Grabbing structure, fruit and vegetable boxing device and fruit and vegetable sorting equipment

Abstract

The utility model relates to the technical field of fruit and vegetable sorting, and discloses a grabbing structure, a fruit and vegetable boxing device and fruit and vegetable sorting equipment. The grabbing structure comprises a support and a grabbing assembly. The mounting table comprises a fruit and vegetable grabbing position and a fruit and vegetable placing position; the number of the grabbing assemblies is at least two, and all the grabbing assemblies are arranged in a row in the horizontal direction; each grabbing assembly comprises a mechanical arm and a grabbing part, the mechanical arm is installed on the support, the mechanical arm can move between the fruit and vegetable grabbing position and the fruit and vegetable placing position relative to the support, the grabbing part is installed on the mechanical arm, the grabbing part is rotationally connected to the mechanical arm, and the rotating axis of the grabbing part is perpendicular to the arrangement direction of all the grabbing assemblies. Through the arrangement, the technical problem that in the prior art, after fruits and vegetables are grabbed into the fruit box, the orientations are inconsistent is solved.

Description

Technical Field

[0001] This utility model relates to the field of fruit and vegetable sorting technology, and in particular to a gripping structure, a fruit and vegetable packing device, and a fruit and vegetable sorting equipment. Background Technology

[0002] Currently, fruits and vegetables are a type of food that people often consume. Fruits and vegetables include apples, pears, and tomatoes, among others. After ripening, fruits and vegetables need to be harvested and then transported to factories for sorting and processing to facilitate subsequent packaging and sales.

[0003] In related technologies, fruits and vegetables need to be cleaned before sorting. After the cleaning and sorting of fruits and vegetables are completed, they are picked up by a gripping structure and placed into the corresponding packaging box.

[0004] However, the different fruits and vegetables being grabbed were facing different directions, resulting in inconsistent orientations after they were placed in the same packaging box. Utility Model Content

[0005] The present invention aims to provide a gripping structure, a fruit and vegetable packing device, and a fruit and vegetable sorting equipment to solve the technical problem of inconsistent orientation of fruits and vegetables after they are gripped into the packing box in the prior art.

[0006] The technical problem solved by this utility model embodiment is addressed by the following technical solution:

[0007] A crawling structure is provided, including:

[0008] support;

[0009] The gripping assembly includes at least two gripping assemblies arranged in a horizontal row. Each gripping assembly includes a robotic arm and a gripping part. The robotic arm is mounted on the support and is movable relative to the support between a fruit and vegetable gripping position and a fruit and vegetable placement position. The gripping part is mounted on the robotic arm and is rotatably connected to the robotic arm. The rotation axis of the gripping part is perpendicular to the arrangement direction of all the gripping assemblies.

[0010] With the above structure, the gripping part is rotatably connected to the robotic arm so that the gripping part first grips the fruits and vegetables. Then, as the gripping component moves from the fruit and vegetable gripping position to the fruit and vegetable placement position, the gripping component drives the fruits and vegetables to rotate so that all the fruits and vegetables face the same direction. The fruit and vegetable placement position can be used to place packaging boxes. When the gripping component places the fruits and vegetables into the packaging box at the fruit and vegetable placement position, all the fruits and vegetables face the same direction in the horizontal direction.

[0011] In some embodiments, each of the gripping components further includes a crossbeam, a first horizontal drive component, and a second horizontal drive component, the crossbeam being mounted on the bracket, and the robotic arm being mounted on the crossbeam;

[0012] In the same grasping assembly, both the first horizontal drive component and the second horizontal drive component are mounted on the crossbeam. The first horizontal drive component is used to drive the crossbeam to move relative to the support along a first horizontal direction, and the second horizontal drive component is used to drive the robotic arm to move relative to the crossbeam along a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction.

[0013] With the above structure, each first horizontal drive component can drive the crossbeam to move relative to the mounting platform along a first horizontal direction, while the second horizontal drive component can drive the robotic arm to move relative to the crossbeam along a second horizontal direction, with the first horizontal direction perpendicular to the second horizontal direction; so that each robotic arm can move independently relative to the mounting platform in the horizontal direction.

[0014] The distance between two adjacent fruit and vegetable gripping positions may not be consistent with the distance between two adjacent fruit slots inside the packaging box, or the packaging box may be located on one side of the fruit and vegetable placement position, so that the fruit and vegetables on the gripping position may not be aligned with the corresponding fruit slots inside the packaging box in the first horizontal direction; during the process of the first horizontal drive component driving the crossbeam to move relative to the mounting platform in the first horizontal direction, the gripping part can drive the fruit and vegetables to align with the corresponding fruit slots.

[0015] In some embodiments, the gripping structure further includes a guide rack mounted on the bracket; each gripping assembly further includes a rotating rod and a gear, the rotating rod being connected to the crossbeam, the first horizontal drive component being used to drive the rotating rod to rotate relative to the crossbeam, and the gear being connected to the rotating rod and meshing with the guide rack;

[0016] When the first horizontal drive component drives the rotating rod to rotate relative to the crossbeam, the gear component rolls on the guide rack, causing the crossbeam to move relative to the bracket along the first horizontal direction.

[0017] With the above structure, the first horizontal drive component can drive the rotating rod to rotate, the rotating rod can drive the gear component to rotate, the gear component meshes with the guide rack, and the gear component can roll on the guide rack to drive the crossbeam to move relative to the support in the first horizontal direction; the meshing of the gear component with the guide rack can also make the crossbeam more stable when moving.

[0018] In some embodiments, there are two guide racks, which are mounted in parallel on the bracket; each gripping assembly includes two gears; in the same gripping assembly, the two gears are respectively connected to opposite ends of the rotating rod, and each gear meshes with a corresponding guide rack.

[0019] With the above structure, the rotating rod can drive the two gear components to rotate synchronously during rotation. The two gear components mesh with the corresponding guide racks respectively, so that the two gear components can roll at the same speed on the corresponding guide racks, so that the guide racks can play a more stable guiding role for the movement of the crossbeam.

[0020] In some embodiments, each of the gripping components further includes a vertical drive component mounted on the robotic arm, the gripping part being connected to the robotic arm, and the vertical drive component being used to drive the gripping part to move relative to the robotic arm in a vertical direction.

[0021] With the above structure, the vertical drive component is used to drive the gripping part to move relative to the robotic arm in the vertical direction. When the gripping part moves down, it can contact the fruits and vegetables at a lower position. When the gripping part moves up, it can drive the fruits and vegetables away from the fruit and vegetable gripping position.

[0022] In some embodiments, each of the gripping components further includes a rotation drive component, a first transmission gear, and a second transmission gear. The first transmission gear has a limiting groove, and the second transmission gear is connected to the drive component. The gripping part is inserted into the limiting groove, and the first transmission gear and the second transmission gear mesh. The rotation drive component can drive the gripping part to rotate relative to the robotic arm through the first transmission gear and the second transmission gear.

[0023] With the above structure, the rotation drive component can drive the fruits and vegetables to rotate through the first transmission gear and the second transmission gear, so that the fruits and vegetables can be adjusted to an appropriate angle after being grabbed, and then when the fruits and vegetables are carried into the packaging box, the orientation of the fruits and vegetables can be kept consistent, thereby improving the neatness of the fruits and vegetables in the packaging box.

[0024] In some embodiments, the gripping part includes a support rod and an adsorption element. The support rod is rotatably connected to the robotic arm, and the adsorption element is connected to the support rod. The vertical driving component is used to drive the support rod to move relative to the robotic arm in a vertical direction. The support rod is inserted into the limiting groove. The adsorption element is used to adsorb the surface of fruits and vegetables.

[0025] With the above structure, the support rod can extend from the lower end of the robotic arm so that the adsorption component can contact the surface of the fruits and vegetables; the limiting groove can precisely control the rotation angle of the support rod to adjust the gripped fruits and vegetables to rotate to the appropriate angle.

[0026] In some embodiments, the limiting groove is a rectangular through groove, and the support rod is a rod-shaped member with a rectangular cross-section.

[0027] With the above structure, the wall of the limiting groove abuts against the outer surface of the support rod, so that the limiting groove can limit the support rod. When the rotation drive component rotates, it can drive the mechanical arm to rotate via the first transmission gear and the second transmission gear.

[0028] Another embodiment of this utility model provides a fruit and vegetable packing device, including the gripping structure and mounting platform of any of the above embodiments, wherein the mounting platform includes the fruit and vegetable gripping position and the fruit and vegetable placement position.

[0029] In another embodiment of this utility model, a fruit and vegetable sorting device is provided, including the fruit and vegetable packing device in the above embodiment.

[0030] Compared with existing technologies, the gripping unit is rotatably connected to the robotic arm, so that the gripping unit first grabs the fruits and vegetables, and then, as the gripping component moves from the fruit and vegetable grabbing position to the fruit and vegetable placement position, the gripping component drives the fruits and vegetables to rotate, which can make all the fruits and vegetables face the same direction. The fruit and vegetable placement position can be used to place packaging boxes, and when the gripping component places the fruits and vegetables into the packaging box at the fruit and vegetable placement position, all the fruits and vegetables face the same direction in the horizontal direction. Attached Figure Description

[0031] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0032] Figure 1 This is a perspective view of the grasping structure in one embodiment of the present invention;

[0033] Figure 2 yes Figure 1 A 3D view of the crawling component in the crawling structure;

[0034] Figure 3 yes Figure 1 A partial view of the guide rack of the grabbing structure;

[0035] Figure 4 yes Figure 1 Structural diagram of the vertical drive component of the grasping structure;

[0036] Figure 5 yes Figure 1 A partial view of the support rod of the grabbing structure;

[0037] Figure 6 yes Figure 1 Side view of the gripping part and rotation drive component of the gripping structure;

[0038] Figure 7 yes Figure 1 A structural diagram of the gripping part and the first transmission gear in the gripping structure.

[0039] Figure label:

[0040] 100. Gripping structure; 10. Mounting platform; 102. Fruit and vegetable gripping position; 104. Fruit and vegetable placement position; 12. Guide rack; 20. Gripping assembly; 30. Support; 21. Robotic arm; 22. Gripping part; 222. Support rod; 224. Adsorption component; 23. Crossbeam; 240. First horizontal drive component; 241. Second horizontal drive component; 242. Drive motor; 244. Belt structure; 246. Pulley; 25a. Rotating rod; 25b. Gear component; 26. Transmission component; 27. Vertical drive component; 28. Rotation drive component; 284. First transmission gear; 286. Second transmission gear; 29. ​​Limiting groove. Detailed Implementation

[0041] To facilitate understanding of this utility model, a more detailed description is provided 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 one or more intermediate elements can exist between them. The terms "upper," "lower," "left," "right," "upper end," "lower end," "top," and "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.

[0043] The following detailed description, in conjunction with all the accompanying drawings, provides a detailed account of a gripping structure 100, a fruit and vegetable packing device, and a fruit and vegetable sorting equipment provided in this application through specific embodiments.

[0044] Please refer to Figure 1One embodiment of this utility model discloses a gripping structure 100, including gripping components 20 and a support 30; the number of gripping components 20 is at least two, and all gripping components 20 are arranged in a row in the horizontal direction; each gripping component 20 includes a robotic arm 21 and a gripping part 22, the robotic arm 21 is mounted on the support 30, and the robotic arm 21 can move relative to the support 30 between the fruit and vegetable gripping position 102 and the fruit and vegetable placement position 104, the gripping part 22 is mounted on the robotic arm 21, the gripping part 22 is rotatably connected to the robotic arm 21, and the rotation axis of the gripping part 22 is perpendicular to the arrangement direction of all gripping components 20.

[0045] With the above structure, the gripping part 22 is rotatably connected to the robotic arm 21, so that the gripping part 22 first grips the fruits and vegetables, and then, during the process of the gripping component 20 moving from the fruit and vegetable gripping position 102 to the fruit and vegetable placement position 104, the gripping component 20 drives the fruits and vegetables to rotate, so that all the fruits and vegetables can be aligned in the same direction. The fruit and vegetable placement position 104 can be used to place packaging boxes, so that when the gripping component 20 places the fruits and vegetables in the packaging box at the fruit and vegetable placement position 104, all the fruits and vegetables are aligned in the same direction in the horizontal direction.

[0046] Specifically, in this embodiment, the fruit and vegetable gripping position 102 and the fruit and vegetable placement position 104 can be set on the mounting platform 10. The mounting platform 10 can be equipped with a conveyor belt or other conveying structure, which is used to transport fruits and vegetables to the fruit and vegetable gripping position 102. The bracket 30 can be installed on the mounting platform 10 or can be installed independently of the mounting platform 10 and on other support mechanisms. The robotic arm 21 can be a hollow frame structure. The robotic arm 21 can move along the mounting platform 10 via a slide rail, so that the robotic arm 21 can move between the fruit and vegetable gripping position 102 and the fruit and vegetable placement position 104. The gripping part 22 can include a suction cup, which can be connected to an air pump via an air pipe. When the robotic arm 21 moves relative to the bracket 30 between the fruit and vegetable gripping position 102 and the fruit and vegetable placement position 104, each robotic arm 21 corresponds to a set of driving components, so that each robotic arm 21 can move independently in the horizontal direction.

[0047] In other embodiments, the robotic arm 21 may also be other structures, such as a curved arm-like structure; the gripping part 22 may also be a mechanical finger driven by a motor; when the robotic arm 21 moves relative to the support 30 between the fruit and vegetable gripping position 102 and the fruit and vegetable placement position 104, all robotic arms 21 may also be driven by the same set of driving components so that all robotic arms 21 move synchronously.

[0048] Please refer to Figure 2 In some embodiments, each gripping component 20 further includes a crossbeam 23, a first horizontal drive component 240 and a second horizontal drive component 241, the crossbeam 23 being mounted on the bracket 30 and the robotic arm 21 being mounted on the crossbeam 23.

[0049] In the same gripping assembly 20, the first horizontal drive component 240 and the second horizontal drive component 241 are both mounted on the crossbeam 23. The first horizontal drive component 240 is used to drive the crossbeam 23 to move relative to the support 30 in a first horizontal direction, and the second horizontal drive component 241 is used to drive the robotic arm 21 to move relative to the crossbeam 23 in a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction.

[0050] With the above structure, each first horizontal drive component 240 can drive the crossbeam 23 to move relative to the support 30 in a first horizontal direction, while the second horizontal drive component 241 can drive the robotic arm 21 to move relative to the crossbeam 23 in a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction; so that each robotic arm 21 can move independently relative to the support 30 in the horizontal direction.

[0051] The distance between two adjacent fruit and vegetable gripping positions 102 may not be consistent with the distance between two adjacent fruit slots inside the packaging box, or the packaging box may be located on one side of the fruit and vegetable placement position 104, so that the fruits and vegetables on the fruit and vegetable gripping positions 102 may not be aligned with the corresponding fruit slots inside the packaging box in the first horizontal direction; during the process of the first horizontal driving component 240 driving the crossbeam 23 to move relative to the mounting platform 10 in the first horizontal direction, the gripping part 22 can drive the fruits and vegetables to align with the corresponding fruit slots.

[0052] Specifically, in this embodiment, the crossbeam 23 has a strip-shaped structure and is arranged along the second horizontal direction. Both ends of the crossbeam 23 are movably connected to the bracket 30. The second horizontal driving component 241 may include a drive motor 242, a belt structure 244, and two pulleys 246. Both pulleys 246 are rotatably connected to the crossbeam 23. The drive motor 242 may also be installed on the crossbeam 23. Both ends of the belt structure 244 are fitted with a pulley 246. The drive motor 242 is used to drive one of the pulleys 246 to rotate, thereby driving the belt structure 244 to move. The robotic arm 21 can be fixed to the belt structure 244 by a pressure plate, so that when the belt structure 244 moves, it can drive the robotic arm 21 to move along the second horizontal direction.

[0053] In other embodiments, the second horizontal driving component 241 may also be other structures, such as a motor-driven lead screw structure. The robotic arm 21 is rotatably connected to the lead screw via a slider. During the process of the motor driving the lead screw to rotate, the lead screw can drive the slider to move relative to the lead screw along the second horizontal direction.

[0054] Please refer to Figure 2 and Figure 3In some embodiments, the gripping structure 100 further includes a guide rack 12 mounted on the bracket 30; each gripping assembly 20 includes a rotating rod 25a and a gear 25b, the rotating rod 25a being connected to the crossbeam 23, a first horizontal drive component 240 being used to drive the rotating rod 25a to rotate relative to the crossbeam 23, and the gear 25b being connected to the rotating rod 25a and meshing with the guide rack 12.

[0055] When the first horizontal drive component 240 drives the rotating rod 25a to rotate relative to the crossbeam 23, the gear component 25b rolls on the guide rack 12, causing the crossbeam 23 to move relative to the bracket 30 in the first horizontal direction.

[0056] With the above structure, the first horizontal drive component 240 can drive the rotating rod 25a to rotate, the rotating rod 25a can drive the gear component 25b to rotate, the gear component 25b meshes with the guide rack 12, and the gear component 25b can roll on the guide rack 12 to drive the crossbeam 23 to move relative to the bracket 30 in the first horizontal direction; the meshing of the gear component 25b with the guide rack 12 can also make the crossbeam 23 more stable when moving.

[0057] Specifically, in this embodiment, the bracket 30 can be fixed above the mounting platform 10, the first horizontal drive component 240 can be installed above the crossbeam 23, and the first horizontal drive component 240 is located at one end of the crossbeam 23; the cross section of the rotating rod 25a can be circular, and the two ends of the rotating rod 25a are rotatably connected to the crossbeam 23 through bearings. Each end of the rotating rod 25a is connected to a gear component 25b, and the gear component 25b protrudes from the end of the crossbeam 23. The gripping structure 100 includes two guide racks 12, which are installed in parallel on the bracket 30. Each guide rack 12 is arranged along the first horizontal direction. In the same gripping assembly 20, each gear component 25b meshes with a corresponding guide rack 12.

[0058] In other embodiments, each gripping component 20 may also include only one gear 25b, and correspondingly, the number of guide racks 12 is also one. The gear 25b may be located at one end of the crossbeam 23, and the other end of the crossbeam 23 may be connected to a slider, which may be slidably connected to the guide rail on the bracket 30.

[0059] In some embodiments, there are two guide racks 12, which are mounted in parallel on the bracket 30; each gripping assembly 20 includes two gears 25b; in the same gripping assembly 20, the two gears 25b are respectively connected to the opposite ends of the rotating rod 25a, and each gear 25b meshes with a corresponding guide rack 12.

[0060] With the above structure, the rotating rod 25a can drive the two gear components 25b to rotate synchronously during rotation. The two gear components 25b mesh with the corresponding guide racks 12 respectively, so that the two gear components 25b can roll at the same speed on the corresponding guide racks 12, so that the guide racks 12 can play a more stable guiding role for the movement of the crossbeam 23.

[0061] Specifically, the gripping structure 100 includes two guide racks 12, each guide rack 12 having multiple gear components 25b meshing on it, and each gear component 25b on the same guide rack 12 corresponding to a gripping assembly 20.

[0062] In some embodiments, the gripping assembly 20 further includes a transmission member 26, a first horizontal driving member 240 is located above the rotating rod 25a, the transmission member 26 is disposed between the first horizontal driving member 240 and the rotating rod 25a, and the first horizontal driving member 240 drives the rotating rod 25a to rotate via the transmission member 26.

[0063] With the above structure, when the first horizontal drive component 240 is located above the rotating rod 25a, the first horizontal drive component 240 can be fixed to the crossbeam 23, and the crossbeam 23 supports the first horizontal drive component 240 so that the first horizontal drive component 240 can work more stably.

[0064] Specifically, in this embodiment, the first horizontal drive component 240 can be a motor, the transmission component 26 can be a belt, one end of the belt is sleeved on the pulley on the rotating shaft of the motor, and the other opposite end of the belt is sleeved on the pulley on the rotating rod 25a.

[0065] In other embodiments, the transmission element 26 may also be other structures, such as a gear set.

[0066] Please refer to Figure 4 and Figure 5 In some embodiments, each gripping component 20 further includes a vertical drive component 27 mounted on the robotic arm 21, and the gripping part 22 connected to the robotic arm 21. The vertical drive component 27 is used to drive the gripping part 22 to move relative to the robotic arm 21 in a vertical direction.

[0067] With the above structure, the vertical drive component 27 is used to drive the gripping part 22 to move in the vertical direction relative to the robotic arm 21. When the gripping part 22 moves down, it can contact the fruits and vegetables at a lower position. When the gripping part 22 moves up, it can drive the fruits and vegetables away from the fruit and vegetable gripping position 102.

[0068] Specifically, the vertical drive component 27 may include a belt driven by a motor, with a pulley connected to the motor's rotating shaft and the robotic arm also rotatably connected to the pulley. Each end of the belt is fitted onto a pulley. The gripping part 22 can be fixed to the belt; when the motor drives the belt to move, the belt can cause the gripping part 22 to move vertically relative to the support 30.

[0069] Please refer to Figure 6 and Figure 7 In some embodiments, each gripping component 20 further includes a rotation drive component 28, a first transmission gear 284, and a second transmission gear 286. The first transmission gear 284 has a limiting groove 29, and the second transmission gear 286 is connected to the rotation drive component 28. The gripping part 22 is inserted into the limiting groove 29. The first transmission gear 284 and the second transmission gear 286 mesh, and the rotation drive component 28 can drive the gripping part 22 to rotate relative to the robotic arm 21 through the first transmission gear 284 and the second transmission gear 286.

[0070] With the above structure, the rotation drive component 28 can drive the fruits and vegetables to rotate through the first transmission gear 284 and the second transmission gear 286, so that the fruits and vegetables can be adjusted to an appropriate angle after being grabbed, and the orientation of the fruits and vegetables can be kept consistent when they are carried into the packaging box, thereby improving the neatness of the fruits and vegetables in the packaging box.

[0071] Specifically, in this embodiment, the limiting groove 29 can be a rectangular through groove; in other embodiments, the limiting groove 29 can also be other structures, such as waist-shaped.

[0072] In some embodiments, the gripping part 22 includes a support rod 222 and an adsorption member 224. The support rod 222 is rotatably connected to the robotic arm 2122, and the adsorption member 224 is connected to the support rod 222. The vertical drive component 27 is used to drive the support rod 222 to move relative to the robotic arm 21 in the vertical direction. The support rod 222 is inserted into the limiting groove 29. The adsorption member 224 is used to adsorb the surface of fruits and vegetables.

[0073] With the above structure, the support rod 222 can extend out of the lower end of the robotic arm 21 so that the adsorption element 224 can contact the surface of the fruit and vegetables; the limiting groove 29 can precisely control the rotation angle of the support rod 222 so as to adjust the fruit and vegetables being gripped to rotate to an appropriate angle.

[0074] Specifically, the rotation drive component 28 can be an electric motor, the first transmission gear 284 is sleeved on the support rod 222, the support rod 222 is a rod-shaped member with a rectangular cross section, the groove wall of the limiting groove 29 abuts against the side surface of the robotic arm 21, and thus the limiting groove 29 can limit the support rod 222. When the rotation drive component 28 rotates, it can drive the robotic arm 21 to rotate via the first transmission gear 284 and the second transmission gear 286.

[0075] The adsorption element 224 can be a suction cup, and the adsorption element 224 is driven by an air pump.

[0076] In some embodiments, the limiting groove 29 is a rectangular through groove, and the support rod 222 is a rod-shaped member with a rectangular cross-section.

[0077] With the above structure, the groove wall of the limiting groove 29 abuts against the outer surface of the support rod 222, so that the limiting groove 29 can limit the support rod 222. When the rotation drive component 28 rotates, it can drive the mechanical arm 21 to rotate via the first transmission gear 284 and the second transmission gear 286.

[0078] Specifically, in this embodiment, the support rod 222 can be a hollow structure; in other embodiments, the support rod 222 can also be a solid structure.

[0079] This utility model also provides a fruit and vegetable packing device, including the gripping structure 100 and the mounting platform 10 in any of the above embodiments. The mounting platform 10 includes a fruit and vegetable gripping position 102 and a fruit and vegetable placement position 104. The fruit and vegetable packing device may also include a vision acquisition module, which is used to acquire images of the surface of the fruit and vegetables. The computer can determine the orientation of the fruit and vegetable stems based on the images of the fruit and vegetable surface acquired by the vision acquisition module.

[0080] This utility model also provides a fruit and vegetable sorting device, including a fruit and vegetable packing device; the fruit and vegetable sorting device may further include a cleaning module, a weighing module, a conveying module, and a sorting module; the cleaning module is used to clean the surface of the fruits and vegetables; the weighing module is used to weigh the fruits and vegetables so that the fruit and vegetable sorting device can classify the fruits and vegetables according to their weight; the conveying module is used to transfer the fruits and vegetables between the various modules; the sorting module can output the fruits and vegetables into different packaging boxes according to their weight or other information.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail; although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A grasping structure, characterized in that, include: support; The gripping assembly includes at least two gripping assemblies arranged in a horizontal row. Each gripping assembly includes a robotic arm and a gripping part. The robotic arm is mounted on the support and is movable relative to the support between a fruit and vegetable gripping position and a fruit and vegetable placement position. The gripping part is mounted on the robotic arm and is rotatably connected to the robotic arm. The rotation axis of the gripping part is perpendicular to the arrangement direction of all the gripping assemblies.

2. The grasping structure according to claim 1, characterized in that, Each of the gripping components further includes a crossbeam, a first horizontal drive component, and a second horizontal drive component, the crossbeam being mounted on the bracket, and the robotic arm being mounted on the crossbeam; In the same grasping assembly, both the first horizontal drive component and the second horizontal drive component are mounted on the crossbeam. The first horizontal drive component is used to drive the crossbeam to move relative to the support along a first horizontal direction, and the second horizontal drive component is used to drive the robotic arm to move relative to the crossbeam along a second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction.

3. The grasping structure according to claim 2, characterized in that, It also includes a guide rack mounted on the bracket; each of the gripping components further includes a rotating rod and a gear, the rotating rod being connected to the crossbeam, the first horizontal drive component being used to drive the rotating rod to rotate relative to the crossbeam, and the gear being connected to the rotating rod and meshing with the guide rack; When the first horizontal drive component drives the rotating rod to rotate relative to the crossbeam, the gear component rolls on the guide rack, causing the crossbeam to move relative to the bracket along the first horizontal direction.

4. The gripping structure according to claim 3, characterized in that, The number of guide racks is two, and the two guide racks are installed in parallel on the bracket; each gripping component includes two gear components; in the same gripping component, the two gear components are respectively connected to the opposite ends of the rotating rod, and each gear component meshes with a corresponding guide rack.

5. The grasping structure according to claim 2, characterized in that, Each of the gripping components further includes a vertical drive component mounted on the robotic arm, the gripping part being connected to the robotic arm, and the vertical drive component being used to drive the gripping part to move relative to the robotic arm in a vertical direction.

6. The grasping structure according to claim 5, characterized in that, Each of the gripping components further includes a rotation drive component, a first transmission gear, and a second transmission gear. The first transmission gear has a limiting groove, and the second transmission gear is connected to the drive component. The gripping part is inserted into the limiting groove. The first transmission gear and the second transmission gear mesh, and the rotation drive component can drive the gripping part to rotate relative to the robotic arm through the first transmission gear and the second transmission gear.

7. The gripping structure according to claim 6, characterized in that, The gripping part includes a support rod and an adsorption component. The support rod is rotatably connected to the robotic arm, and the adsorption component is connected to the support rod. The vertical drive component is used to drive the support rod to move relative to the robotic arm in the vertical direction. The support rod is inserted into the limiting groove. The adsorption component is used to adsorb the surface of fruits and vegetables.

8. The gripping structure according to claim 7, characterized in that, The limiting groove is a rectangular through groove, and the support rod is a rod-shaped member with a rectangular cross-section.

9. A fruit and vegetable packing device, characterized in that, The invention includes the gripping structure and mounting platform as described in any one of claims 1-8, wherein the mounting platform includes the fruit and vegetable gripping position and the fruit and vegetable placement position.

10. A fruit and vegetable sorting device, characterized in that, Includes the fruit and vegetable packing device as described in claim 9.

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