Flexible array carrot harvesting gripper

Abstract

The application belongs to the technical field of agricultural machinery, and particularly relates to a flexible array type radish collecting gripper, which comprises a clamping mechanism, a rotary conveying mechanism and a height adjusting mechanism. The clamping mechanism is composed of symmetrically distributed spring gear sets. The gear sets dynamically adjust the clamping force through pre-tightening springs, and are suitable for lossless clamping of radishes of different sizes.

Description

Technical Field

[0001] This application belongs to the field of agricultural machinery technology, specifically relating to a flexible array-type radish harvesting gripper. Background Technology

[0002] With the continuous development of agricultural modernization, automated harvesting equipment plays an important role in improving crop harvesting efficiency and reducing labor costs. Traditional manual harvesting or semi-automated equipment has many problems, such as damage to crops during the harvesting process, poor adaptability, and low harvesting efficiency. These problems not only affect the quality and yield of crops, but also increase the labor intensity of farmers.

[0003] Especially in the harvesting of root and tuber crops, such as carrots and radishes, traditional harvesting methods can easily damage the radishes. Radishes vary greatly in their growth form and size in the soil, resulting in poor adaptability of existing harvesting equipment during the clamping and pulling process. This often leads to problems such as radishes being pulled or falling off, which in turn affects the crop yield and market value.

[0004] Currently, although there are some specialized automated radish harvesting devices, most of these devices are not designed to fully consider the flexibility and variability of the crop, and still rely on fixed clamping forces and harvesting methods, making it difficult to handle radishes of different sizes and shapes. In particular, the problem of adapting the clamping force and angle during the gripping process has not been effectively solved, resulting in significant challenges in both protecting the crop from damage and improving harvesting efficiency. Utility Model Content

[0005] This application develops an automated gripper device capable of adapting to radishes of different sizes and shapes, while ensuring non-destructive gripping and efficient harvesting. The technical solution is as follows:

[0006] A flexible array-type radish harvesting gripper includes a clamping mechanism, a rotating conveying mechanism, and a height adjustment mechanism;

[0007] The clamping mechanism includes two sets of spring gears mounted opposite each other, and the two sets of spring gears are connected to the servo motor through a servo motor transmission component;

[0008] Each set of spring gears is equipped with multiple spring gears, and at least one of the spring gears in each set of spring gears is connected to the servo motor transmission component through a gear connecting rod.

[0009] The rotary conveying mechanism includes a conveyor belt and a drive motor. The conveyor belt has position holes that match the spring gears and are used to fix the conveyor belt. The spring gears at both ends of each set of spring gears are connected to the drive motor. The top of the drive motor is equipped with a fixing frame, and the fixing frame is equipped with a height adjustment mechanism.

[0010] Preferably, the spring gear includes a transmission element, spring teeth, and a gear disk; the gear disk has spring teeth evenly distributed on it, and the ends of the spring teeth are provided with transmission elements, which are fixed by means of position holes.

[0011] Preferably, the servo drive component is movably connected to the connecting plate.

[0012] Preferably, the bottom of the servo is provided with a servo base plate, the servo base plate is provided with a groove, the connecting plate is provided with a slider, and the slider is located in the groove.

[0013] Preferably, the conveyor belt surface is provided with anti-slip texture to prevent the radish from slipping off.

[0014] Preferably, the position holes are equidistantly distributed on the conveyor belt, and their shape is the same as that of the conveyor component.

[0015] Beneficial effects

[0016] 1. The conveyor belt is the main part of the rotating conveyor mechanism. It is made of flexible material and has anti-slip texture on the surface to ensure that the radishes will not slip during transportation.

[0017] 2. The conveyor belt is fixed and operates synchronously through the conveyor component and the position hole. The gear disk and gear connecting rod cooperate to ensure the cooperation between the conveyor belt and the clamping mechanism, so that the radish can be smoothly sent to the external collection box after being clamped. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a flexible array-type radish harvesting gripper according to the present invention;

[0019] Figure 2 This is a schematic diagram of the flexible array-type radish harvesting gripper from another angle according to the present invention;

[0020] Figure 3 This is a schematic diagram of the clamping mechanism of a flexible array-type radish harvesting gripper according to the present invention;

[0021] In the picture

[0022] 1. Conveyor belt; 2. Spring gear; 201. Connector; 202. Spring tooth; 203. Gear disk; 3. Drive motor; 4. Push rod motor; 5. Servo motor; 6. Servo motor transmission component; 7. Fixture; 8. Gear connecting rod; 9. Connecting plate; 10. Moving part. Detailed Implementation

[0023] The technical solution of this application will be described in detail below with reference to specific embodiments and accompanying drawings. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof. Specific technical features can be combined with each other.

[0024] A flexible array-type radish harvesting gripper includes a clamping mechanism, a rotating conveying mechanism, and a height adjustment mechanism;

[0025] The clamping mechanism includes two sets of spring gears installed opposite each other, and the two sets of spring gears are connected to the servo motor 5 through the servo motor transmission component 6;

[0026] Each set of spring gears is provided with multiple spring gears 2, and at least one of the spring gears 2 in each set of spring gears is connected to the servo motor transmission component 6 through the gear connecting rod 8.

[0027] The rotary conveying mechanism includes a conveyor belt 1 and a drive motor 3. The conveyor belt 1 is provided with a position hole 101 that matches the spring gear, and the position hole 101 is used to fix the conveyor belt 1. The spring gears 2 at both ends of each set of spring gears are connected to the drive motor 3. The top of the drive motor 3 is provided with a fixing frame, and the fixing frame is provided with a height adjustment mechanism 4.

[0028] The spring gear includes a transmission component 201, spring teeth 202, and a gear disk 203; the gear disk 203 is evenly distributed with spring teeth 202, and the end of the spring teeth 202 is provided with a transmission component 201, which is fixed by a position hole 101.

[0029] The servo motor 5 has a servo motor base plate 501 at its bottom, and a sliding groove is provided on the servo motor base plate. The upper end face of the connecting plate 9 has a slider 901, and the slider 901 is located in the sliding groove.

[0030] The servo base plate 501 is located above the servo transmission component 6, and the servo 5 is connected to the servo transmission component 6 via a rotating shaft.

[0031] The servo drive component 6 is hinged to the movable component 10, and the movable component 10 is hinged to the lower end face of the connecting plate 9.

[0032] The surface of the conveyor belt 1 is provided with anti-slip texture to prevent the radish from slipping off.

[0033] The position holes 101 are equidistantly distributed on the conveyor belt 1, and their shape is the same as that of the conveyor component.

[0034] Specific implementation of clamping mechanism

[0035] The clamping mechanism includes symmetrically distributed spring gear sets 2, each set consisting of a connector 201, spring teeth 202, and a gear disk 203. The spring teeth 202 are connected to the gear disk 203 via preload springs, forming an elastic meshing structure. When clamping radishes of different sizes, the spring teeth 202 adaptively adjust their spacing under the action of the preload springs, dynamically adjusting the clamping force to ensure no indentations on the radish surface. The gear disk 203 is connected to a servo motor 5 via a servo drive component 6, which drives the opening and closing of the gear sets. The clamping mechanism is mounted on the gripper body via a fixing bracket 7 to ensure overall structural stability.

[0036] Specific implementation of rotary conveyor mechanism

[0037] The rotary conveyor mechanism includes a conveyor belt 1 and a drive motor 3. The conveyor belt 1 is coaxially connected to the gear disk 203 of the clamping mechanism to ensure that the clamping and conveying actions are synchronized. After the clamping mechanism has finished clamping the radish, it works with the height adjustment module to pull the radish out of the soil. Then, the drive motor 3 starts, causing the conveyor belt 1 to rotate clockwise and throw the radish into the collection box. The surface of the conveyor belt 1 is equipped with flexible anti-slip texture to prevent the radish from slipping, and the uniform rotation speed reduces vibration during the pulling process.

[0038] Specific implementation of the height adjustment module

[0039] The height adjustment module consists of a push rod motor 4 and a fixing frame 7. The push rod motor 4 controls the vertical extension and retraction of the support through an electric drive system. Before harvesting, the push rod motor 4 pushes the support down, bringing the gripper close to the ground to the set harvesting position (approximately 2-5 cm from the ground). After clamping, the push rod motor 4 retracts the support in the opposite direction, causing the clamped radish to be pulled up vertically, avoiding soil resistance that could cause the radish to break.

[0040] Specific process of adaptive pick-up method

[0041] Combination Figures 1 to 3 The harvesting process is carried out according to the following steps:

[0042] Step S1: Start the push rod motor 4, lower the gripper to the harvesting position close to the ground, and use the infrared sensor to detect the position of the top of the radish to ensure that the clamping mechanism is accurately aligned.

[0043] Step S2: The servo motor 5 drives the spring gear set 2 to close, and the spring teeth 202 adaptively adjust the spacing according to the diameter of the carrot. The clamping force is fed back in real time by the pressure sensor and maintained within the safe range of 5-15N.

[0044] Step S3: The push rod motor 4 retracts the bracket and vertically lifts the gripper at a speed of 0.2 m / s, pulling the radish out of the soil intact. During the process, the clamping mechanism maintains a constant clamping force.

[0045] Step S4: Drive motor 3 starts, conveyor belt 1 rotates at 30 r / min, and the radish is smoothly thrown into the collection box on the side along the conveyor belt track, completing a single harvesting cycle.

[0046] The above description is only a preferred embodiment of the present invention. Those skilled in the art can adjust the parameters or structure according to actual needs, and such modifications all fall within the protection scope of the present invention.

Claims

1. A flexible array-type radish harvesting gripper, characterized in that, Includes a clamping mechanism, a rotary conveying mechanism, and a height adjustment mechanism; The clamping mechanism includes two sets of spring gears mounted opposite each other, and the two sets of spring gears are connected to the servo motor through a servo motor transmission component; Each set of spring gears is equipped with multiple spring gears, and at least one of the spring gears in each set of spring gears is connected to the servo motor transmission component through a gear connecting rod. The rotary conveying mechanism includes a conveyor belt and a drive motor. The conveyor belt has position holes that match the spring gears and are used to fix the conveyor belt. The spring gears at both ends of each set of spring gears are connected to the drive motor. The top of the drive motor is equipped with a fixing frame, and the fixing frame is equipped with a height adjustment mechanism.

2. The flexible array-type radish harvesting gripper according to claim 1, characterized in that, The spring gear includes a transmission element, spring teeth, and a gear disk; the gear disk has spring teeth evenly distributed on it, and the ends of the spring teeth are provided with transmission elements, which are fixed by means of position holes.

3. The flexible array-type radish harvesting gripper according to claim 1, characterized in that, The servo drive component is movably connected to the connecting plate.

4. The flexible array-type radish harvesting gripper according to claim 3, characterized in that, The servo motor has a servo motor base plate at its bottom, a sliding groove on the servo motor base plate, and a slider on the connecting plate, with the slider located inside the sliding groove.

5. The flexible array-type radish harvesting gripper according to claim 1, characterized in that, The conveyor belt surface is provided with anti-slip texture to prevent the radish from slipping off.

6. The flexible array-type radish harvesting gripper according to claim 2, characterized in that, The position holes are equidistantly distributed on the conveyor belt, and their shape is the same as that of the conveyor component.

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