Camellia oleifera fruit picking clamping jaw

Abstract

The utility model relates to a camellia oleifera fruit picking clamping jaw which comprises a connecting frame, a driving connecting part used for being connected with a driving arm is arranged on one side of the connecting frame, and a clamping connecting part used for being connected with a clamping jaw mechanism is arranged on the other side of the connecting frame. The clamping jaw mechanism comprises two sets of clamping frames, the clamping frames are symmetrically arranged on the connecting frame, and each clamping frame comprises a rotating end and a swinging end; the clamping connecting part comprises two sets of swing drivers, and the rotating end of the clamping frame is coaxially fixed to the swing output ends of the swing drivers; wherein a plurality of clamping protrusions are arranged at the swing end of the clamping frame along the rotating axis of the clamping frame in a linear array mode, and inserting grooves are formed between the clamping protrusions. A clamping interval is arranged between the bottom of the inserting groove of the clamping frame and the rotating end of the clamping frame. The clamping protrusions and the inserting grooves of the two sets of clamping frames are arranged in a staggered mode. And the width of the inserting groove is greater than that of the clamping bulge.

Description

Technical Field

[0001] This utility model relates to a camellia fruit picking gripper, belonging to the field of agricultural machinery and equipment. Background Technology

[0002] Currently, the harvesting of camellia oleifera fruits mainly relies on manual labor. Because the fruits are small, and the branches of the camellia tree are hard and dense, manual harvesting presents significant obstacles. Furthermore, the outer shell of mature fruits is easily cracked due to pressure. Existing harvesting aids mainly follow two technical directions. The first simulates a human hand, but can only grip individual fruits, requiring precise aiming at each one, which is inefficient and easily causes cracking. The second uses a net bag combined with a cutting saw, but during the cutting process, branches and leaves fall into the net bag, requiring secondary sorting, adding extra labor costs. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the low efficiency of manual harvesting and harvesting with auxiliary equipment in the existing technology, and the easy cracking of the outer shell of camellia fruit. This utility model provides an improved camellia fruit harvesting gripper. This gripper can harvest camellia fruit with the help of visual algorithms, replace manual labor, and harvest camellia fruit efficiently and with high quality.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] A camellia fruit picking gripper, comprising:

[0006] A connecting frame is provided on one side for connecting the drive arm, and on the other side for connecting the gripper mechanism.

[0007] The gripper mechanism includes two sets of gripping frames, which are symmetrically arranged on the connecting frame. Each gripping frame includes a rotating end and a swinging end.

[0008] And, the clamping connection includes two sets of swing drivers, with the rotating end of the clamping frame coaxially fixed to the swing output end of the swing driver;

[0009] Among them, the swing end of the clamping frame is provided with a number of clamping protrusions arranged in a linear array along the rotation axis of the clamping frame, and an insertion groove is provided between the clamping protrusions.

[0010] A clamping area is provided between the bottom of the insertion slot of the clamping frame and the rotating end of the clamping frame;

[0011] The clamping protrusions and insertion slots of the two sets of clamping frames are arranged alternately.

[0012] As a further improvement of this utility model, a retraction limiting mechanism is also provided between the two sets of clamping frames; the retraction limiting mechanism includes a push arm and a first limiting arm that are rotatably connected to each other;

[0013] The push arm is rotatably connected to the rotating end of one set of clamping frames, and the first limiting arm is rotatably connected to the swing end of another set of clamping frames. The first limiting arm is used to limit the maximum pushing distance between the rotatable connection position of the push arm and the first limiting arm and the rotatable connection position of the first limiting arm and the clamping frame when the clamping frame is retracted.

[0014] The closing and limiting mechanism can limit the spacing when the clamping frame is closed. This not only prevents collisions between the two sets of clamping frames, which would affect the structural stability of the clamping frame, but also ensures the storage space for the camellia fruit during closing. This prevents the camellia fruit from cracking due to excessive compression during closing. Cracked camellia fruit is easily contaminated and affects transportation and processing.

[0015] As a further improvement of this utility model, an unfolding limiting mechanism is also provided between the two sets of clamping frames. The unfolding limiting mechanism includes a pull wall and a second limiting arm that are rotatably connected to each other.

[0016] The pulling arm is rotatably connected to the rotating end of one of the clamping frames, and the second limiting arm is rotatably connected to the swing end of the other clamping frame. The second limiting arm is used to limit the maximum stretching distance between the rotatable connection position of the pulling arm and the second limiting arm and the rotatable connection position of the second limiting arm and the clamping frame when the two clamping frames are unfolded.

[0017] The unfolding limiting mechanism can limit the maximum unfolding distance of the clamping frame, ensuring that the clamping frame can move parallel to the moving direction of the connecting frame when unfolded. This facilitates the insertion of the clamping frame and reduces the interference between the branches and the clamping frame when the clamping frame is tilted in the moving direction. In addition, it can prevent the clamping frame from colliding with the connecting frame when it is over-unfolded. At the same time, it can prevent some prematurely detached camellia fruits from sliding down the outwardly tilting clamping frame when the angle between the clamping frames is obtuse, thus reducing the harvesting efficiency.

[0018] As a further improvement of this utility model, the clamping connection part also includes two sets of auxiliary rotating seats. An auxiliary connection part is also provided on the clamping frame. The auxiliary rotating seats and the auxiliary connection parts are rotatably connected. The rotation axes of the auxiliary rotating seats and the auxiliary connection parts are coaxial with the swing axis of the swing driver.

[0019] The auxiliary rotating seat can provide auxiliary rotational support for the clamping frame, reducing the radial load that the clamping frame brings to the swing actuator.

[0020] As a further improvement of this utility model, the clamping connection part includes two sets of connecting plates fixed on the connecting frame. An auxiliary rotating seat is provided at one axial end of the connecting plate, and a swing driver is fixedly connected to the other axial end of the connecting plate. The rotation axes of the auxiliary rotating seat and the swing driver are perpendicular to the plane of the connecting plate.

[0021] As an extension of the connecting frame structure, the independent connecting plate structure can convert the relative force of the clamping process of the two sets of clamping frames into the torsional torque of the connecting plate. Moreover, the longer the connecting plate, the larger the space for the mechanism arrangement, and the better the torsional resistance of the connecting plate. This solution can reduce the deformation or damage of the connecting frame connection caused by the torsional torque acting directly on the connecting frame.

[0022] As a further improvement of this utility model, the clamping frame includes several clamping rods arranged with their planes parallel to the rotation plane of the clamping frame, clamping protrusions located at the front ends of the clamping rods, insertion slots located between the front ends of adjacent clamping rods, and the ends of the clamping rods being fixedly connected by several support columns arranged perpendicular to the clamping rods.

[0023] The clamping frame uses a prefabricated frame structure composed of clamping rods and support columns, which is less expensive than sheet metal cutting or one-piece casting structures, and the prefabricated components have better mechanical properties.

[0024] As a further improvement of this utility model, a drive plate is integrally fixedly connected to the clamping rod at the end of the clamping rod array of the clamping frame, and the drive plate is fixedly connected to the swing output end of the swing driver.

[0025] The integrated drive plate on the clamping rod increases the efficiency and stability of the drive transmission to the clamping rod.

[0026] As a further improvement of this utility model, a support film is fixed on the clamping rod through a clamping groove. The support film extends toward the retraction direction of the clamping rod. The support film is integrally provided with a number of protrusions in the plane direction of the clamping frame, and the protrusions are arranged in a wave structure.

[0027] The support film can improve the detachment efficiency of the camellia fruit through the friction of the film, and at the same time prevent the camellia fruit from detaching from the gaps between the clamping frame and the gaps between the clamping rods when the gripper mechanism rotates.

[0028] As a further improvement of this utility model, the swing driver is a servo motor.

[0029] The beneficial effects of this utility model are:

[0030] This invention utilizes a gripper mechanism connected by a robotic arm. By interlocking the gripping protrusions of two sets of gripping frames, the gripper can quickly pull the camellia fruit off the branch while simultaneously inserting it between the branches. The branch then disengages from the insertion groove between the gripping protrusions. Compared to existing technologies, this invention eliminates the need for precise alignment of the camellia fruit and largely eliminates the influence of the branch on the gripper. Furthermore, the leaves of the camellia tree can also be removed or separated through the insertion groove. The camellia fruit is removed by pulling, avoiding compression during gripping, reducing the possibility of damage. The separation of branches and leaves simplifies subsequent processing, significantly saving labor costs and improving the quality of the camellia fruit. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] Figure 1 This is a schematic diagram of the oblique top axonometric projection of this utility model;

[0033] Figure 2 This is a downward-angled axonometric schematic diagram of this utility model;

[0034] Figure 3 This is a schematic diagram of the oblique rear axonometric projection of this utility model;

[0035] Figure 4 This is a top view of the clamping rods.

[0036] Figure 5 This is a side view of the clamping rod;

[0037] In the diagram: 1. Connecting frame; 2. Rotating plate; 3. Adapter plate; 4. Rotary driver; 5. Adapter ring; 6. Connecting plate; 7. Auxiliary rotating seat; 8. Swing driver; 9. Clamping rod; 10. Support column; 11. Drive plate; 12. Insertion slot; 13. Push arm; 14. First limiting arm; 15. Pulling arm; 16. Second limiting arm; 17. Rotating bushing; 18. Support film; 19. Protrusion. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0039] Example 1

[0040] like Figures 1-3 As shown, this utility model is a camellia fruit picking gripper, comprising:

[0041] The connecting frame 1 is a plate-shaped structure used to support the entire gripper. A transition ring 5 is rotatably connected to the middle of the connecting frame 1. A rotating plate 2 is rotatably connected to the middle of the connecting frame 1 through the transition ring 5. A rotary driver 4 is fixed on the rotating plate 2. The drive shaft of the rotary driver 4 is fixedly connected to the connecting frame 1. A transition plate 3 is vertically fixed on the rotating plate 2 and fixedly connected to the robotic arm. The position of the connecting frame 1 relative to the oil fruit tree is adjusted by the robotic arm. Then, the angle of the entire gripper relative to the oil fruit tree and the angle of the gripper relative to the ground are adjusted by the rotary driver 4.

[0042] The clamping connection part has two sets of plate-shaped connecting plates 6 vertically fixed on both sides of the connecting frame 1. The connecting plates 6 are arranged in a mirror image. An auxiliary rotating seat 7 extending towards the bottom of the connecting frame 1 is integrally provided on one end of the connecting plate 6. A swing driver 8 is fixed on the other end of the connecting plate 6. The two sets of clamping frames of the clamping mechanism are rotated between the two sets of connecting plates 6 by the swing driver 8 and the auxiliary rotating seat.

[0043] The clamping mechanism includes two sets of symmetrically arranged clamping frames. Each clamping frame is composed of several sets of long strip-shaped clamping rods 9 arranged at fixed intervals. The upper halves of the clamping rods 9 are laterally supported and fixed by stud-structured support columns 10. Insertion slots 12 are provided between the lower halves of adjacent clamping rods 9. A drive plate 11 is integrally fixed to the top of the clamping rods 9 at the lateral end of the clamping frame. The drive plate 11 is fixedly connected to the drive shaft of the swing driver 8. By driving the swing of the clamping rods 9 at the lateral end, the entire clamping frame swings. A rotating shaft is provided between the tops of the two sets of clamping rods 9 at the other lateral end. Two sets of rotating bushings 17 are sleeved on the rotating shaft. The rotating shaft is rotatably connected to the auxiliary rotating seat 7. The rotating bushings 17 are rotatably in contact with the end of the auxiliary rotating seat 7 to assist the rotational support of the swing driver 8.

[0044] The lower half of the two sets of clamping frames is the collection part, which is inserted between the branches of the nectarine tree and swings to screen and fix the nectarines. The upper half of the two sets of clamping frames is the receiving part. When the two sets of clamping frames swing towards each other, the clamping rods 9 of the clamping frames will be inserted into the insertion slots 12 of the other set of clamping frames to close the receiving part. By moving the entire gripper, the nectarines in the receiving part will be separated from the branches, so as to pick the nectarines. The branches and leaves of the nectarine tree will be separated from the gaps between the clamping rods 9 to ensure that unnecessary items such as branches and leaves are not collected.

[0045] Two sets of retraction limiting mechanisms and expansion limiting mechanisms are also provided between the two sets of clamping frames. The retraction limiting mechanisms and expansion limiting mechanisms are stacked and arranged between the transverse ends of the clamping frames.

[0046] The closing and limiting mechanism includes a push arm 13 and a first limiting arm 14 that are rotatably connected to each other; the push arm 13 is rotatably connected to the drive shaft of one set of clamping frames and the swing driver 8, and the first limiting arm 14 is rotatably connected to the swing end of another set of clamping frames. A first rotating column is provided at the end of the support column 10 of the clamping frame, and the first limiting arm 14 is rotatably connected to the first rotating column; Figure 3 The first limiting arm 14 is used to limit the maximum pushing distance between the rotational connection position of the pushing arm 13 and the first limiting arm 14 and the rotational connection position of the first limiting arm 14 and the clamping frame when the clamping frame is retracted.

[0047] The unfolding limiting mechanism includes a pull wall and a second limiting arm 16 that are rotatably connected to each other; the pull arm 15 is rotatably connected to the drive shaft of the push arm 13 and the swing driver 8, and the pull arm 15 is stacked outside the push arm 13; the second limiting arm 16 is rotatably connected to the swing end of another set of clamping frames; a second rotating column is provided below the support column 10 of the clamping frame corresponding to the first rotating column, and the second limiting arm 16 is rotatably connected to the second rotating column; the second limiting arm 16 is used to limit the maximum stretching distance between the rotatable connection position of the pull arm 15 and the second limiting arm 16 and the rotatable connection position of the second limiting arm 16 and the clamping frame when the two sets of clamping frames are unfolded.

[0048] In use, the connecting frame 1 is first moved close to the camellia fruit using the vision sensing mechanism on the robotic arm. Then, the rotation driver 4 is used to make the rotation axis of the clamping frame parallel to the ground. At the same time, the clamping frames are spread out in parallel by the swing driver 8. Then, the robotic arm inserts the clamping frame between the branches of the camellia fruit tree. Then, the swing driver 8 is used to close the clamping frame again, so that the camellia fruit slides into the end of the clamping frame along with the clamping rod 9. Then, the robotic arm pulls the clamping frame out from between the branches, so that the camellia fruit is pulled off the branches and separated from the branches. Then, the rotation driver 4 is used again to make the rotation axis of the clamping frame perpendicular to the ground and move the clamping frame above the storage part. The swing driver 8 is used to open the clamping frame, so that the camellia fruit falls down, completing the harvesting.

[0049] Example 2

[0050] like Figure 4 and Figure 5As shown, a clamping groove is coaxially provided on the clamping rod 9, and a support film 18 is fixed through the clamping groove. The bottom of the support film 18 is inserted into the clamping groove, and the top of the support film 18 extends toward the retraction direction of the clamping rod. The support film 18 is integrally provided with a number of protrusions 19 in the plane direction of the clamping frame, and the protrusions 19 are arranged in a wave structure. The protrusions 19 of adjacent support films 18 can form a circular or semi-circular inlay area. At the same time, the friction of the support film 18 itself ensures the separation efficiency of the camellia fruit and prevents the camellia fruit from falling from the gap of the clamping frame when the gripper mechanism rotates.

[0051] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A picking gripper for camellia oleifera fruits, characterized by: ,include: A connecting frame (1) is provided on one side for connecting the drive arm, and a clamping connecting part for connecting the gripper mechanism is provided on the other side of the connecting frame (1). The gripper mechanism includes two sets of gripping frames, which are symmetrically arranged on the connecting frame (1). The gripping frames include a rotating end and a swinging end. And, the clamping connection includes two sets of swing drivers (8), and the rotating end of the clamping frame is coaxially fixed to the swing output end of the swing driver (8); Among them, the swing end of the clamping frame is provided with a number of clamping protrusions arranged in a straight array along the rotation axis of the clamping frame, and a plug-in groove (12) is provided between the clamping protrusions. Among them, a clamping area is provided between the bottom of the insertion slot (12) of the clamping frame and the rotating end of the clamping frame; Among them, the clamping protrusions and the insertion slots (12) of the two sets of clamping frames are arranged alternately; The width of the insertion slot (12) is greater than the width of the clamping protrusion.

2. The camellia fruit picking gripper as described in claim 1, characterized in that: A retraction limiting mechanism is also provided between the two sets of clamping frames; the retraction limiting mechanism includes a push arm (13) and a first limiting arm (14) that are rotatably connected to each other. Among them, the push arm (13) is rotatably connected to the rotating end of one of the clamping frames, and the first limiting arm (14) is rotatably connected to the swing end of another clamping frame; the first limiting arm (14) is used to limit the maximum pushing distance between the rotatable connection position of the push arm (13) and the first limiting arm (14) and the rotatable connection position of the first limiting arm (14) and the clamping frame when the clamping frame is retracted.

3. The camellia fruit picking gripper as described in claim 2, characterized in that: An unfolding limiting mechanism is also provided between the two sets of clamping frames. The unfolding limiting mechanism includes a pull wall and a second limiting arm (16) that are rotatably connected to each other. The pulling arm (15) is rotatably connected to the rotating end of one of the clamping frames, and the second limiting arm (16) is rotatably connected to the swing end of the other clamping frame. The second limiting arm (16) is used to limit the maximum stretching distance between the rotatable connection position of the pulling arm (15) and the second limiting arm (16) and the rotatable connection position of the second limiting arm (16) and the clamping frame when the two clamping frames are unfolded.

4. The camellia fruit picking gripper as described in claim 1, characterized in that: The clamping connection also includes two sets of auxiliary rotating seats (7). An auxiliary connection is also provided on the clamping frame. The auxiliary rotating seats (7) and the auxiliary connection are rotatably connected. The rotation axes of the auxiliary rotating seats (7) and the auxiliary connection are coaxial with the swing axis of the swing driver (8).

5. The camellia fruit picking gripper as described in claim 4, characterized in that: The clamping connection includes two sets of connecting plates (6) fixed on the connecting frame (1). An auxiliary rotating seat (7) is provided at one axial end of the connecting plate (6), and a swing driver (8) is fixedly connected at the other axial end of the connecting plate (6). The rotation axes of the auxiliary rotating seat (7) and the swing driver (8) are perpendicular to the plane of the connecting plate (6).

6. The camellia fruit picking gripper as described in claim 4, characterized in that: The clamping frame includes several clamping rods (9) arranged with their planes parallel to the rotation plane of the clamping frame. The clamping protrusion is located at the front end of the clamping rod (9), and the insertion groove (12) is located between the front ends of adjacent clamping rods (9). The ends of the clamping rods (9) are fixedly connected by several support columns (10) arranged vertically to the clamping rods (9).

7. A camellia fruit picking gripper as described in claim 6, characterized in that: in A drive plate (11) is integrally fixedly connected to the end of the clamping rod (9) array of the clamping frame, and the drive plate (11) is fixedly connected to the swing output end of the swing driver (8).

8. The camellia fruit picking gripper as described in claim 6, characterized in that: The clamping rod (9) is fixed with a support film (18) through a clamping groove. The support film (18) extends toward the retraction direction of the clamping rod. The support film (18) is integrally provided with a number of protrusions (19) in the plane direction of the clamping frame. The protrusions (19) are arranged in a wave structure.

9. The camellia fruit picking gripper as described in claim 1, characterized in that: The swing driver (8) is a servo motor.

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