Mechanical gripping cutting device

Abstract

The utility model discloses a kind of mechanical clamping cutting devices to overcome the deficiency that the function adaptability of current technology cannot be accurately regulated and controlled clamping strength. The device includes supporting assembly, clamping assembly, cutting assembly and transmission assembly. Supporting assembly is composed of outer support, gear fixed plane and servo motor, provides stable support and power source;Clamping assembly is connected mechanical clamp by clamping gear shaft, realizes accurate clamping;Cutting assembly is connected cutting tool bit by transmission connecting rod and cutting gear shaft, ensures efficient cutting;Transmission assembly includes shift structure and transmission gear shaft, transmission path can be flexibly adjusted, the quick switching of different operation modes is realized. This design is independently controlled clamping and cutting action and flexible shift, effectively improves clamping precision and the function adaptability of device.

Description

Technical Field

[0001] This utility model relates to the field of harvesting equipment technology, specifically to a mechanical clamping and harvesting device. Background Technology

[0002] With the rapid development of agricultural technology and the accelerated pace of agricultural modernization, large-scale mechanized harvesting technology has become a key support for improving agricultural production efficiency and reducing labor costs. Especially in the large-scale cultivation of cash crops such as fruits and vegetables, the application of automated harvesting equipment has significantly improved operational efficiency. However, traditional mechanical clamping devices, as core execution components, still face many technical bottlenecks:

[0003] First, in terms of mechanical control, existing devices generally lack precise force feedback and adjustment mechanisms. Because fruits at different stages of maturity have significant differences in mechanical properties such as skin hardness and elastic modulus, clamping forces with fixed parameters can easily cause skin damage or internal tissue contusion, resulting in serious economic losses for agricultural producers.

[0004] Secondly, in terms of functional adaptability, traditional clamping mechanisms mostly adopt rigid structures and fixed shapes. This design concept of "one mechanism for one crop" can no longer meet the actual needs of diversified crop varieties and planting patterns in modern agricultural production. For example, clamping devices designed for berry crops such as strawberries and tomatoes are often unsuitable for harvesting hard fruits such as citrus and apples, which seriously restricts the versatility and economic benefits of the equipment.

[0005] Against this backdrop, market demand for new mechanical clamping devices with multifunctional integration and high practicality is showing a rapid growth trend. Utility Model Content

[0006] The purpose of this invention is to provide a mechanical clamping and harvesting device to overcome the shortcomings of existing technologies that cannot accurately control the clamping force, resulting in poor functional adaptability.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A mechanical clamping and harvesting device includes:

[0009] The support assembly includes an outer bracket, which has two gear fixing planes and two servo motors fixed inside. Cutting gear shafts and clamping gear shafts are respectively fixed on the gear fixing planes.

[0010] A clamping assembly, including a mechanical clamp connected to a clamping gear shaft;

[0011] A cutting assembly, comprising a cutting head, which is connected to a cutting gear shaft via a transmission connecting rod;

[0012] The transmission assembly includes a shifting structure connected to a transmission gear shaft. The shifting structure allows adjustment of the position of the transmission gear shaft, which is connected to a servo motor and a cutting gear shaft or to a servo motor and a clamping gear shaft.

[0013] It also includes a shifting mechanism, which is installed between two fixed planes of gears. The shifting mechanism includes a paddle and a drive motor. The drive motor is connected to the outer bracket through a support hinge, and the paddle is installed on the transmission gear shaft.

[0014] The drive motor is a miniature linear motor.

[0015] A support shaft is fixed between the fixed planes of the gear.

[0016] The clamping surface of the mechanical clamp is equipped with pressure sensors and Hall sensors.

[0017] The servo motors are mounted opposite each other on the upper and lower parts of the outer bracket, and each of them has a transmission gear installed at its output end. The transmission gear is allowed to be connected to the transmission gear shaft.

[0018] The servo motor is mounted on the outer bracket via a support hinge.

[0019] The clamping surface of the mechanical clamp is provided with a buffer layer.

[0020] The buffer layer is a microporous sponge layer.

[0021] The clamping surface of the mechanical clamp has a certain curvature.

[0022] Compared with the prior art, the present invention has the following beneficial technical effects:

[0023] This invention provides a mechanical clamping and harvesting device. The outer bracket of the support assembly has two gear fixing planes and two servo motors fixed inside. Cutting gear shafts and clamping gear shafts are respectively fixed on the gear fixing planes. This layout allows the device to control the clamping and cutting actions separately, providing a basis for precise control of the clamping force. The mechanical clamp of the clamping assembly is connected to the clamping gear shaft, ensuring the stability and accuracy of the clamping action. The cutting head of the cutting assembly is connected to the cutting gear shaft via a transmission connecting rod, allowing the cutting action to be performed independently, avoiding interference of the clamping force with the cutting action. The shifting structure in the transmission assembly allows adjustment of the position of the transmission gear shaft, enabling it to switch between connecting the servo motor to the cutting gear shaft or connecting the servo motor to the clamping gear shaft. This flexible transmission method allows the device to precisely distribute power in different operating modes, achieving precise control of the clamping force, thus adapting to the harvesting needs of different crops and overcoming the shortcomings of existing technologies. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the overall structure of a mechanical clamping and harvesting device driving a cutting component in an embodiment of this utility model.

[0025] Figure 2 This is a partial schematic diagram of a mechanical clamping and harvesting device driving a cutting component in an embodiment of this utility model.

[0026] Figure 3 This is a schematic diagram of the overall structure of a mechanical clamping and harvesting device driving the clamping assembly in an embodiment of this utility model.

[0027] Figure 4 This is a partial schematic diagram of the mechanical clamping and harvesting device driving the clamping assembly in an embodiment of the present invention.

[0028] In the diagram, 1 is a pressure sensor; 2 is an outer bracket; 3 is a transmission gear shaft; 4 is a support shaft; 5 is a servo motor; 6 is a paddle; 7 is a Hall sensor; 8 is a clamping gear shaft; 9 is a transmission gear; 10 is a gear fixing plane; 11 is a cutting gear shaft; 12 is a transmission connecting rod; 13 is a cutter head; and 14 is a mechanical clamp. Detailed Implementation

[0029] With the development of agriculture and the acceleration of agricultural modernization, large-scale mechanized harvesting technology has become a key means to improve agricultural production efficiency and reduce labor costs. Especially in the large-scale cultivation of cash crops such as fruits and vegetables, the widespread application of automated harvesting equipment has greatly improved operational efficiency. However, traditional mechanical clamping devices, as the core actuators of harvesting equipment, still face some pressing technical challenges.

[0030] In terms of mechanical control, most existing devices lack precise force feedback and adjustment functions. Because fruits at different stages of maturity have significant differences in mechanical properties such as skin hardness and elastic modulus, clamping forces with fixed parameters can easily cause skin damage or internal tissue contusion, resulting in economic losses for agricultural producers.

[0031] In terms of functional adaptability, traditional clamping mechanisms typically employ rigid structures and fixed designs. This design philosophy of "one mechanism for one crop" is no longer suitable for the diverse crop varieties and planting patterns required in modern agricultural production. For example, clamping devices used for berry crops such as strawberries and tomatoes are often unsuitable for harvesting firm fruits such as citrus and apples, which significantly limits the equipment's versatility and economic benefits.

[0032] In view of this, the market demand for mechanical clamping devices with multifunctional integration and high practicality is growing. To meet this demand, this utility model provides a mechanical clamping harvesting device, which aims to overcome the shortcomings of traditional mechanical clamping devices, and effectively improve agricultural production efficiency and economic benefits by precisely controlling the clamping force and adapting to the harvesting of various crops.

[0033] 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.

[0034] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0035] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "several" means two or more, unless otherwise explicitly specified.

[0037] Reference Figures 1 to 4 A specific implementation method of the mechanical clamping and harvesting device provided by this utility model includes:

[0038] The support assembly includes an outer bracket 2, which has two gear fixing planes 10 and two servo motors 5 fixed inside. A cutting gear shaft 11 and a clamping gear shaft 8 are respectively fixed on the gear fixing planes 10.

[0039] The clamping assembly includes a mechanical clamp 14, which is connected to the clamping gear shaft 8;

[0040] The cutting assembly includes a cutting head 13, which is connected to the cutting gear shaft 11 via a transmission connecting rod 12;

[0041] The transmission assembly includes a shifting structure connected to a transmission gear shaft 3. The shifting structure allows adjustment of the position of the transmission gear shaft 3. The transmission gear shaft 3 is connected to a servo motor 5 and a cutting gear shaft 11 or to a servo motor 5 and a clamping gear shaft 8.

[0042] The outer support 2, serving as the basic structure of the device, is made of aluminum alloy to ensure the stability and durability of the overall structure. Two gear fixing planes 10 are fixedly installed inside: a cutting gear plane and a clamping gear plane. On each gear fixing plane 10, a cutting gear shaft 11 and a clamping gear shaft 8 are fixed, ensuring smooth rotation of the gear shafts and effective power transmission, thereby achieving precise drive of the cutting and clamping components.

[0043] The mechanical clamp 14 is connected to the clamping gear shaft 8 and can convert the rotational motion of the gear shaft 8 into the opening and closing action of the mechanical clamp.

[0044] The cutting head 13 is made of high-hardness alloy steel and undergoes fine grinding and heat treatment processes to ensure sharp and durable cutting edges. The transmission connecting rod 12 can effectively transmit the power of the cutting gear shaft 11, driving the cutting head 13 to perform cutting operations.

[0045] The transmission gear shaft 3 is made of high-strength alloy steel and precision-machined to ensure gear meshing accuracy and transmission efficiency. Its surface is hardened to improve wear resistance and fatigue resistance, enabling stable operation over long periods.

[0046] The shifting mechanism is mounted between two fixed gear planes 10 and includes a paddle 6 and a drive motor. The drive motor is connected to the outer bracket 2 via a support hinge, and the paddle 6 is mounted on the transmission gear shaft 3. The drive motor is a miniature linear motor. The miniature linear motor adjusts the longitudinal position of the transmission gear shaft 3 via the paddle 6, thereby enabling rapid switching between different gears. The support hinge ensures the stability of the drive motor during operation while allowing for a certain degree of fine-tuning to adapt to different working conditions.

[0047] A support shaft 4 is fixed between the gear fixing planes 10. The function of the support shaft 4 is to enhance the structural stability between the gear fixing planes 10, prevent the gear fixing planes 10 from deforming during the transmission process, and thus ensure the accuracy and reliability of the transmission system.

[0048] The clamping surface of the mechanical clamp 14 is embedded with a pressure sensor 15 and a Hall sensor 16. The pressure sensor 15 monitors and provides feedback on the clamping pressure in real time, with a control accuracy of ±0.1N. Furthermore, when the pressure sensor detects that the clamping force reaches a set threshold (adjustable range 2-15N), it sends a PWM signal to the main control unit to stop the servo motor and prevent damage to the fruit. A linear Hall sensor (sensitivity 50mV / mT) installed in the clamping surface, together with a permanent magnet array, forms a closed-loop detection system. When the clamping gap is ≤10mm, the cutter head linkage mechanism is automatically triggered to ensure that the synchronous linkage time deviation between the mechanical clamp and the cutting head is <10ms.

[0049] Servo motors 5 are mounted opposite each other on the upper and lower parts of the outer bracket 2, and each has a transmission gear 9 mounted on its output end, allowing connection between the transmission gear 9 and the transmission gear shaft 3. The servo motors 5 are mounted on the outer bracket 2 via support hinges. A dual-servo motor cooperative drive system is adopted, and stepless switching between three operating modes is achieved through encoder control. In this specific embodiment, the device includes three modes:

[0050] Mode 1: The mechanical gripper and the cutting head move in sync (harvesting mode);

[0051] Mode 2: Independent cutting head operation (cutting mode);

[0052] Mode 3: Individual clamping function (sorting mode).

[0053] The mode is switched by a paddle mechanism driven by a miniature linear motor (stroke ±10mm), with a switching time of <0.5s.

[0054] The clamping surface of the mechanical clamp 14 is provided with a buffer layer, which is preferably a microporous sponge layer in this specific embodiment. Its Shore hardness is 20±5HA, which not only ensures that the anti-slip friction coefficient is >0.6, but also achieves pressure buffering through elastic deformation. Tests have shown that it can reduce the harvesting damage rate to below 3%.

[0055] The clamping surface of the mechanical clamp 14 has a certain curvature, which can better conform to the natural shape of the fruit, ensure that the clamping force is evenly distributed on the fruit surface, and reduce damage to the fruit.

[0056] To make the mechanical clamping and harvesting device provided by this utility model easier to understand, the following explanation will further elaborate on the working principle of the device.

[0057] When starting and preparing the equipment, first connect the power supply and start the mechanical clamping and harvesting device. The servo motors and sensors of each component will perform self-checks to ensure that the equipment is operating normally. Then, set parameters such as the clamping force threshold (2-15N) and the operation mode (harvesting mode, cutting mode, sorting mode) through the control terminal.

[0058] When approaching the crop, the mechanical clamping and harvesting device is moved to the crop harvesting position using a mounting device (such as an agricultural tracked vehicle and a robotic arm). The small lifting device makes fine adjustments according to the crop height to ensure that the mechanical clamp 14 and the fruit are at the appropriate height.

[0059] During clamping operations, in harvesting or sorting mode, servo motor 15 drives mechanical clamp 14 to move. When the clamping surface of mechanical clamp 14 comes into contact with the crop, pressure sensor array 1 monitors the clamping pressure in real time. When the pressure reaches the set threshold, servo motor 15 stops running. At this time, the microporous sponge composite material of the clamping surface buffers the pressure through elastic deformation to avoid damaging the fruit.

[0060] During the cutting operation, when the servo motor 15 at the bottom stops running and the mechanical clamp 14 stops moving, the micro linear motor drives the paddle 6 to lift, which drives the transmission gear shaft 3 to connect to the servo motor 15 at the top. The mode switch is achieved within <0.5s, and the cutting head 13 operates independently. Then, the transmission system is driven by the upper servo motor 15 to drive the cutting head 13 to cut and pick the fruit.

[0061] During fruit processing and equipment reset, the micro linear motor drives the lever 6, which in turn drives the transmission gear shaft 3 to connect to the lower servo motor 5, which in turn drives the mechanical clamp 14 to open and release the fruit. The harvested fruit is then transferred through a subsequent conveying device, and the equipment returns to its initial position, ready for the next harvesting operation.

[0062] The mechanical clamping and harvesting device provided by this invention damaged 3 out of 100 chili peppers of the same maturity, resulting in a damage rate of 3%. Using a traditional clamping device, 20 peppers were damaged, resulting in a damage rate of 20%. In the mode switching test, 100 mode switches were timed, with an average switching time of 0.4 seconds, less than the design requirement of 0.5 seconds. In the synchronous linkage test, the time deviation between the mechanical clamp and the cutting head was measured 100 times, with an average deviation of 8 ms.

[0063] The mechanical clamping and harvesting device provided by this utility model can be applied in different scenarios by preset different clamping force thresholds.

[0064] The clamping force threshold is set to 5N, suitable for berry crops. When harvesting strawberries, the mechanical clamping and harvesting device approaches the strawberry, slowly bringing the clamp closer to the fruit. When the pressure sensor array detects that the clamping force reaches 5N, the servo motor stops, and the microporous sponge composite material buffers the pressure. A miniature linear motor drives a paddle mechanism, and the gear shaft connects to the upper servo motor, achieving mode switching and allowing the cutting head to operate independently. Then, the upper servo motor drives the precision transmission system, which in turn drives the mechanical cutting head to cut and harvest the strawberry.

[0065] The clamping force threshold is set at 10N, which is suitable for fruits with thick peels. When picking citrus fruits, the device moves next to the citrus fruit, the mechanical clamp slowly approaches the fruit, and the cutting head works independently to cut off the citrus stem.

[0066] Set the clamping force threshold to 3N and select the sorting mode. The grapes are then sorted by a mechanical clamp that grips them according to the set clamping force, removing any grapes that do not meet the requirements.

[0067] This utility model provides a mechanical clamping and harvesting device. A pressure sensor array, connected to a force-controlled clamping system, is installed at the clamping end to accurately monitor pressure. Combined with servo motor control, precise clamping force adjustment is achieved. The multi-mode drive mechanism employs mature dual servo motor and encoder technology. Mode switching is achieved through a micro linear motor driving a paddle mechanism, a principle that is clear and easy to implement. The Hall effect synchronization system, based on mature Hall sensor and permanent magnet principles, ensures synchronized linkage between the mechanical clamp and the cutting head. The adaptive cutting trigger mechanism utilizes pressure sensor feedback to control the servo motor, ensuring reliable technology. The precision transmission system, optimized through kinematic simulation, boasts high meshing overlap, guaranteeing transmission accuracy. The intelligent force-controlled clamping system can reduce harvesting damage rate to below 3%, minimizing economic losses. The multi-mode drive mechanism meets diverse operational needs, improving equipment versatility. The Hall effect synchronization system ensures a synchronization time deviation of <10ms between the mechanical clamp and the cutting head, improving harvesting efficiency and accuracy. The adaptive cutting trigger mechanism prevents fruit damage. The precision transmission system ensures precise docking between the mechanical cutting head and the mechanical clamp, enhancing harvesting effectiveness.

[0068] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A mechanical clamping and harvesting device, characterized in that, include: The support assembly includes an outer bracket (2), which has two gear fixing planes (10) and two servo motors (5) fixed inside. A cutting gear shaft (11) and a clamping gear shaft (8) are respectively fixed on the gear fixing planes (10). The clamping assembly includes a mechanical clamp (14) connected to a clamping gear shaft (8); The cutting assembly includes a cutting head (13) which is connected to the cutting gear shaft (11) via a transmission connecting rod (12); The transmission assembly includes a shifting structure connected to a transmission gear shaft (3), the shifting structure allowing adjustment of the position of the transmission gear shaft (3), the transmission gear shaft (3) being connected to a servo motor (5) and a cutting gear shaft (11) or to a servo motor (5) and a clamping gear shaft (8).

2. The mechanical clamping and harvesting device according to claim 1, characterized in that, It also includes a shifting mechanism, which is installed between two gear fixing planes (10) and includes a paddle (6) and a drive motor. The drive motor is connected to the outer bracket (2) through a support hinge, and the paddle (6) is installed on the transmission gear shaft (3).

3. The mechanical clamping and harvesting device according to claim 2, characterized in that, The drive motor is a miniature linear motor.

4. The mechanical clamping and harvesting device according to claim 1, characterized in that, A support shaft (4) is fixed between the gear fixing planes (10).

5. The mechanical clamping and harvesting device according to claim 1, characterized in that, The clamping surface of the mechanical clamp (14) is fitted with a pressure sensor (15) and a Hall sensor (16).

6. The mechanical clamping and harvesting device according to claim 1, characterized in that, The servo motors (5) are respectively installed on the upper and lower parts of the outer bracket (2), and each of them is equipped with a transmission gear (9) at its output end. The transmission gear (9) is allowed to be connected to the transmission gear shaft (3).

7. A mechanical clamping and harvesting device according to claim 6, characterized in that, The servo motor (5) is mounted on the outer bracket (2) via a support hinge.

8. The mechanical clamping and harvesting device according to claim 1, characterized in that, The clamping surface of the mechanical clamp (14) is provided with a buffer layer.

9. A mechanical clamping and harvesting device according to claim 8, characterized in that, The buffer layer is a microporous sponge layer.

10. A mechanical clamping and harvesting device according to claim 1, characterized in that, The clamping surface of the mechanical clamp (14) has a certain curvature.

Images