Picking clamping jaw mechanism

Abstract

The utility model discloses a picking clamping jaw mechanism which comprises an external connection seat, a connection arm and a clamping jaw structure, the clamping jaw structure comprises an inner clamping jaw assembly and an outer clamping jaw assembly, the inner clamping jaw assembly comprises a pair of grabbing clamping jaws installed at the bottom end of the connection arm and a grabbing driver installed on the connection arm, and the output end of the grabbing driver is connected with the two grabbing clamping jaws. The grabbing driver can drive the grabbing clamping jaw to be opened and closed. The outer clamping jaw assembly comprises a pair of planing clamping jaws and a planing driver, wherein the planing clamping jaws are installed at the bottom end of the connecting arm and located outside the grabbing clamping jaw, the planing driver is installed on the connecting arm, the output end of the planing driver is connected with the two planing clamping jaws, and the planing driver can drive the planing clamping jaws to be opened and closed. Interference of other objects on the grabbing clamping jaw is eliminated through the arrangement of the planing clamping jaw, so that the grabbing clamping jaw only grabs the objects to be picked, and the picking quality is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to picking technical field, concretely is a kind of picking clamping jaw mechanism. BACKGROUND

[0002] In recent years, China's agricultural economy develops unceasingly, and crops such as fruits, vegetables, tea, scented tea, flowers and plants have become an important pillar of China's rural economy and the main source of farmers' income; The existing mechanical hand for picking crops will pick other objects (flowers, fruits or branches and leaves, etc.) around the to-be-picked object during picking, and the mixing of other objects reduces the picking quality of the mechanical hand, and many crops are not annual plants, the existing mechanical hand will cause damage to the plants, affect the yield of the plants this year and next year, and reduce the yield. SUMMARY

[0003] The utility model aims at providing a kind of picking clamping jaw mechanism to solve the problem of poor picking quality of existing mechanical hand and damage to plants.

[0004] To achieve the above object, the utility model provides the following technical scheme:

[0005] A kind of picking clamping jaw mechanism, comprising: external seat, it has the connecting part of connecting external structure;Connecting arm, it is rotatably installed in the external seat;Clamping jaw structure, the clamping jaw structure includes inner clamping jaw assembly and outer clamping jaw assembly, inner clamping jaw assembly includes a pair of installation at the bottom end of the connecting arm gripping clamps, gripping drive is installed in the connecting arm and the output end is connected with two gripping clamps, the gripping drive can drive the gripping clamps open and close;The outer clamping jaw assembly includes a pair of installation at the bottom end of the connecting arm and located outside the gripping clamps, and the output end of the planarization drive is connected with two planarization clamps, and the planarization drive can drive the planarization clamps open and close.

[0006] As a kind of implementable mode, the outer clamping jaw assembly further includes the connecting seat connected with the planarization drive, the connecting seat is sleeved on the outside of the connecting arm and can move up and down along the connecting arm, two planarization clamps are hinged to the opposite sides of the connecting seat by pivot, two planarization clamps can be moved up to open, and two planarization clamps can be moved down to close.

[0007] As a kind of implementable mode, the connecting arm is provided with a slope gradually outwardly inclined from top to bottom at least in the middle and lower part of the opposite sides towards planarization clamps, and the top of two planarization clamps at least partially abuts against the slope, and two planarization clamps can be moved up to open along the slope, and two planarization clamps can be moved down to close along the slope.

[0008] As an implementable mode, the top end of each of the two opening clamps is provided with at least one rolling member which is in contact with and rolls along the slope.

[0009] As an implementable mode, the outer clamp assembly further comprises a reset member which is a double torsion spring comprising a first spring body and a second spring body which are respectively sleeved on the axial two ends of the rotating shaft, and the opening clamp is located between the first spring body and the second spring body.

[0010] As an implementable mode, the opening drive comprises a driving source mounted on the connecting arm, and at least one connecting rod which is slidingly mounted on the connecting arm, one end of the connecting rod is connected to the output end of the driving source, and the other end is connected to the connecting seat.

[0011] As an implementable mode, the number of the connecting rods is two and the connecting rods are slidingly mounted on the opposite sides of the connecting arm.

[0012] As an implementable mode, the output end of the driving source is provided with an eccentric shaft, and the top of each of the two connecting rods is provided with a connecting member which has a sliding groove through which the eccentric shaft passes and slides.

[0013] As an implementable mode, the grabbing clamp comprises a claw arm and a claw part provided at the bottom end of the claw arm, the connecting arm is provided with an open slot, and the claw arms of a pair of the grabbing clamps are respectively hinged to the two slot openings of the open slot.

[0014] As an implementable mode, the grabbing drive comprises a telescopic power source, the output end of the telescopic power source is hinged with two connecting plates, and the other end of each of the two connecting plates is hinged with the top of each of the two claw arms.

[0015] Compared with the prior art, the utility model discloses the beneficial effects are: the clamping jaw structure includes inner clamping jaw subassembly and outer clamping jaw subassembly, wherein the snatch drive of inner clamping jaw subassembly can drive snatch clamping jaw open and shut, the planar drive of outer clamping jaw subassembly can drive planar clamping jaw open and shut, specifically, in the picking process of the object to be picked, the rotation of clamping jaw structure is realized through the connecting arm to adapt the position of the object to be picked, snatch drive controls snatch clamping jaw to close and realizes the snatch of the object to be picked, then, the planar drive can drive planar clamping jaw to close, and other objects that disturb snatch clamping jaw are planed in the process of planar clamping jaw closing to prevent other objects from disturbing snatch clamping jaw, after planar clamping jaw closes, planar clamping jaw can clip the branch of the object to be picked to realize the picking of the object to be picked, the disturbance of snatch clamping jaw by other objects is removed through the setting of planar clamping jaw, makes snatch clamping jaw only realize the snatch of the object to be picked, improves picking quality, and, other objects are planed through planar clamping jaw to prevent picking clamping jaw mechanism from damaging the plant, guarantees the completeness of the plant and other objects to be picked on the plant, thereby guaranteeing the yield of the plant this year and next year. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the first state structure schematic drawing of a picking clamping jaw mechanism disclosed by the utility model embodiment;

[0017] Figure 2 It is Figure 1 It is the structure schematic drawing of another picking clamping jaw mechanism disclosed by the utility model embodiment;

[0018] Figure 3 It is the second state structure schematic drawing of a picking clamping jaw mechanism disclosed by the utility model embodiment;

[0019] Figure 4 It is the second state structure schematic drawing of a picking clamping jaw mechanism disclosed by the utility model embodiment;

[0020] Figure 5 It is Figure 4 It is the section view of A-A.

[0021] In the figure: 1, external connector; 11, connecting part; 2, connecting arm; 21, slope; 22, open slot; 3, clamping jaw structure; 31, inner clamping jaw assembly; 311, grabbing clamping jaw; 3111, jaw arm; 3112, jaw part; 312, grabbing drive; 3121, telescopic power source; 3122, connecting plate; 32, outer clamping jaw assembly; 321, planing clamping jaw; 322, planing drive; 3221, drive source; 3222, connecting rod; 3223, eccentric shaft; 3224, connecting piece; 3225, sliding groove; 323, connecting seat; 324, reset member; 3241, first spring body; 3242, second spring body; 325, rolling member; 326, rotating shaft; 4, rotating power source; 5, proximity switch; 6, object to be picked; 7, other object. DETAILED DESCRIPTION

[0022] In order to make the person skilled in the art better understand the present application, the present application is described in detail below as an embodiment of the present application.

[0023] In this paper, the terms such as "up, down, inside, outside" are established based on the positional relationship shown in the drawings, and according to the different drawings, the corresponding positional relationship may also change accordingly, therefore, it cannot be understood as an absolute limitation on the scope of protection; moreover, the relationship terms such as "first" and "second" are only used to distinguish one part from another part with the same name, and do not necessarily require or imply any such actual relationship or order between the parts.

[0024] The picking clamping jaw mechanism disclosed in the embodiment of the present application can be used for picking work of fruits and vegetables, tea leaves, scented tea, flowers and the like, and is not limited in particular.

[0025] Embodiment one

[0026] As Figure 1As shown, the picking gripper mechanism disclosed in the embodiment comprises an outer seat 1, a connecting arm 2 and a gripper structure 3. The outer seat 1 has a connecting part 11 connected to an external structure, and the connecting arm 2 is rotatably installed on the outer seat 1. The gripper structure 3 comprises an inner gripper assembly 31 and an outer gripper assembly 32. The inner gripper assembly 31 comprises a pair of grabbing grippers 311 installed at the bottom end of the connecting arm 2, and a grabbing drive 312 installed on the connecting arm 2 and having output ends connected to the two grabbing grippers 311, the grabbing drive 312 being capable of driving the grabbing grippers 311 to open and close. The outer gripper assembly 32 comprises a pair of planing grippers 321 installed at the bottom end of the connecting arm 2 and located outside the grabbing grippers 311, and a planing drive 322 installed on the connecting arm 2 and having output ends connected to the two planing grippers 321, the planing drive 322 being capable of driving the planing grippers 321 to open and close. It can be understood that opening and closing refer to opening and closing, opening refers to the two grabbing grippers 311 moving away from each other, or the two planing grippers 321 moving away from each other; closing refers to the two grabbing grippers 311 moving close to each other, or the two planing grippers 321 moving close to each other.

[0027] Specifically, the gripper structure 3 comprises the inner gripper assembly 31 and the outer gripper assembly 32, wherein the grabbing drive 312 of the inner gripper assembly 31 is capable of driving the grabbing grippers 311 to open and close, and the planing drive 322 of the outer gripper assembly 32 is capable of driving the planing grippers 321 to open and close. Specifically, in the picking process of the to-be-picked object 6, the rotation of the gripper structure 3 is realized through the connecting arm 2 to adapt to the position of the to-be-picked object 6, the grabbing drive 312 controls the grabbing grippers 311 to close to realize the grabbing of the to-be-picked object 6, then the planing drive 322 can drive the planing grippers 321 to close, other objects 7 that interfere with the grabbing grippers 311 are planed in the closing process of the planing grippers 321 to prevent the other objects 7 from interfering with the grabbing grippers 311, and after the planing grippers 321 are closed, the planing grippers 321 can clip the branches of the to-be-picked object 6 to realize the picking of the to-be-picked object 6. The setting of the planing grippers 321 planes the interference of the other objects 7 on the grabbing grippers 311, so that the grabbing grippers 311 only realize the grabbing of the to-be-picked object 6, improving the picking quality, and the planing of the other objects 7 by the planing grippers 321 prevents the picking gripper mechanism from damaging the plant, ensuring the integrity of the plant and other to-be-picked objects 6 on the plant, thereby ensuring the yield of the plant this year and next year. In addition, the picking gripper mechanism further comprises a rotating power source 4 installed on the outer seat 1 and driving the rotation of the connecting arm 2, the rotating power source 4 can be a rotating motor or other structures, which is not specifically limited here, and the rotating power source 4 provides power for the rotation of the connecting arm 2.

[0028] It can be understood that the external structure can be a mechanical arm (not shown in the figure) or the like capable of realizing the movement of the picking gripper mechanism, and the picking gripper mechanism is connected with the mechanical arm through the external connecting seat 1, so as to drive the picking gripper mechanism to approach or move away from the to-be-picked object 6 through the mechanical arm, thereby improving the convenience of picking. In addition, after the prying gripper 321 cuts off the branches of the to-be-picked object 6, the picking gripper mechanism is moved by the mechanical arm to pick up the picked to-be-picked object 6, thereby completing a picking work. In addition, in order to improve the degree of automation of picking, a detection unit can be arranged on the mechanical arm. The detection unit adopts a depth camera. The relative position information of the to-be-picked object 6 can be collected by using the depth camera, so as to adjust the position of the gripper structure 3 according to the position information of the to-be-picked object 6. The specific use principle of the depth camera belongs to the prior art, and will not be described here. It can be understood that the detection unit can also adopt other structures as long as it can realize the position detection of the to-be-picked object 6, and the specific structure is not limited.

[0029] Further, as shown in Figure 3 and Figure 4 , the closing point of the prying gripper 321 is located below the closing point of the grabbing gripper 311, so as to cut off the branches below the to-be-picked object 6. In addition, the closing direction of the prying gripper 321 can be the same as or different from the closing direction of the grabbing gripper 311, and the specific structure is not limited.

[0030] Further, in order to improve the accuracy of picking, a proximity switch 5 is arranged in the internal part of the connecting arm 2, and the proximity switch 5 is partially exposed on the bottom of the connecting arm 2.

[0031] Embodiment Two

[0032] The same parts in this embodiment as in Embodiment One are given the same reference numerals, and the same textual description is omitted.

[0033] Compared with Embodiment One, the picking gripper mechanism provided in this embodiment also has such a different structure design: as shown in Figures 1-4 , the outer gripper assembly 32 further comprises a connecting seat 323 connected with the prying drive 322, the connecting seat 323 is sleeved on the outside of the connecting arm 2 and can move up and down along the connecting arm 2, and the two prying grippers 321 are hinged to the opposite sides of the connecting seat 323 through a rotating shaft 326. The two prying grippers 321 can be moved upward to open, and the two prying grippers 321 can be moved downward to close.

[0034] Specifically, by arranging the connecting seat 323, the synchronous movement of the two prying grippers 321 is realized. The connecting seat 323 is driven by the prying drive 322 to move upward along the connecting arm 2 to make the prying grippers 321 open. When picking the to-be-picked object 6, the connecting seat 323 is driven by the prying drive 322 to move downward along the connecting arm 2 to make the prying grippers 321 close.

[0035] Further, as shown in Figure 2 and Figure 3 , the connecting arm 2 is provided with a slope 21 which is inclined outward from top to bottom at least at the middle and lower part of the opposite sides of the planing clamping jaw 321, the top of the two planing clamping jaws 321 at least partially abuts the slope 21, and the two planing clamping jaws 321 can be moved upward along the slope 21 to open, and can be moved downward along the slope 21 to close; wherein the inclination outward means that the slope 21 gradually moves away from the center line of the connecting arm 2 from top to bottom; by setting the slope 21 which gradually moves away from the center line of the connecting arm 2 from top to bottom, the planing clamping jaw 321 can always slide along the slope 21 during the upward or downward movement, and the upward opening and downward closing of the planing clamping jaw 321 are realized, and during the downward movement along the slope 21, the two planing clamping jaws 321 move close to each other to realize inward contraction, so as to plan the other objects 7. Understandably, the slope 21 can be provided only at the middle and lower part of the connecting arm 2, or can be provided on the entire side wall of the connecting arm 2, and the specific limitation is not limited; in addition, the planing clamping jaw 321 can also adopt other forms of upward opening and downward closing, which is not limited here.

[0036] Further, as shown in Figure 3 , the top end of each of the two planing clamping jaws 321 is provided with at least one rolling member 325, the rolling member 325 abuts and rolls with the slope 21; the rolling member 325 can be a ball or a roller, and the rolling member 325 is provided to reduce the friction between the planing clamping jaw 321 and the slope 21, so as to facilitate the upward and downward movement of the planing clamping jaw 321 along the slope 21.

[0037] Further, as shown in Figure 5 , the outer clamping jaw assembly 32 further comprises a reset member 324, the reset member 324 is a double torsion spring, the double torsion spring comprises a first spring body 3241 and a second spring body 3242, the first spring body 3241 and the second spring body 3242 are respectively sleeved on the axial two ends of the rotating shaft 326, and the planing clamping jaw 321 is located between the first spring body 3241 and the second spring body 3242; by setting the reset member 324 to provide a reset force for the planing clamping jaw 321, the rolling member 325 of the planing clamping jaw 321 is tightly attached to the slope 21.

[0038] Further, as shown in Figure 3 , the planing drive 322 comprises a driving source 3221 mounted on the connecting arm 2, and at least one connecting rod 3222 slidingly mounted on the connecting arm 2, one end of the connecting rod 3222 is connected to the output end of the driving source 3221, and the other end is connected to the connecting seat 323; in order to improve the stability of the upward and downward movement of the connecting seat 323, the connecting rod 3222 is provided to provide movement guide for the connecting seat 323. In order to further improve the stability of the upward and downward movement of the connecting seat 323, the number of the connecting rod 3222 is two and is slidingly mounted on the opposite sides of the connecting arm 2.

[0039] Further, as shown in Figure 3 the output end of the driving source 3221 is provided with an eccentric shaft 3223, the top of the two connecting rods 3222 is provided with a connecting piece 3224, the connecting piece 3224 has a sliding groove 3225 for the eccentric shaft 3223 to pass through and slide; specifically, the driving source 3221 is a rotary motor, the driving source 3221 drives the eccentric shaft 3223 to rotate circumferentially, at this time the eccentric shaft 3223 slides in the sliding groove 3225, and the eccentric shaft 3223 drives the connecting rod 3222 to move up and down through the connecting piece 3224 during rotation, thereby driving the connecting seat 323 to move up and down, and further driving the planar opening and closing jaw 321 to open and close. Of course, the driving source 3221 can also drive the connecting rod 3222 to move up and down in other forms, which is specifically selected according to the actual situation, and is not limited here.

[0040] Embodiment Three

[0041] The same parts in this embodiment as in Embodiment One and Embodiment Two are given the same reference numerals, and the same textual description is omitted.

[0042] Compared with Embodiment One and Embodiment Two, the picking jaw mechanism provided in this embodiment also has such a different structural design: as shown in Figure 3 the grabbing jaw 311 includes a jaw arm 3111 and a jaw part 3112 provided at the bottom end of the jaw arm 3111, the connecting arm 2 is provided with an open slot 22, and the jaw arms 3111 of a pair of grabbing jaws 311 are respectively hinged to the two side slots of the open slot 22; wherein the open slot 22 penetrates through the other opposite sides of the connecting arm 2, and the open slot 22 provides a deflection space for the deflection of the jaw arm 3111.

[0043] Further, as shown in Figure 5 the grabbing drive 312 includes a telescopic power source 3121, the output end of the telescopic power source 3121 is hinged with two connecting plates 3122, and the other end of the two connecting plates 3122 is hinged with the top of the two jaw arms 3111 respectively; wherein the telescopic power source 3121 can be one of an electric telescopic rod, an oil cylinder and a gas cylinder, the output end of the telescopic power source 3121 extends into the open slot 22, and the output end of the telescopic power source 3121 is connected with the jaw arm 3111 in the open slot 22 through the connecting plate 3122; specifically, the telescopic power source 3121 extends to drive the connecting plate 3122 to rotate, so as to drive the two jaw arms 3111 to approach each other, thereby realizing the closing of the jaw part 3112, so as to facilitate the grabbing of the to-be-picked object 6, and the telescopic power source 3121 retracts to drive the connecting plate 3122 to rotate, so as to drive the two jaw arms 3111 to move away from each other, thereby realizing the opening of the jaw part 3112, so as to facilitate the release of the to-be-picked object 6. Of course, the telescopic power source 3121 can also drive the jaw arm 3111 to open and close in other forms, which is specifically selected according to the actual situation, and is not limited here.

[0044] The technical features of the above-described embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations are described. However, any combination of the technical features is considered to be within the scope of the present specification, as long as the combination is not obviously inappropriate.

Claims

1. A picking jaw mechanism, characterized in that The utility model relates to a kind of mechanical arm, including: External socket, with the connecting portion of connecting external structure; Connecting arm, rotationally mounted in the external socket; Claw structure, the claw structure includes inner claw subassembly and outer claw subassembly, inner claw subassembly includes a pair of installation at the bottom end of the connecting arm gripper, installation at the connecting arm and the output end connection two gripper of gripper drive, the gripper drive can drive the gripper open and close;The outer claw subassembly includes a pair of installation at the bottom end of the connecting arm and located outside the gripper and the output end connection two of planarization drive of planarization gripper, the planarization drive can drive the planarization gripper open and close.

2. The picking jaw mechanism according to claim 1, characterized in that The outer claw subassembly further includes connecting seat connected with the planarization drive, the connecting seat is sleeved on the outside of the connecting arm and can move up and down along the connecting arm, two planarization grippers are hinged to the opposite sides of the connecting seat by pivot, two planarization grippers can be opened by moving up, two planarization grippers can be closed by moving down.

3. The picking jaw mechanism according to claim 2, characterized in that The connecting arm is provided with slope that gradually inclines outward from top to bottom at least middle and lower part of opposite sides towards planarization gripper, and the top of two planarization grippers at least partially contacts the slope, and two planarization grippers can be opened by moving up along the slope, and two planarization grippers can be closed by moving down along the slope.

4. The picking jaw mechanism according to claim 3, characterized in that The top of two planarization grippers is provided with at least one rolling element, which contacts and rolls with the slope.

5. The picking jaw mechanism of claim 4, wherein, The outer claw subassembly further includes reset member, and the reset member is double torsion spring, the double torsion spring includes first spring body and second spring body, the first spring body and the second spring body are respectively sleeved on the axial two ends of the pivot, and the planarization gripper is located between the first spring body and the second spring body.

6. The picking jaw mechanism according to any one of claims 2-5, characterized in that, Planarization drive includes drive source mounted on the connecting arm, at least one connecting rod slidingly mounted on the connecting arm, one end of the connecting rod is connected to the output end of the drive source, and the other end is connected to the connecting seat.

7. The picking jaw mechanism according to claim 6, characterized in that The number of the connecting rod is two, and the connecting rod is slidingly mounted on the opposite sides of the connecting arm.

8. The picking jaw mechanism of claim 7, wherein, The output end of the drive source is provided with eccentric shaft, and the top of two connecting rods is provided with connecting piece, and the connecting piece has sliding slot for eccentric shaft to pass through and slide.

9. The picking jaw mechanism according to any one of claims 1-5, 7-8, characterized in that, The gripper includes claw arm and claw part provided at the bottom end of claw arm, the connecting arm is provided with open slot, and the claw arm of a pair of grippers is respectively hinged to the two side slots of the open slot.

10. The picking jaw mechanism of claim 9, wherein, Gripper drive includes telescopic power source, and the output end of the telescopic power source is hinged with two connecting plates, and the other end of two connecting plates is hinged with the top of two claw arms respectively.

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