Agricultural product sorting mechanical arm

Abstract

The utility model relates to an agricultural product sorting mechanical arm which comprises a supporting arm and a clamping jaw installed on the supporting arm, the clamping jaw comprises an installation base, the installation base is rotationally connected with a plurality of clamping jaws, and the sides, used for clamping agricultural products, of the clamping jaws are fixedly connected with elastic strips. The two ends of each elastic strip are fixedly connected with the corresponding clamping jaws respectively. A connecting rod is slidably connected to the mounting base, first gears are fixedly connected to the multiple clamping jaws, and racks meshed with the multiple first gears are fixedly connected to the connecting rod; a first driving assembly used for driving the connecting rod to slide in the length direction of the mounting base is mounted on the mounting base. The utility model discloses an agricultural product sorting mechanical arm, and aims to provide an agricultural product sorting mechanical arm to solve the problems that a clamping jaw of a mechanical arm in the prior art often adopts a simple rigid structure, and when the structure is used for clamping agricultural products, the agricultural products are easily damaged due to the lack of consideration on the flexibility and vulnerability of the agricultural products.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely relates to a kind of agricultural product sorting mechanical arm. BACKGROUND

[0002] In the processing and packaging process of agricultural products, sorting is an important link. Among them, the application of mechanical arm is more and more widely. However, in the process of grabbing and moving agricultural products, the clamping jaw of the existing mechanical arm often adopts a simple rigid structure. This structure, lacking consideration of the softness and vulnerability of agricultural products when clamping them, is prone to cause damage to agricultural products. This not only affects the appearance quality of agricultural products, but also may cause internal damage to agricultural products, affecting their storage time and sales value. At the same time, due to the great difference in shape, size and hardness of different types of agricultural products, the existing mechanical arm clamping jaw cannot adapt to such diversity, further increasing the risk of damage to agricultural products. SUMMARY

[0003] Therefore, the purpose of the utility model is to provide an agricultural product sorting mechanical arm to solve the problem that the clamping jaw of the existing mechanical arm often adopts a simple rigid structure, which is prone to damage to agricultural products when clamping them due to lack of consideration of the softness and vulnerability of agricultural products.

[0004] The utility model realizes the following technical scheme:

[0005] An agricultural product sorting mechanical arm comprises a support arm and a clamping jaw mounted on the support arm. The clamping jaw comprises a mounting seat, a plurality of clamping jaws are rotatably connected to the mounting seat, an elastic strip is fixedly connected to one side of each of the plurality of clamping jaws for clamping agricultural products, and the two ends of the plurality of elastic strips are fixedly connected to the corresponding clamping jaws. A connecting rod is slidably connected to the mounting seat, the plurality of clamping jaws are evenly distributed in the circumferential direction of the axis of the connecting rod, a first gear is fixedly connected to each of the plurality of clamping jaws, and a rack engaged with the plurality of first gears is fixedly connected to the connecting rod. A first driving assembly for driving the connecting rod to slide along the length direction of the mounting seat is mounted on the mounting seat.

[0006] Further, one end of the connecting rod close to the mounting seat is fixedly connected with a piston, and a first through hole matched with the piston is formed in the mounting seat. The first driving assembly comprises a gas pump fixedly connected to the mounting seat, and the output end of the gas pump is in communication with one end of the first through hole.

[0007] Further, a second through hole extending along the length direction of the connecting rod is formed in the connecting rod, and an electromagnetic valve is installed in the second through hole.

[0008] Further, the connecting rod is fixedly connected with a suction cup at one end away from the mounting base, and the suction cup is communicated with the second through hole.

[0009] Further, the support arm comprises a base, a transmission box is rotatably connected to the base, and a second driving assembly for driving the transmission box to rotate is installed on the base; a large arm and a small arm are drivingly connected to the transmission box, and a third driving assembly and a fourth driving assembly for driving the large arm and the small arm to move are respectively installed on the transmission box; one end of the small arm is rotatably connected to one end of the large arm away from the transmission box, and the other end is rotatably connected to the mounting base.

[0010] Further, the second driving assembly comprises a first motor fixedly installed on the base, a second gear is fixedly connected to an output shaft of the first motor, a first rotating shaft is rotatably connected to the base, one end of the first rotating shaft away from the base is fixedly connected to the transmission box, and a third gear meshing with the second gear is fixedly connected to the first rotating shaft.

[0011] Further, a ball bearing is installed between the base and the transmission box, and the side walls of the ball bearing are fixedly connected to the side walls of the base and the transmission box.

[0012] Further, a second rotating shaft is fixedly connected to the transmission box, one end of the large arm is rotatably connected to the second rotating shaft, and a fourth gear is fixedly connected to the second rotating shaft, the third driving assembly comprises a second motor fixedly installed on the transmission box, and a fifth gear meshing with the fourth gear is fixedly connected to an output shaft of the second motor.

[0013] Further, a first connecting plate is rotatably connected to the second rotating shaft, a first supporting rod is rotatably connected to the first connecting plate, one end of the first supporting rod away from the first connecting plate is rotatably connected to the small arm, a sixth gear is fixedly connected to the first connecting plate, and the fourth driving assembly comprises a third motor fixedly installed on the transmission box, and a seventh gear meshing with the sixth gear is fixedly connected to an output shaft of the third motor.

[0014] Further, a second supporting rod is rotatably connected to the transmission box, a triangular plate is rotatably connected to one end of the large arm away from the transmission box, one end of the second supporting rod away from the transmission box is rotatably connected to the triangular plate, a third supporting rod is rotatably connected to the triangular plate, and one end of the third supporting rod away from the triangular plate is rotatably connected to the mounting base, and the intersection points of the large arm, the second supporting rod and the third supporting rod with the triangular plate are located at the three vertices of the triangular plate.

[0015] The beneficial effects of the utility model lie in:

[0016] The agricultural product sorting mechanical arm is characterized in that a plurality of clamping claws are rotationally connected on the mounting seat, the plurality of clamping claws are arc-shaped, one side of each of the plurality of clamping claws for clamping the agricultural product is fixedly connected with an elastic strip, and two ends of the plurality of elastic strips are fixedly connected with corresponding clamping claws respectively; when the agricultural product is clamped, the plurality of elastic strips are attached to the agricultural product and can adaptively deform with the size of the agricultural product, thereby reducing the probability of damage to the agricultural product during clamping.

[0017] Other advantages, objects, and features of the present application will be apparent to those skilled in the art from the following description of the drawings and the detailed description of the application. The objects and other advantages of the present application can be achieved and obtained by means of the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A perspective view of the present application Figure 1 ;

[0019] Figure 2 A perspective view of the present application Figure 2 ;

[0020] Figure 3 A structural schematic view of a support arm of the present application

[0021] Figure 4 A partial structural schematic view of a support arm of the present application

[0022] Figure 5 A structural schematic view of a clamping claw of the present application

[0023] Figure 6 A partial structural schematic view of a clamping claw of the present application Figure 1 ;

[0024] Figure 7 A partial structural schematic view of a clamping claw of the present application Figure 2 .

[0025] In the drawings:

[0026] 1, support arm; 2, clamping jaw; 3, mounting seat; 4, clamping jaw; 5, elastic strip; 6, connecting rod; 7, first gear; 8, rack; 9, first drive assembly; 10, piston; 11, first through hole; 12, air pump; 13, second through hole; 14, electromagnetic valve; 15, suction cup; 16, base; 17, transmission box; 18, second drive assembly; 19, large arm; 20, small arm; 21, third drive assembly; 22, fourth drive assembly; 23, first motor; 24, second gear; 25, first rotating shaft; 26, third gear; 27, ball bearing; 28, second rotating shaft; 29, fourth gear; 30, second motor; 31, fifth gear; 32, first connecting plate; 33, first supporting rod; 34, sixth gear; 35, third motor; 36, seventh gear; 37, second supporting rod; 38, triangular plate; 39, third supporting rod. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be a clear and complete description of the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0029] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0030] In the above description of the present application, it should be noted that the terms "one side", "the other side", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0031] Moreover, the term "same" and the like do not mean that the components must be absolutely the same, but there can be slight differences. The term "vertical" only means that the positional relationship between the components is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly inclined.

[0032] Please refer to Figures 1-7 The utility model provides a technical scheme: a kind of agricultural product sorting mechanical arm, including support arm 1 and the gripper 2 being installed on support arm 1, the gripper 2 includes mounting seat 3, multiple clamping jaw 4 are rotatably connected on the mounting seat 3, the side for clamping agricultural product on multiple clamping jaw 4 is fixedly connected with elastic strip 5, and the both ends of multiple elastic strip 5 are fixedly connected with corresponding clamping jaw 4 respectively;Connecting rod 6 is slidably connected on the mounting seat 3, multiple clamping jaw 4 are evenly distributed around the axis direction of connecting rod 6, multiple first gear 7 are fixedly connected on multiple clamping jaw 4, and rack 8 is fixedly connected on connecting rod 6 with multiple first gear 7 is engaged;First drive assembly 9 for driving connecting rod 6 to slide along the length direction of mounting seat 3 is installed on the mounting seat 3.

[0033] In the scheme: multiple clamping jaw 4 are rotatably connected on the mounting seat 3, multiple clamping jaw 4 are arc-shaped, the side for clamping agricultural product on multiple clamping jaw 4 is fixedly connected with elastic strip 5, and the both ends of multiple elastic strip 5 are fixedly connected with corresponding clamping jaw 4 respectively;When clamping agricultural product, multiple elastic strip 5 is attached to agricultural product, can adaptively deform along with the size of agricultural product, and the probability of reducing agricultural product damage in the process of clamping agricultural product.The connecting rod 6 is slidably connected on the mounting seat 3, multiple clamping jaw 4 are evenly distributed around the axis direction of connecting rod 6, multiple first gear 7 are fixedly connected on multiple clamping jaw 4, and rack 8 is fixedly connected on connecting rod 6 with multiple first gear 7 is engaged;First drive assembly 9 for driving connecting rod 6 to slide along the length direction of mounting seat 3 is installed on the mounting seat 3.First drive assembly 9 drives connecting rod 6 and multiple rack 8 to move in the direction away from clamping jaw 4, and multiple clamping jaw 4 are rotated and clamped agricultural product by gear.

[0034] Working principle and use method:

[0035] Step one: support arm 1 moves gripper 2 to the top of agricultural product.

[0036] Step two: support arm 1 drives gripper 2 to approach agricultural product, first drive assembly 9 drives connecting rod 6 to move in the direction away from clamping jaw 4, multiple rack 8 is moved in the process of clamping jaw 4, multiple first gear 7 is rotated in the process of multiple rack 8, so that multiple clamping jaw 4 is close to the center, and multiple elastic strip 5 is attached to the surface of agricultural product and clamps agricultural product, reduces the probability of agricultural product damage.

[0037] Step three: the support arm 1 drives the clamp jaw 2 and the agricultural products to move to the designated storage point.

[0038] Step four: the first drive assembly 9 drives the connecting rod 6 to move in the direction close to the claw 4, the claw 4 moves in the process to drive a plurality of said racks 8 to move, a plurality of said racks 8 moves in the process to drive the corresponding first gear 7 to rotate, so that a plurality of said claws 4 rotates away from the center, the agricultural products falls into the designated storage point under the action of its own gravity and the pushing force of the connecting rod 6.

[0039] In this embodiment: the connecting rod 6 is fixedly connected with a piston 10 at one end close to the mounting base 3, and a first through hole 11 adapted to the piston 10 is formed in the mounting base 3.

[0040] In this scheme: the connecting rod 6 is fixedly connected with a piston 10 at one end close to the mounting base 3, and a first through hole 11 adapted to the piston 10 is formed in the mounting base 3; the first drive assembly 9 includes a gas pump 12 fixedly connected to the mounting base 3, and the output end of the gas pump 12 is in communication with one end of the first through hole 11.

[0041] When the agricultural products need to be grabbed, the controller controls the gas pump 12 to inhale, the piston 10 moves in the first through hole 11 away from the claw 4, the piston 10 moves in the process to drive the clamp jaw 2 to approach the agricultural products, and the connecting rod 6 moves away from the claw 4, the claw 4 moves in the process to drive a plurality of said racks 8 to move, a plurality of said racks 8 moves in the process to drive the corresponding first gear 7 to rotate, so that a plurality of said claws 4 is close to the center to clamp the agricultural products.

[0042] When the agricultural products need to be taken out, the controller controls the gas pump 12 to blow, the piston 10 moves in the first through hole 11 close to the claw 4, the piston 10 moves in the process to drive the connecting rod 6 to move close to the claw 4, the claw 4 moves in the process to drive a plurality of said racks 8 to move, a plurality of said racks 8 moves in the process to drive the corresponding first gear 7 to rotate, so that a plurality of said claws 4 rotates away from the center, the agricultural products falls into the designated storage point under the action of its own gravity and the pushing force of the connecting rod 6.

[0043] In this embodiment: a second through hole 13 extending along the length direction of the connecting rod 6 is formed in the connecting rod 6, and an electromagnetic valve 14 is installed in the second through hole 13.

[0044] In this scheme: a second through hole 13 extending along the length direction of the connecting rod 6 is formed in the connecting rod 6, and an electromagnetic valve 14 is installed in the second through hole 13. The electromagnetic valve 14 is electrically connected with the controller.

[0045] When the agricultural products need to be grabbed, the connecting rod 6 is in contact with the agricultural products, the controller controls the electromagnetic valve 14 to open, the controller controls the air pump 12 to inhale, the agricultural products are adsorbed at the second through hole 13 when the negative pressure environment is generated in the second through hole 13, the controller controls the electromagnetic valve 14 to close, the piston 10 moves away from the claw 4 in the first through hole 11, the claw 2 is driven to approach the agricultural products during the movement of the piston 10, the connecting rod 6 is driven to move away from the claw 4, the plurality of rack 8 is driven to move during the movement of the claw 4, the corresponding first gear 7 is driven to rotate during the movement of the plurality of rack 8, and the plurality of claw 4 is close to the center to clamp the agricultural products.

[0046] When the agricultural products need to be taken out, the air pump 12 is controlled to blow air by the controller, the piston 10 moves towards the claw 4 in the first through hole 11, the connecting rod 6 is driven to move towards the claw 4 during the movement of the piston 10, the plurality of rack 8 is driven to move during the movement of the claw 4, the corresponding first gear 7 is driven to rotate during the movement of the plurality of rack 8, and the plurality of claw 4 is driven to rotate away from the center. The controller controls the electromagnetic valve 14 to open, and the controller controls the air pump 12 to blow air, so that the agricultural products fall into the designated storage point under the gravity and the thrust of the airflow.

[0047] In the embodiment, the connecting rod 6 is fixedly connected with a suction cup 15 at the end away from the mounting base 3, and the suction cup 15 is in communication with the second through hole 13.

[0048] In the scheme, the suction cup 15 is fixedly connected at the end of the connecting rod 6 away from the mounting base 3, and the suction cup 15 is in communication with the second through hole 13. Compared with the through hole, the suction cup 15 increases the contact area with the agricultural products, so that the agricultural products can be more firmly adsorbed on the suction cup 15.

[0049] In the embodiment, the support arm 1 comprises a base 16, a transmission box 17 is rotatably connected to the base 16, and a second driving assembly 18 for driving the transmission box 17 to rotate is installed on the base 16; the transmission box 17 is rotatably connected with a large arm 19 and a small arm 20, and a third driving assembly 21 and a fourth driving assembly 22 for driving the large arm 19 and the small arm 20 to move are respectively installed on the transmission box 17; one end of the small arm 20 is rotatably connected to the end of the large arm 19 away from the transmission box 17, and the other end is rotatably connected to the mounting base 3.

[0050] In the scheme: through the rotation connection transmission box 17 on the base 16, the base 16 is installed for driving transmission box 17 rotating second drive assembly 18; transmission box 17 transmission connection big arm 19 and small arm 20, transmission box 17 is installed for driving big arm 19 and small arm 20 moving third drive assembly 21 and fourth drive assembly 22 respectively, the small arm 20 is rotatably connected with the end of the big arm 19 away from the transmission box 17, the other end is rotatably connected with the mounting seat 3. Second drive assembly 18, third drive assembly 21 and fourth drive assembly 22 are electrically connected with the controller.

[0051] In use, the controller controls the second drive assembly 18 to drive the transmission box 17 to rotate on the base 16, the controller controls the third drive assembly 21 to drive the big arm 19 to rotate on the transmission box 17, the controller controls the fourth drive assembly 22 to drive the small arm 20 to rotate on the big arm 19. Make the support arm 1 has multiple degrees of freedom, convenient for larger range of grabbing and storing agricultural products.

[0052] In the embodiment: the second drive assembly 18 includes a first motor 23 fixedly installed on the base 16, a second gear 24 is fixedly connected on the output shaft of the first motor 23, a first rotating shaft 25 is rotatably connected on the base 16, the end of the first rotating shaft 25 away from the base 16 is fixedly connected with the transmission box 17, and a third gear 26 engaged with the second gear 24 is fixedly connected on the first rotating shaft 25.

[0053] In the scheme: through the rotation connection transmission box 17 on the base 16, the base 16 is installed for driving transmission box 17 rotating second drive assembly 18; transmission box 17 transmission connection big arm 19 and small arm 20, transmission box 17 is installed for driving big arm 19 and small arm 20 moving third drive assembly 21 and fourth drive assembly 22 respectively, the small arm 20 is rotatably connected with the end of the big arm 19 away from the transmission box 17, the other end is rotatably connected with the mounting seat 3. Second drive assembly 18, third drive assembly 21 and fourth drive assembly 22 are electrically connected with the controller.

[0054] In use, the controller controls the first motor 23 of the output shaft, the output shaft of the first motor 23 drives the second gear 24 to rotate, the second gear 24 drives the third gear 26 to rotate when rotating, the third gear 26 drives the first rotating shaft 25 to rotate when rotating, and the first rotating shaft 25 drives the transmission box 17 to rotate on the base 16 when rotating.

[0055] In the embodiment: the base 16 and the transmission box 17 are installed with a ball bearing 27, and the side walls of the ball bearing 27 are fixedly connected with the side walls of the base 16 and the transmission box 17 respectively.

[0056] In the scheme, the ball bearing 27 is installed between the base 16 and the transmission box 17, and the side walls on both sides of the ball bearing 27 are fixedly connected with the side walls of the base 16 and the transmission box 17 respectively. The transmission box 17 can be provided with a moving support force, and the friction of the transmission box 17 rotating on the base 16 is reduced.

[0057] In the embodiment, the second rotating shaft 28 is fixedly connected with the transmission box 17, one end of the large arm 19 is rotatably connected with the second rotating shaft 28, and the fourth gear 29 is fixedly connected. The third driving assembly 21 comprises a second motor 30 fixedly installed on the transmission box 17, and the output shaft of the second motor 30 is fixedly connected with the fifth gear 31 engaged with the fourth gear 29.

[0058] In the scheme, the second rotating shaft 28 is fixedly connected with the transmission box 17, one end of the large arm 19 is rotatably connected with the second rotating shaft 28, and the fourth gear 29 is fixedly connected. The third driving assembly 21 comprises a second motor 30 fixedly installed on the transmission box 17, and the output shaft of the second motor 30 is fixedly connected with the fifth gear 31 engaged with the fourth gear 29. The output shaft of the second motor 30 is electrically connected with the controller.

[0059] In use, the controller controls the rotation of the output shaft of the second motor 30, the rotation of the output shaft of the second motor 30 drives the rotation of the fifth gear 31, the rotation of the fifth gear 31 drives the rotation of the fourth gear 29, and the rotation of the fourth gear 29 drives the rotation of the large arm 19 around the central axis of the second rotating shaft 28.

[0060] In the embodiment, the first connecting plate 32 is rotatably connected with the second rotating shaft 28, the first connecting plate 32 is rotatably connected with the first supporting rod 33, one end of the first supporting rod 33 away from the first connecting plate 32 is rotatably connected with the small arm 20, and the sixth gear 34 is fixedly connected with the first connecting plate 32. The fourth driving assembly 22 comprises a third motor 35 fixedly installed on the transmission box 17, and the output shaft of the third motor 35 is fixedly connected with the seventh gear 36 engaged with the sixth gear 34.

[0061] In the scheme, the first connecting plate 32 is rotatably connected with the second rotating shaft 28, the first connecting plate 32 is rotatably connected with the first supporting rod 33, one end of the first supporting rod 33 away from the first connecting plate 32 is rotatably connected with the small arm 20, and the sixth gear 34 is fixedly connected with the first connecting plate 32. The fourth driving assembly 22 comprises a third motor 35 fixedly installed on the transmission box 17, and the output shaft of the third motor 35 is fixedly connected with the seventh gear 36 engaged with the sixth gear 34. The third motor 35 is electrically connected with the controller.

[0062] In use, the controller controls the output shaft of the third motor 35 to rotate, the output shaft of the third motor 35 drives the seventh gear 36 to rotate when rotating, the seventh gear 36 drives the sixth gear 34 to rotate when rotating, the sixth gear 34 drives the first connecting plate 32 to rotate when rotating, and the first connecting plate 32 drives the first supporting rod 33 and the small arm 20 to move when rotating.

[0063] In this embodiment: the second supporting rod 37 is rotatably connected to the transmission box 17, the triangular plate 38 is rotatably connected to the end of the large arm 19 away from the transmission box 17, the second supporting rod 37 is rotatably connected to the end of the triangular plate 38 away from the transmission box 17, the third supporting rod 39 is rotatably connected to the triangular plate 38, and the end of the third supporting rod 39 away from the triangular plate 38 is rotatably connected to the mounting seat 3. The intersection points of the large arm 19, the second supporting rod 37, and the third supporting rod 39 with the triangular plate 38 are located at the three corners of the triangular plate 38.

[0064] In this embodiment: the second supporting rod 37 is rotatably connected to the transmission box 17, the triangular plate 38 is rotatably connected to the end of the large arm 19 away from the transmission box 17, the second supporting rod 37 is rotatably connected to the end of the triangular plate 38 away from the transmission box 17, the third supporting rod 39 is rotatably connected to the triangular plate 38, and the end of the third supporting rod 39 away from the triangular plate 38 is rotatably connected to the mounting seat 3. The intersection points of the large arm 19, the second supporting rod 37, and the third supporting rod 39 with the triangular plate 38 are located at the three corners of the triangular plate 38.

[0065] In use, the controller controls the output shaft of the second motor 30 to rotate, the output shaft of the second motor 30 drives the fifth gear 31 to rotate when rotating, the fifth gear 31 drives the fourth gear 29 to rotate when rotating, the fourth gear 29 drives the large arm 19 to rotate around the central axis of the second rotating shaft 28 when rotating, and the large arm 19 drives the triangular plate 38 to move when rotating around the central axis of the second rotating shaft 28. Since the lengths of the second supporting rod 37 and the third supporting rod 39 are fixed, the second supporting rod 37 rotates on the transmission box 17 during the movement of the triangular plate 38, and the third supporting rod 39 drives the mounting seat 3 to rotate around the end of the small arm 20 away from the large arm 19.

[0066] The selected model of the air pump 12 can be JFB130, the selected model of the controller can be 6ES7531-7KF00-0AB0, the selected model of the electromagnetic valve 14 can be 2331002LHJ, the selected model of the first motor 23 can be GMP22T-TDC2230-12120-157, the selected model of the second motor 30 can be GMP22T-TDC2230-12120-157, and the selected model of the third motor 35 can be GMP22T-TDC2230-12120-157.

[0067] Finally, it is explained that the above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced by equivalents without departing from the purpose and scope of the present application. The technical solutions of the present application should be covered in the scope of the claims of the present application.

Claims

1. An agricultural product sorting robot arm comprising a support arm (1) and a gripper (2) mounted on the support arm (1), characterized in that: The clamping jaw (2) comprises a mounting seat (3), a plurality of clamping claws (4) are rotatably connected on the mounting seat (3), a plurality of elastic strips (5) are fixedly connected on one side of the plurality of clamping claws (4) for clamping agricultural products, and two ends of the plurality of elastic strips (5) are fixedly connected with the corresponding clamping claws (4) respectively; A connecting rod (6) is slidably connected on the mounting seat (3), the plurality of clamping claws (4) are uniformly distributed in the circumferential direction of the axis direction of the connecting rod (6), a first gear (7) is fixedly connected on each of the plurality of clamping claws (4), and a rack (8) engaged with the plurality of first gears (7) is fixedly connected on the connecting rod (6). A first driving assembly (9) for driving the connecting rod (6) to slide along the length direction of the mounting seat (3) is mounted on the mounting seat (3).

2. The produce sorting robotic arm of claim 1, wherein: One end of the connecting rod (6) close to the mounting seat (3) is fixedly connected with a piston (10), and a first through hole (11) matched with the piston (10) is formed in the mounting seat (3). The first driving assembly (9) comprises a gas pump (12) fixedly connected on the mounting seat (3), and an output end of the gas pump (12) is in communication with one end of the first through hole (11).

3. The produce sorting robotic arm of claim 2, wherein: A second through hole (13) extending along the length direction of the connecting rod (6) is formed in the connecting rod (6), and an electromagnetic valve (14) is mounted in the second through hole (13).

4. The produce sorting robotic arm of claim 3, wherein: One end of the connecting rod (6) away from the mounting seat (3) is fixedly connected with a suction disc (15), and the suction disc (15) is in communication with the second through hole (13).

5. The produce sorting robotic arm of claim 1, wherein: The support arm (1) comprises a base (16), a transmission box (17) is rotatably connected on the base (16), and a second driving assembly (18) for driving the transmission box (17) to rotate is mounted on the base (16). A large arm (19) and a small arm (20) are drivingly connected on the transmission box (17), a third driving assembly (21) and a fourth driving assembly (22) for driving the large arm (19) and the small arm (20) to move are respectively mounted on the transmission box (17), one end of the small arm (20) is rotatably connected with one end of the large arm (19) away from the transmission box (17), and the other end is rotatably connected with the mounting seat (3).

6. The produce sorting robotic arm of claim 5, wherein: The second driving assembly (18) comprises a first motor (23) fixedly mounted on the base (16), a second gear (24) is fixedly connected on an output shaft of the first motor (23), a first rotating shaft (25) is rotatably connected on the base (16), one end of the first rotating shaft (25) away from the base (16) is fixedly connected with the transmission box (17), and a third gear (26) engaged with the second gear (24) is fixedly connected on the first rotating shaft (25).

7. The produce sorting robotic arm of claim 5, wherein: A ball bearing (27) is mounted between the base (16) and the transmission box (17), and the side walls on both sides of the ball bearing (27) are fixedly connected with the side walls of the base (16) and the transmission box (17) respectively.

8. The produce sorting robotic arm of claim 5, wherein: The transmission box (17) is fixedly connected with a second rotating shaft (28), one end of the big arm (19) is rotatably connected with the second rotating shaft (28), and the big arm (19) is fixedly connected with a fourth gear (29); the third driving assembly (21) comprises a second motor (30) fixedly installed on the transmission box (17), and a fifth gear (31) fixedly connected with the output shaft of the second motor (30) is engaged with the fourth gear (29).

9. The produce sorting robotic arm of claim 8, wherein: The second rotating shaft (28) is rotatably connected with a first connecting plate (32), the first connecting plate (32) is rotatably connected with a first supporting rod (33), one end of the first supporting rod (33) away from the first connecting plate (32) is rotatably connected with the small arm (20), and the first connecting plate (32) is fixedly connected with a sixth gear (34); the fourth driving assembly (22) comprises a third motor (35) fixedly installed on the transmission box (17), and a seventh gear (36) fixedly connected with the output shaft of the third motor (35) is engaged with the sixth gear (34).

10. The produce sorting robotic arm of claim 8, wherein: The transmission box (17) is rotatably connected with a second supporting rod (37), one end of the big arm (19) away from the transmission box (17) is rotatably connected with a triangular plate (38), one end of the second supporting rod (37) away from the transmission box (17) is rotatably connected with the triangular plate (38), the triangular plate (38) is rotatably connected with a third supporting rod (39), and one end of the third supporting rod (39) away from the triangular plate (38) is rotatably connected with the mounting seat (3); the intersection points of the big arm (19), the second supporting rod (37) and the third supporting rod (39) with the triangular plate (38) are located at the three vertices of the triangular plate (38).

Images