Multi-angle rotating mechanical arm for picking pepper clusters

Abstract

The utility model discloses a multi-angle rotating mechanical arm for picking Chinese prickly ash clusters, which comprises a supporting component, a rotating component and a driving component, the elastic component comprises an elastic clamping plate, a supporting rod, side plates, a spring, a supporting frame and a hole body, the elastic clamping plate is installed at one end of the outer surface of the mechanical claw, the side plates are fixed to the two sides of the outer surface of the mechanical claw, the supporting rod is welded between the two side plates, and the spring is wound on the outer surface of the supporting rod. As an important seasoning crop, picking work of pepper mainly depends on manual work at present, manual picking is low in efficiency and high in cost, and along with continuous rising of labor cost, some existing pepper picking mechanical arms have the multi-angle rotating function, and due to the fact that pepper grows in different forms, the pepper picking efficiency is greatly improved. In the picking process, it is difficult to flexibly pick the Chinese prickly ash like manual work according to the specific growth condition of the Chinese prickly ash, the phenomena of damage and grain falling of many Chinese prickly ash are often caused, and the quality and yield of the Chinese prickly ash are seriously affected.

Description

Technical Field

[0001] This utility model relates to the field of agricultural harvesting equipment technology, specifically a multi-angle rotating robotic arm for harvesting Sichuan pepper clusters. Background Technology

[0002] Sichuan pepper, as a highly valuable seasoning crop, is widely used in the global culinary and pharmaceutical fields. Its fruits often grow in clusters, making harvesting difficult. Sichuan pepper trees are thorny, with branches distributed in a disorderly manner, and the clusters of peppers are located in different positions within the canopy, from the top of the branches to hidden inner parts, which makes the harvesting work very challenging.

[0003] Sichuan pepper, an important seasoning crop, is currently harvested mainly by hand. However, manual harvesting is inefficient and costly. With the continuous rise in labor costs, some existing robotic arms for harvesting Sichuan pepper, although capable of multi-angle rotation, cannot be as flexible and gentle as manual harvesting due to the varying growth patterns of Sichuan pepper. This often results in many Sichuan peppers being damaged or falling off, seriously affecting the quality and yield of the peppers. Therefore, there is a need to provide a multi-angle rotating robotic arm for harvesting Sichuan pepper clusters to improve the harvesting quality and ensure the market value of Sichuan pepper. Utility Model Content

[0004] The purpose of this utility model is to provide a multi-angle rotating robotic arm for harvesting Sichuan pepper clusters, thereby solving the problems mentioned in the background section. To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0005] This utility model is a multi-angle rotating robotic arm for harvesting Sichuan pepper clusters, comprising:

[0006] Support component, the support component including mechanical claw;

[0007] The elastic component includes an elastic clamping plate, a support rod, side plates, a spring, a support frame, and a hole. The elastic clamping plate is installed at one end of the outer surface of the mechanical claw, the side plates are fixed on both sides of the outer surface of the mechanical claw, the support rod is welded between the two side plates, the spring is wound around the outer surface of the support rod, the support frame is fixed on both sides of the outer surface of the elastic clamping plate, and the hole is opened inside the support frame and movably connected to the outer surface of the support rod.

[0008] Furthermore, support plates are fixed on both sides of the outer surface of the elastic clamping plate, and guide grooves are provided inside the support plates. Guide plates are fixed on both sides of the outer surface of the mechanical claw, and the guide plates are movably connected inside the guide grooves.

[0009] Furthermore, limit blocks are fixed at both the top and bottom of the guide plate, and the limit blocks are attached to one side of the outer surface of the support plate.

[0010] Furthermore, the support component also includes a support arm, which is fixed to the outer surface of the mechanical gripper.

[0011] Furthermore, it also includes reinforcing components, which include reinforcing rings and upright plates. The reinforcing rings are attached to the inner wall of the support arm, and the upright plates are welded between the multiple reinforcing rings.

[0012] Furthermore, the reinforcing component also includes a limiting ring, which is fixed to the upper and lower parts of the inner surface of the support arm and fits against the top and bottom of the reinforcing ring.

[0013] Furthermore, the reinforcing ring has an insertion hole inside, and insertion rods are fixed at the top and bottom of the reinforcing ring, with the insertion rods inserted into and connected to the inside of the insertion hole.

[0014] This utility model has the following beneficial effects:

[0015] This invention features an elastic clamping plate, a support plate, a side plate, a spring, a support frame, and holes on the outside of the mechanical claw. Since Sichuan peppercorns grow in various shapes, the elastic clamping plate plays a crucial role when the mechanical claw performs the harvesting action. The support frame compresses the spring, causing the guide hole to slide outside the support rod, giving the elastic clamping plate excellent elasticity and flexibility. Upon contact with irregularly shaped clusters of Sichuan peppercorns, the elastic clamping plate can adaptively deform according to the actual shape and position of the peppercorn, effectively dispersing the external force applied by the mechanical claw and avoiding localized pressure concentration. In this way, the elastic clamping plate ensures that while firmly gripping the clusters of peppercorns, it treats each peppercorn with extremely gentle force, minimizing the probability of damage and loss, improving the harvesting quality, and protecting the market value of the Sichuan peppercorns.

[0016] Based on the aforementioned intended effects, by providing reinforcing rings and upright plates on the inner surface of the support arm, and inserting a rod into the insertion hole, the reinforcing ring is installed on the inner surface of the support arm and fits against the inner wall of the support arm. When the robotic arm operates in the complex environment of pepper harvesting, the frequent multi-angle rotation and the obstruction of pepper branches will generate multi-directional stress on the support arm. The reinforcing ring, by fitting against the inner wall of the support arm, can evenly distribute these stresses, effectively enhance the structural strength of the support arm, and significantly improve its resistance to deformation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the multi-angle rotating robotic arm for harvesting Sichuan pepper clusters according to this utility model;

[0019] Figure 2 This is a schematic diagram of the mechanical claw of this utility model;

[0020] Figure 3 This is a schematic diagram of the elastic clamping plate of this utility model;

[0021] Figure 4 This is a schematic diagram of the internal structure of the support arm of this utility model;

[0022] Figure 5 This is a schematic diagram of the internal structure of the support arm after the reinforcing ring of this utility model has been disassembled.

[0023] The attached diagram lists the components represented by each number as follows:

[0024] 100. Mechanical gripper; 101. Support arm;

[0025] 200. Elastic clamping plate; 201. Support rod; 202. Side plate; 203. Spring; 204. Support frame; 205. Hole; 206. Support plate; 207. Guide groove; 208. Guide plate; 209. Limiting block;

[0026] 300. Reinforcing ring; 301. Vertical plate; 302. Limiting ring; 303. Insert rod; 304. Insertion hole. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0029] Please see Figure 1-3 As shown, this utility model is a multi-angle rotating robotic arm for harvesting Sichuan pepper clusters, comprising:

[0030] Support component, the support component including mechanical claw 100;

[0031] The elastic component includes an elastic clamping plate 200, a support rod 201, a side plate 202, a spring 203, a support frame 204, and a hole 205. The elastic clamping plate 200 is installed at one end of the outer surface of the mechanical claw 100. The side plate 202 is fixed on both sides of the outer surface of the mechanical claw 100. The support rod 201 is welded between the two side plates 202. The spring 203 is wrapped around the outer surface of the support rod 201. The support frame 204 is fixed on both sides of the outer surface of the elastic clamping plate 200. The hole 205 is opened inside the support frame 204 and is movably connected to the outer surface of the support rod 201.

[0032] When the robotic claw 100 performs the picking action, the elastic clamp 200 plays a key role. Through the compression of the spring 203 by the support frame 204, the guide hole slides outside the support rod 201, giving the elastic clamp 200 excellent elasticity and flexibility. When it comes into contact with the irregularly shaped pepper clusters, the elastic clamp 200 can adaptively deform according to the actual shape and position of the pepper, which can effectively disperse the external force applied to the pepper by the robotic claw 100.

[0033] Support plates 206 are fixed on both sides of the outer surface of the elastic clamp 200. A guide groove 207 is provided inside the support plate 206. Guide plates 208 are fixed on both sides of the outer surface of the mechanical claw 100. The guide plates 208 are movably connected inside the guide groove 207.

[0034] When the elastic clamp 200 expands and contracts with buffering, the guide plate 208 slides inside the guide groove 207, which can support the elastic clamp 200.

[0035] Limiting blocks 209 are fixed at the top and bottom of the guide plate 208, and the limiting blocks 209 are attached to one side of the outer surface of the support plate 206.

[0036] The guide plate 208 is limited by the limit block 209.

[0037] The support component also includes a support arm 101, which is fixed to the outer surface of the mechanical claw 100.

[0038] Working principle: First, Sichuan peppers grow in various shapes and sizes. When the mechanical claw 100 performs the harvesting action, the elastic clamp 200 plays a crucial role. Through the compression of the spring 203 by the support frame 204, the guide hole slides outside the support rod 201, giving the elastic clamp 200 excellent elasticity and flexibility. At the same time, the guide plate 208 moves inside the guide groove 207, providing support for the elastic clamp 200. Upon contact with the irregularly shaped Sichuan pepper clusters, the elastic clamp 200 can adaptively deform according to the actual shape and position of the pepper, effectively dispersing the external force applied to the peppers by the mechanical claw 100 and avoiding local pressure concentration. In this way, the elastic clamp 200 ensures that while firmly grasping the Sichuan pepper clusters, it treats each pepper with extremely gentle force, minimizing the probability of damage and loss of peppers, improving the harvesting quality, and ensuring the market value of Sichuan peppers.

[0039] Please see Figure 1 , Figure 4 , Figure 5 As shown, this embodiment, based on the above embodiment, further includes:

[0040] The reinforcing component includes a reinforcing ring 300 and a vertical plate 301. The reinforcing ring 300 is attached to the inner wall of the support arm 101, and the vertical plate 301 is welded between multiple reinforcing rings 300.

[0041] When the robotic arm operates in the complex environment of pepper harvesting, the frequent multi-angle rotation and the obstruction of pepper branches will generate multi-directional stress on the support arm 101. The reinforcing ring 300, by virtue of its installation method that fits into the inner wall of the support arm 101, can evenly distribute these stresses, effectively enhance the structural strength of the support arm 101, and greatly improve its resistance to deformation.

[0042] The reinforcing component also includes a limiting ring 302, which is fixed to the upper and lower parts of the inner surface of the support arm 101 and fits against the top and bottom of the reinforcing ring 300.

[0043] The reinforcing ring 300 has an insertion hole 304 inside, and the top and bottom of the reinforcing ring 300 are fixed with insertion rods 303, which are inserted into and connected to the inside of the insertion hole 304.

[0044] The reinforcing ring 300 is installed on the inner surface of the support arm 101 and fits against the inner wall of the support arm 101 by inserting the insert rod 303 into the interior of the insertion hole 304.

[0045] The working principle is as follows: First, the insertion rod 303 is inserted into the insertion hole 304, so that the reinforcing ring 300 is installed on the inner surface of the support arm 101 and fits against the inner wall of the support arm 101. When the robotic arm operates in the complex environment of pepper harvesting, the frequent multi-angle rotation and the obstruction of pepper branches will generate multi-directional stress on the support arm 101. By fitting against the inner wall of the support arm 101, the reinforcing ring 300 can evenly distribute these stresses, effectively enhance the structural strength of the support arm 101, greatly improve its resistance to deformation, and significantly reduce the risk of bending and damage to the support arm 101 under high-intensity harvesting operations. This provides a solid and reliable structural support for the robotic arm to complete the pepper harvesting task stably and efficiently, and strongly guarantees the smooth progress of pepper harvesting work.

[0046] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-angle rotating mechanical arm for picking pepper clusters, characterized in that, Include: Supporting components, the supporting components include mechanical claws (100); Elastic components, the elastic components include elastic clamps (200), support rods (201), side plates (202), springs (203), support frames (204) and hole bodies (205), the elastic clamps (200) are installed at one end of the outer surface of the mechanical claw (100), the side plates (202) are fixed on both sides of the outer surface of the mechanical claw (100), the support rods (201) are welded between the two side plates (202), the springs (203) are wound on the outer surface of the support rod (201), the support frames (204) are fixed on both sides of the outer surface of the elastic clamp (200), the hole bodies (205) are provided in the inside of the support frame (204), and are movably connected to the outer surface of the support rod (201).

2. The multi-angle rotating mechanical arm for picking Zanthoxylum bungeanum Maxim. clusters according to claim 1, characterized in that: Both sides of the outer surface of the elastic clamp (200) are fixed with support plates (206), the inside of the support plate (206) is provided with a guide groove (207), both sides of the outer surface of the mechanical claw (100) are fixed with guide plates (208), and the guide plates (208) are movably connected to the inside of the guide groove (207).

3. The multi-angle rotating mechanical arm for picking Zanthoxylum bungeanum Maxim. clusters according to claim 2, characterized in that: The top and bottom of the guide plate (208) are fixed with limit blocks (209), and the limit blocks (209) are attached to one side of the outer surface of the support plate (206).

4. The multi-angle rotating mechanical arm for picking Zanthoxylum bungeanum Maxim. clusters according to claim 1, characterized in that: The supporting components further include a support arm (101), and the support arm (101) is fixed to the outer surface of the mechanical claw (100).

5. The multi-angle rotating mechanical arm for picking Zanthoxylum bungeanum Maxim. clusters according to claim 4, characterized in that: It also includes reinforcing components, the reinforcing components include reinforcing rings (300) and vertical plates (301), the reinforcing rings (300) are attached to the inner wall of the support arm (101), and the vertical plates (301) are welded between the reinforcing rings (300).

6. The multi-angle rotating mechanical arm for picking Zanthoxylum bungeanum Maxim. clusters according to claim 5, characterized in that: The reinforcing components further include limit rings (302), the limit rings (302) are fixed to the upper and lower parts of the inner surface of the support arm (101) and are attached to the top and bottom of the reinforcing ring (300).

7. The multi-angle rotating mechanical arm for picking Zanthoxylum bungeanum Maxim. clusters according to claim 6, characterized in that: The inside of the reinforcing ring (300) is provided with a bushing (304), the top and bottom of the reinforcing ring (300) are fixed with insertion rods (303), and the insertion rods (303) are inserted into the inside of the bushing (304).

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