and vegetables are then directed by the water flow, with the main frame 10 moving to the stacking area and the empty fruit frames being placed there. Finally, the mobile drive assembly 50 drives the first mounting frame 22 and the second mounting frame 32 away from each other, and the fruit frames are lowered. Furthermore, the gripper 100 for grasping the fruit frames in this embodiment can efficiently grasp larger fruit frames and quickly place all the fruits and vegetables in the fruit frames in the water, then stack the empty fruit frames, thereby preventing the fruits and vegetables from being damaged while improving transportation efficiency.

[0060] Specifically, in this embodiment, the main frame 10 is a frame structure, and the main frame 10 is located above the clamp 100. The upper end of the main frame 10 can be mounted on a manipulator; the first clamping assembly 20 and the second clamping assembly 30 are respectively located on opposite sides of the main frame 10, so that the clamp 100 as a whole has an inverted "U"-shaped structure. Two parallel guide rails are provided on the main frame 10, the upper end of the first mounting frame 22 is mounted on one guide rail, and the upper end of the second mounting frame 32 is mounted on the other guide rail. The clamp 100 also includes a transmission member, which is arranged between the first clamping component 26, the second clamping component 36 and the mobile drive assembly 50; the mobile drive assembly 50 can drive the first clamping component 26 and the second clamping component 36 to move closer to or farther away from each other through the transmission member.

[0061] The mobile driving component 50 is a cylinder, which is used to drive the first clamping component 20 to move. The first clamping component 20 and the second clamping component 30 are connected by a linkage structure so that when the mobile driving component 50 drives the first clamping component 20 to move, the first clamping component 20 drives the second clamping component 30 to move.

[0062] The first rotation driving component 24 can be a servo motor. The first rotation driving component 24 is located at the upper end of the first mounting frame 22. The first clamping component 26 is a sheet structure similar to a rectangle. The rotation axis of the first clamping component 26 is located at the center of the first clamping component 26. The first clamping component 26 is located at the lower end of the first mounting frame 22. The first rotation driving component 24 drives the first mounting frame 22 to rotate through the transmission structure.

[0063] The second clamping assembly 30 has the same structure as the first clamping assembly 20; the second rotation driving component 34 can be a servo motor, and the second rotation driving component 34 is located at the upper end of the second mounting frame 32. The second clamping component 36 is a sheet structure similar to a rectangle, and the rotation axis of the second clamping component 36 is located at the center of the second clamping component 36. The second clamping component 36 is located at the lower end of the second mounting frame 32, and the second rotation driving component 34 drives the second mounting frame 32 to rotate through the transmission structure.

[0064] In other embodiments, the main frame 10 can also be other structures, such as a structure similar to a platform; the first clamping component 20 can also be a different structure from the second clamping component 30; the first clamping part 26 can also be other structures, such as a circular sheet structure; the number of mobile drive components 50 can also be two, and the two mobile drive components 50 respectively drive the first mounting frame 22 and the second mounting frame 32 to move; the mobile drive component 50 can also be other components, such as a servo motor.

[0065] Please refer to Figure 3 and Figure 4 In some embodiments, the clamp 100 for grasping the fruit frame also includes a transmission assembly 40, the transmission assembly 40 includes a connecting component 42, a first linkage component 44 and a second linkage component 46, the connecting component 42 is installed on the main frame 10, the first linkage component 44 is arranged between the first mounting frame 22 and the connecting component 42, and the second linkage component 46 is arranged between the second mounting frame 32 and the connecting component 42.

[0066] The mobile drive assembly 50 is connected to the transmission assembly 40 , and the mobile drive assembly 50 can drive the first linkage component 44 and the second linkage component 46 to move relative to the main frame 10 at the same time, driving the first mounting frame 22 and the second mounting frame 32 to move relative to the main frame 10 at the same time.

[0067] Through the above structure, the mobile drive component 50 drives the transmission component 40 to move, so that the first linkage component 44 and the second linkage component 46 move at the same time, the first linkage component 44 drives the first mounting frame 22 to move, and the second linkage component 46 drives the second mounting frame 32 to move; so as to realize that a single mobile drive component 50 synchronously drives the first mounting frame 22 and the second mounting frame 32 to move, so that the clamp 100 in this embodiment can have a simpler structure and can clamp the fruit frame more stably.

[0068] Specifically, in this embodiment, the mobile driving assembly 50 is connected to the first linkage component 44 . The first linkage component 44 and the second linkage component 46 are both movable relative to the main frame 10 . The connecting component 42 rotates relative to the main frame 10 .

[0069] In other embodiments, the mobile driving assembly 50 may also be connected to the second linkage component 46 or the connecting component 42 .

[0070] In some embodiments, the connecting component 42 is a gear, the first linkage component 44 and the second linkage component 46 are both racks, the first linkage component 44 and the second linkage component 46 are both movably installed on the main frame 10, the first linkage component 44 and the second linkage component 46 are respectively located on opposite sides of the connecting component 42, and the first linkage component 44 and the second linkage component 46 are both engaged with the connecting component 42.

[0071] One end of the first linkage component 44 facing away from the second linkage component 46 is connected to the first mounting bracket 22 , one end of the second linkage component 46 facing away from the first linkage component 44 is connected to the second mounting bracket 32 ​​, and one end of the first linkage component 44 facing away from the first mounting bracket 22 is connected to the mobile drive assembly 50 .

[0072] Through the above structure, the connecting part 42 is a gear, and the first linkage part 44 and the second linkage part 46 are both racks. The reliability of the coordination between the gear and the rack is higher, so that the first linkage part 44 and the second linkage part 46 can move more stably and synchronously, and then the first mounting frame 22 and the second mounting frame 32 can clamp the fruit frame more stably.

[0073] Specifically, in this embodiment, the first linkage component 44 and the second linkage component 46 are respectively located on opposite sides of the main frame 10, the connecting component 42 is located at the center of the main frame 10, and the rotation axis of the connecting component 42 is collinear with the central axis of the main frame 10.

[0074] In other embodiments, the transmission assembly 40 can also be other structures, such as a connecting rod structure; specifically, the connecting component 42 can also be a rod-shaped member rotatably connected to the main frame 10, and the first linkage component 44 and the second linkage component 46 can also be rod-shaped members that slide relative to the main frame 10. One end of the connecting component 42 is connected to the end of the first linkage component 44, and the other opposite end of the connecting component 42 is connected to the end of the second linkage component 46. When the connecting component 42 rotates relative to the main frame 10, it can synchronously drive the first linkage component 44 and the second linkage component 46 to move.

[0075] Please refer to Figure 5 and Figure 6 In some embodiments, the first clamping assembly 20 further includes a first transmission component 28, the first rotation drive component 24 is located at one end of the first mounting frame 22 facing the main frame 10, and the first clamping component 26 is located at one end of the first mounting frame 22 away from the main frame 10. The first transmission component 28 is arranged between the first rotation drive component 24 and the first clamping component 26. The first rotation drive component 24 can drive the first clamping component 26 to rotate in a vertical plane relative to the first mounting frame 22 via the first transmission component 28.

[0076] The second clamping assembly 30 also includes a second transmission component 38. The second rotation drive component 34 is located at one end of the second mounting frame 32 facing the main frame 10. The second clamping component 36 is located at one end of the second mounting frame 32 facing away from the main frame 10. The second transmission component 38 is arranged between the second rotation drive component 34 and the second clamping component 36. The second rotation drive component 34 can drive the second clamping component 36 to rotate in a vertical plane relative to the second mounting frame 32 via the second transmission component 38.

[0077] Through the above structure, the first rotating driving component 24 drives the first clamping component 26 to rotate in a vertical plane relative to the first mounting frame 22 through the first transmission component 28, so that the first rotating driving component 24 can be located above the first mounting frame 22 and the first clamping component 26 can be located below the first mounting frame 22.

[0078] The second rotation driving component 34 drives the second clamping component 36 to rotate in a vertical plane relative to the second mounting frame 32 through the second transmission component 38, so that the second rotation driving component 34 can be located above the second mounting frame 32 and the second clamping component 36 can be located below the second mounting frame 32.

[0079] Furthermore, when the first clamping member 26 and the second clamping member 36 drive the fruit frame to be placed in water, the first rotation driving member 24 and the second rotation driving member 34 can be located above the water surface.

[0080] Specifically, in this embodiment, the first clamping assembly 20 further includes a first protective cover 29, which is mounted on a side of the first mounting frame 22 facing away from the second mounting frame 32. The first protective cover 29 and the first mounting frame 22 jointly surround the first rotation drive component 24 and the first transmission component 28 to prevent dust and other debris from contacting the first rotation drive component 24 and the first transmission component 28. The second clamping assembly 30 further includes a second protective cover 39, which is mounted on a side of the second mounting frame 32 facing away from the first mounting frame 22. The second protective cover 39 and the second mounting frame 32 jointly surround the second rotation drive component 34 and the second transmission component 38 to prevent dust and other debris from contacting the second rotation drive component 34 and the second transmission component 38.

[0081] The first transmission component 28 and the second transmission component 38 have the same structure. The first transmission component 28 is a structure in which a sprocket and a chain cooperate with each other. In other embodiments, the first transmission component 28 can also have a different structure from the second transmission component 38; the first transmission component 28 can also have other structures, such as a structure in which a rotating wheel and a belt cooperate with each other.

[0082] In some embodiments, the first transmission component 28 includes a chain condition 282 and a sprocket component 284, the sprocket component 284 is rotatably connected to the first mounting frame 22, the first clamping component 26 is connected to the sprocket component 284, one end of the chain condition 282 is connected to the first rotating drive component 24, and the other end of the chain condition 282 is sleeved on the sprocket component 284.

[0083] Through the above structure, when the chain condition 282 and the sprocket member 284 cooperate with each other, there will be no slipping between the chain condition 282 and the sprocket member 284, so that the transmission accuracy of the first transmission component 28 is higher, and then the first rotation drive component 24 can more accurately control the rotation of the first mounting frame 22.

[0084] Specifically, a sprocket is also connected to the end of the first rotation driving component 24 , and the diameter of the sprocket 284 is larger than the diameter of the sprocket at the end of the first rotation driving component 24 , so that the rotation speed of the first rotation driving component 24 is greater than the rotation speed of the sprocket 284 .

[0085] Please refer to Figure 2 and Figure 7In some embodiments, the first clamping component 26 includes a clamping plate 262, a side limit member 264 and a bottom limit member 266. The clamping plate 262 is rotatably connected to the first mounting frame 22, and the first rotation driving component 24 can drive the clamping plate 262 to rotate in a vertical plane relative to the first mounting frame 22; the side limit member 264 and the bottom limit member 266 are both connected to the clamping plate 262, the side limit member 264 is located on one side of the clamping plate 262, and the bottom limit member 266 is located on the other adjacent side of the clamping plate 262; the side limit member 264 is used to abut against the side surface of the fruit frame, and the bottom limit member 266 is used to abut against the bottom surface of the fruit frame.

[0086] Through the above structure, the clamping plate 262 is used to abut against the side of the fruit frame so that the fruit frame is clamped, and the side limit member 264 can abut against the other adjacent side of the fruit frame to fix the fruit frame relative to the clamping plate 262 to prevent the fruit frame from sliding in the lateral direction; the bottom limit member 266 can abut against the bottom surface of the fruit frame to prevent the fruit frame from sliding in the vertical direction.

[0087] Specifically, the second clamping member 36 has the same structure as the first clamping member 26. There are two side restraining members 264, both located on the same side of the clamping plate 262. Vertically, the two side restraining members 264 are arranged sequentially. A bottom restraining member 266 is located on adjacent sides of the clamping plate 262, along with the side restraining members 264. There are two bottom restraining members 266, both located horizontally.

[0088] In some embodiments, the clamping plate 262 is a rectangular plate-shaped structure, the side limiting member 264 is connected to a wide side of the clamping plate 262 , and the bottom limiting member 266 is connected to a long side of the clamping plate 262 .

[0089] Through the above structure, under normal circumstances, the bottom area of ​​the fruit frame is larger and the height is lower, and then when the side limit member 264 is connected to a wide side of the clamping plate 262, and the bottom limit member 266 is connected to a long side of the clamping plate 262, the side limit member 264 and the side limit member 264 can have a better limiting effect on the fruit frame.

[0090] Specifically, in this embodiment, the side limiter 264 is a cylindrical structure, and the central axis of the side limiter 264 is perpendicular to the clamping plate 262 ; the bottom limiter 266 is a sheet-like structure similar to a rectangle, and the bottom limiter 266 is perpendicular to the clamping plate 262 .

[0091] In other embodiments, the side limiting member 264 may also be other structures, such as a block structure; the bottom limiting member 266 may also be other structures, such as a sheet-like strip structure.

[0092] Please refer to Figure 2 and Figure 8In some embodiments, the clamp 100 for grasping the fruit frame also includes a pressing frame assembly 60, which includes a support frame 62, a rotating pressure plate 64 and a third rotating drive component 66. One end of the support frame 62 is installed on the clamping plate 262, and the rotating pressure plate 64 is rotatably connected to the end of the support frame 62 away from the clamping plate 262. The rotating pressure plate 64 and the bottom limit member 266 are respectively located on two opposite sides of the clamping plate 262. The third rotating drive component 66 is installed on the clamping plate 262. The third rotating drive component 66 is used to drive the rotating pressure plate 64 to rotate so that the rotating pressure plate 64 can engage the upper eaves of the fruit frame.

[0093] The first clamping member 26 further includes a brush 268 . The brush 268 is connected to the clamping plate 262 . The brush 268 and the bottom stopper 266 are respectively located on two long sides of the clamping plate 262 .

[0094] Through the above structure, the rotating pressing plate 64 can engage with the upper edge of the fruit frame, so that the fruit frame can be clamped more stably by the first clamping member 26 and the second clamping member 36.

[0095] In addition, when the first clamping part 26 and the second clamping part 36 clamp the fruit frame, the brush 268 is located at the opening of the fruit frame. In the process of the first clamping part 26 and the second clamping part 36 driving the fruit frame to move, the brush 268 limits the fruits and vegetables at the inner edge of the fruit frame to prevent the fruits and vegetables from falling relative to the fruit frame. At the same time, since the brush 268 is relatively soft, when the brush 268 abuts against the fruits and vegetables, the fruits and vegetables can be prevented from being compressed and lost.

[0096] Specifically, the third rotating drive component 66 is a cylinder, and the third rotating drive component 66 is located on the side of the clamping plate 262 away from the fruit frame. The rotating pressure plate 64 is a rectangular sheet structure, and the rotating pressure plate 64 is rotatably connected to the clamping plate 262 through a rotating shaft. The piston rod of the third rotating drive component 66 is connected to the rotating pressure plate 64. When the third rotating drive component 66 pushes the rotating pressure plate 64, the rotating pressure plate 64 can rotate relative to the clamping plate 262.

[0097] The brushes 268 are arranged in a strip shape on a long side of the clamping plate 262 , and the bristles of the brushes 268 are perpendicular to the clamping plate 262 .

[0098] Please refer to Figure 9 In some embodiments, the present invention further provides a robot 1000, which includes the clamp 100 for grasping the fruit frame in any one of the above embodiments.

[0099] In some embodiments, the robot 1000 also includes a robotic arm 200 and a rotation drive assembly 300. The main frame 10 is rotatably connected to one end of the robotic arm 200. The rotation drive assembly 300 is installed on the robotic arm 200. The rotation drive assembly 300 can drive the main frame 10 to rotate. The rotation axis of the main frame 10 is perpendicular to the rotation axis of the first clamping component 26 and the rotation axis of the second clamping component 36.

[0100] Through the above structure, the robotic arm 200 can drive the clamp 100 to move so that the clamp 100 can grab the fruit frame; and after the clamp 100 pours the fruits and vegetables in the fruit frame into a container filled with water, the robotic arm 200 can drive the fruit frame to the stacking area and stack the fruit frames together.

[0101] Specifically, in this embodiment, the robotic arm 200 includes two independent rotating shafts, the clamp 100 for grasping the fruit frame is installed at the end of the robotic arm, and the rotation drive component 300 can be a servo motor, and the rotation drive component 300 is located at the end of the robotic arm.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the idea of ​​the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamp for grabbing fruit frames, characterized in that: include: A main frame, the main frame being used for installation on the robotic arm; a first clamping assembly, the first clamping assembly comprising a first mounting frame, a first rotation driving component, and a first clamping component, the first mounting frame being movably mounted on the main frame, the first rotation driving component being mounted on the first mounting frame, the first clamping component being rotationally connected to the first mounting frame, and the first rotation driving component being capable of driving the first clamping component to rotate in a vertical plane relative to the first mounting frame; a second clamping assembly, the second clamping assembly comprising a second mounting frame, a second rotation driving component, and a second clamping component, the second mounting frame being movably mounted on the main frame, the second rotation driving component being mounted on the second mounting frame, the second clamping component being rotatably connected to the second mounting frame, the second rotation driving component being capable of driving the second clamping component to rotate relative to the second mounting frame in a vertical plane, with the first mounting frame facing the second mounting frame; A mobile drive assembly is installed on the main frame, and the mobile drive assembly can drive the first mounting frame and the second mounting frame to move relative to the main frame, so that the first clamping component and the second clamping component are close to or away from each other.

2. The clamp for grabbing fruit frames according to claim 1, characterized in that: The transmission assembly further comprises a connecting component, a first linkage component and a second linkage component, wherein the connecting component is mounted on the main frame, the first linkage component is arranged between the first mounting frame and the connecting component, and the second linkage component is arranged between the second mounting frame and the connecting component; The mobile drive assembly is connected to the transmission assembly, and the mobile drive assembly can drive the first linkage component and the second linkage component to move relative to the main frame at the same time, and drive the first mounting frame and the second mounting frame to move relative to the main frame at the same time.

3. The clamp for grabbing fruit frames according to claim 2, characterized in that: The connecting component is a gear, the first linkage component and the second linkage component are both racks, the first linkage component and the second linkage component are both movably mounted on the main frame, the first linkage component and the second linkage component are respectively located on opposite sides of the connecting component, and the first linkage component and the second linkage component are both engaged with the connecting component; One end of the first linkage component facing away from the second linkage component is connected to the first mounting bracket, one end of the second linkage component facing away from the first linkage component is connected to the second mounting bracket, and one end of the first linkage component facing away from the first mounting bracket is connected to the mobile drive assembly.

4. The clamp for grabbing fruit frames according to claim 1, characterized in that: The first clamping assembly further includes a first transmission component, the first rotation driving component is located at an end of the first mounting frame facing the main frame, the first clamping component is located at an end of the first mounting frame facing away from the main frame, the first transmission component is disposed between the first rotation driving component and the first clamping component, and the first rotation driving component can drive the first clamping component to rotate relative to the first mounting frame in a vertical plane via the first transmission component; The second clamping assembly also includes a second transmission component, the second rotation drive component is located at one end of the second mounting frame facing the main frame, the second clamping component is located at one end of the second mounting frame away from the main frame, and the second transmission component is arranged between the second rotation drive component and the second clamping component. The second rotation drive component can drive the second clamping component to rotate in a vertical plane relative to the second mounting frame via the second transmission component.

5. The clamp for grabbing fruit frames according to claim 4, characterized in that: The first transmission component includes a chain condition and a sprocket component, the sprocket component is rotatably connected to the first mounting frame, the first clamping component is connected to the sprocket component, one end of the chain condition is connected to the first rotating drive component, and the other end of the chain condition is sleeved on the sprocket component.

6. The clamp for grabbing fruit frames according to claim 1, characterized in that: The first clamping component includes a clamping plate, a side limit member and a bottom limit member. The clamping plate is rotatably connected to the first mounting frame, and the first rotation driving component can drive the clamping plate to rotate in a vertical plane relative to the first mounting frame; the side limit member and the bottom limit member are both connected to the clamping plate, the side limit member is located on one side of the clamping plate, and the bottom limit member is located on the other adjacent side of the clamping plate; the side limit member is used to abut against the side surface of the fruit frame, and the bottom limit member is used to abut against the bottom surface of the fruit frame.

7. The clamp for grabbing fruit frames according to claim 6, characterized in that: The clamping plate is a rectangular plate-shaped structure, the side limiting member is connected to a wide side of the clamping plate, and the bottom limiting member is connected to a long side of the clamping plate.

8. The clamp for grabbing fruit frames according to claim 7, characterized in that: It also includes a pressing frame assembly, the pressing frame assembly includes a support frame, a rotating pressing plate and a third rotating driving component, one end of the support frame is mounted on the clamping plate, the rotating pressing plate is rotatably connected to the end of the support frame away from the clamping plate, the rotating pressing plate and the bottom limit member are respectively located on two opposite sides of the clamping plate, the third rotating driving component is mounted on the support frame, and the third rotating driving component is used to drive the rotating pressing plate to rotate so that the rotating pressing plate can buckle the upper eaves of the fruit frame; The first clamping component further includes a brush connected to the clamping plate. The brush and the bottom limiting member are respectively located on two long sides of the clamping plate.

9. A robot, characterized in that: The invention comprises a clamp for grasping a fruit frame according to any one of claims 1 to 8.

10. The robot according to claim 9, characterized in that It also includes a robotic arm and a rotation drive assembly, the main frame is rotatably connected to one end of the robotic arm, the rotation drive assembly is installed on the robotic arm, and the rotation drive assembly can drive the main frame to rotate, and the rotation axis of the main frame is perpendicular to the rotation axis of the first clamping component and the rotation axis of the second clamping component.

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