A picking gripper and picking apparatus

Abstract

The utility model provides a kind of picking clamping jaw and picking equipment, it is related to agricultural product picking technical field.Picking clamping jaw includes main body frame, controller, visual detection module, angle adjusting module and picking claw assembly, angle adjusting module is connected with the end of main body frame, picking claw assembly is rotatably connected with the head of main body frame, angle adjusting module includes driving part, the output end of driving part is drivingly connected with picking claw assembly, and it is used to drive picking claw assembly rotation, visual detection module is located above angle adjusting module and is connected with main body frame, controller is connected with main body frame, and is respectively connected with visual detection module and driving part communication connection.Controller can control driving part operation according to the detection result of visual detection module, and then accurately adjust the rotation angle of picking claw assembly by driving part, so that adaptive adjustment of picking claw assembly picking angle can be realized in the process of picking fruit.

Description

Technical Field

[0001] This utility model relates to the field of agricultural product harvesting technology, specifically to a harvesting gripper and harvesting equipment. Background Technology

[0002] The use of harvesting equipment significantly reduces the labor intensity of manual harvesting and improves harvesting efficiency. Currently, common harvesting equipment often uses a robotic arm to drive the movement of the harvesting gripper to adjust the harvesting angle. This means that the adjustment of the harvesting angle relies solely on the drive of the robotic arm. Therefore, if the harvesting angle is to be flexible and varied, it is often necessary to increase the degree of freedom of the robotic arm, which indirectly increases the design difficulty and operating cost of the harvesting equipment. Utility Model Content

[0003] The problem this invention addresses is: how to improve the flexibility of using the picking gripper.

[0004] To address the aforementioned problems, this utility model provides a picking gripper, comprising a main frame, a controller, a vision detection module, an angle adjustment module, and a picking gripper assembly. The angle adjustment module is connected to the end of the main frame, and the picking gripper assembly is rotatably connected to the beginning of the main frame. The angle adjustment module includes a drive component, the output end of which is drivenly connected to the picking gripper assembly and used to drive the picking gripper assembly to rotate. The vision detection module is located above the angle adjustment module and connected to the main frame. The controller is connected to the main frame and is communicatively connected to both the vision detection module and the drive component.

[0005] Optionally, the main frame includes two first arms extending along its length and a rear seat connected to the ends of the two first arms. The two first arms are spaced apart along the width of the main frame and are respectively connected to the rear seats. The picking claw assembly and the angle adjustment module are located between the two first arms. The picking claw assembly is rotatably connected to the end of the two first arms away from the rear seat, and the axis of rotation is consistent with the width direction of the main frame. The angle adjustment module is connected to the end of the two first arms near the rear seat. The visual detection module is located above the two first arms and connected to the rear seat.

[0006] Optionally, the picking gripper further includes a heat dissipation structure, which is fitted to the vision inspection module and connected between the vision inspection module and the rear seat.

[0007] Optionally, the heat dissipation structure includes a heat dissipation aluminum plate, which is connected to the rear seat. The end of the heat dissipation aluminum plate facing the vision inspection module is provided with multiple fins. The vision inspection module is attached to the multiple fins and connected to the heat dissipation aluminum plate. A cooling fan is also provided at the end of the heat dissipation aluminum plate away from the vision inspection module.

[0008] Optionally, the picking gripper further includes two supplementary lighting structures, the visual detection module is located between the two supplementary lighting structures, and the two supplementary lighting structures are connected to the heat dissipation structure.

[0009] Optionally, the angle adjustment module further includes a transmission rod, one end of which is rotatably connected to the output end of the drive component, and the other end is rotatably connected to the side end of the picking claw assembly in the rotation direction.

[0010] Optionally, the picking claw assembly includes three grippers, an electric push rod, and a bracket. The bracket is rotatably connected to the front end of the main frame, the drive unit is motive connected to the bracket, the three grippers are rotatably connected to the bracket respectively, the electric push rod is connected to the bracket, and the output end of the electric push rod extends from the front end of the bracket and extends between the three grippers. The middle parts of the three grippers are rotatably connected to the output end of the electric push rod through connecting rods.

[0011] Optionally, the picking gripper also includes a diffuse reflection sensor, which is disposed at the front end of the main frame and is communicatively connected to the controller.

[0012] Optionally, the main frame includes weight-reducing holes that penetrate the first arm along the thickness direction of each first arm.

[0013] Compared with related technologies, the picking gripper of this utility model is connected to the end of the main frame through an angle adjustment module, and the picking gripper assembly is rotatably connected to the front end of the main frame, so that the front and rear ends of the main frame are relatively balanced. The output end of the drive component is connected to the side end of the picking gripper assembly in the rotation direction, and the output end of the drive component can drive the picking gripper assembly to rotate. Then, a vision detection module is located above the angle adjustment module and connected to the main frame, and the controller is connected to the main frame and communicates with the vision detection module and the drive component respectively. The controller can control the operation of the drive component according to the detection results of the vision detection module, and then precisely adjust the rotation angle of the picking gripper assembly through the drive component. In this way, during the fruit picking process, the picking angle of the picking gripper assembly can be flexibly adjusted without increasing the flexibility of the robotic arm, and the picking efficiency can also be improved.

[0014] In another aspect, this utility model also provides a harvesting device, including a robotic arm and a harvesting gripper as described above, wherein the end of the robotic arm is connected to the harvesting gripper.

[0015] This harvesting device has all the beneficial effects of the harvesting gripper, which will not be elaborated here. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the picking gripper in an embodiment of the present utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the heat dissipation aluminum plate in an embodiment of the present utility model;

[0018] Figure 3 This is a schematic diagram of the cooling fan in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1-Main frame; 11-First arm; 12-Rear seat; 13-Weight reduction hole; 2-Vision inspection module; 3-Angle adjustment module; 31-Drive component; 32-Transmission rod; 4-Picking claw assembly; 41-Three-fin gripper; 42-Electric push rod; 43-Bracket; 44-Connecting rod; 5-Heat dissipation structure; 51-Heat dissipation aluminum plate; 511-Fin; 52-Heat dissipation fan; 6-Supplemental lighting structure; 7-Diffuse reflection sensor. Detailed Implementation

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0022] In the attached diagram, the X-axis represents the horizontal position, with the positive direction of the X-axis (where the arrow points) indicating the right side and the negative direction (opposite to the positive direction) indicating the left side. Similarly, the Z-axis represents the vertical position, with the positive direction of the Z-axis (where the arrow points) indicating the top and the negative direction (opposite to the positive direction) indicating the bottom. It should be noted that the aforementioned representations of the X and Z axes are for ease of description and simplification of the invention, and do not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0023] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.

[0024] Combination Figure 1 As shown, this utility model embodiment provides a picking gripper, including a main frame 1, a controller, a vision detection module 2, an angle adjustment module 3, and a picking gripper assembly 4. The angle adjustment module 3 is connected to the end of the main frame 1, and the picking gripper assembly 4 is rotatably connected to the head of the main frame 1. The angle adjustment module 3 includes a drive component 31, the output end of which is drivenly connected to the picking gripper assembly 4 and used to drive the picking gripper assembly 4 to rotate. The vision detection module 2 is located above the angle adjustment module 3 and is connected to the main frame 1. The controller is connected to the main frame 1 and is communicatively connected to the vision detection module 2 and the drive component 31, respectively.

[0025] Specifically, the visual inspection module 2 can be understood as a camera. The end of the main frame 1 refers to the end of the main frame 1 located in the negative Y-axis direction, which can be understood as the end of the main frame 1 furthest from the picking area. The beginning of the main frame 1 refers to the end of the main frame 1 located in the positive Y-axis direction, which can also be understood as the end of the main frame 1 closest to the picking area. The angle adjustment module 3 is located at the rear end of the main frame 1, and the picking claw assembly 4 is located at the front end of the main frame 1. The picking claw assembly 4 is rotatably connected to the front end of the main frame 1, so that the weight of the picking claw is shifted rearward, ensuring relatively balanced force on the picking claw after the picking claw assembly 4 has picked the fruit. The visual inspection module 2 is located above the angle adjustment module 3 and connected to the main frame 1. The output end of the drive component 31 is driven by the picking claw assembly 4 to drive its rotation. During harvesting, the end of the main frame 1 is connected to the end of the robotic arm via a threaded connector. The robotic arm moves the main frame 1 to the harvesting area. After the harvesting claw assembly 4 approaches the fruit to be harvested, the robotic arm remains stationary. The vision detection module 2 captures an image of the fruit position in the harvesting area. The controller controls the drive component 31 to operate based on the captured image. The drive component 31 drives the harvesting claw assembly 4 to rotate at a certain angle. The vision detection module 2 captures the harvesting angle of the harvesting claw assembly 4. If the fruit can be harvested, the controller controls the harvesting claw assembly 4 to harvest the fruit. If the fruit cannot be harvested, the controller controls the drive component 31 to readjust the rotation of the harvesting claw assembly 4 to a suitable angle before the harvesting claw assembly 4 harvests the fruit again. Without increasing the flexibility of the robotic arm, the harvesting claw assembly 4 can flexibly adjust its harvesting angle near the fruit.

[0026] Therefore, in this embodiment, the angle adjustment module 3 is connected to the end of the main frame 1, and the picking claw assembly 4 is rotatably connected to the front end of the main frame 1, so that the front and rear ends of the main frame 1 are relatively balanced. The output end of the drive component 31 is connected to the side end of the picking claw assembly 4 in the rotation direction. The output end of the drive component 31 can drive the picking claw assembly 4 to rotate. The vision detection module 2 is located above the angle adjustment module 3 and connected to the main frame 1. The controller is connected to the main frame 1 and communicates with the vision detection module 2 and the drive component 31 respectively. The controller can control the operation of the drive component 31 according to the detection result of the vision detection module 2, and then precisely adjust the rotation angle of the picking claw assembly 4 through the drive component 31. In this way, during the fruit picking process, the picking angle of the picking claw assembly 4 can be flexibly adjusted without increasing the flexibility of the robotic arm, and the picking efficiency can also be improved.

[0027] Optionally, combined Figure 1 As shown, the main frame 1 includes two first arms 11 extending along its length and a rear seat 12 connected to the ends of the two first arms 11. The two first arms 11 are spaced apart along the width direction of the main frame 1 and are respectively connected to the rear seat 12. The picking claw assembly 4 and the angle adjustment module 3 are located between the two first arms 11. The picking claw assembly 4 is rotatably connected to the end of the two first arms 11 away from the rear seat 12, and the rotation axis is consistent with the width direction of the main frame 1. The angle adjustment module 3 is connected to the end of the two first arms 11 near the rear seat 12. The visual detection module 2 is located above the two first arms 11 and connected to the rear seat 12.

[0028] Specifically, the end of the first arm 11 is the end facing the negative Y-axis. The two first arms 11 are spaced apart along the width direction of the main frame 1 and extend along the length direction of the main frame 1, that is, the two first arms 11 are parallel to each other. The ends of the two first arms 11 are respectively connected to the rear seat 12. The picking claw assembly 4 and the angle adjustment module 3 are located between the two first arms 11, and the picking claw assembly 4 is rotatably connected to the end of the two first arms 11 away from the rear seat 12 (the end facing the positive Y-axis). The rotation axis a is consistent with the width direction of the main frame 1. The angle adjustment module 3 is connected to the end of the two first arms 11 near the rear seat 12 (the end facing the negative Y-axis). The visual detection module 2 is connected to the rear seat 12.

[0029] Thus, with the visual inspection module 2 positioned above the two first supports 11 and connected to the rear seat 12, and the angle adjustment module 3 connected to the end of the two first supports 11 near the rear seat 12, the gravitational loads of the visual inspection module 2 and the angle adjustment module 3 are concentrated at the rear end of the main frame 1. Then, the picking claw assembly 4 is rotatably connected to the end of the two first supports 11 away from the rear seat 12, causing the gravitational load of the picking claw assembly 4 to be concentrated at the front end of the main frame 1. This results in a relative balance of forces between the front and rear ends of the main frame 1. Furthermore, the picking claw assembly 4 and the angle adjustment module 3 are positioned above the two first supports 11 and connected to the rear seat 12. Between the arms 11, and at the rotation axis a of the rotatable connection between the picking claw assembly 4 and the two first arms 11, the width direction of the main frame 1 is consistent. The picking claw assembly 4 and the angle adjustment module 3 are located between the two first arms 11. The two first arms 11 can protect the picking claw assembly 4 and the angle adjustment module 3 on the left and right sides, and realize that the picking claw assembly 4 and the angle adjustment module 3 are embedded in the main frame 1, which improves the integration of the picking claw assembly 4 and the angle adjustment module 3, and at the same time facilitates the improvement of the operational safety of the picking claw assembly 4 and the angle adjustment module 3.

[0030] Optionally, combined Figure 1 and Figure 2 As shown, the picking gripper also includes a heat dissipation structure 5, which is attached to the vision inspection module 2 and connected between the vision inspection module 2 and the rear seat 12.

[0031] Specifically, the heat dissipation structure 5 is attached to the vision inspection module 2 and is connected between the vision inspection module 2 and the rear seat 12. The heat generated by the vision inspection module 2 during operation can be dissipated through the heat dissipation structure 5 to extend the service life of the vision inspection module 2.

[0032] Thus, by attaching the heat dissipation structure 5 to the vision inspection module 2 and connecting the vision inspection module 2 and the rear seat 12, the heat dissipation structure 5 achieves cooling of the vision inspection module 2, thereby extending the service life of the vision inspection module 2.

[0033] Optionally, combined Figures 1 to 3 As shown, the heat dissipation structure 5 includes a heat dissipation aluminum plate 51, which is connected to the rear seat 12. Multiple fins 511 are provided on the end of the heat dissipation aluminum plate 51 facing the vision inspection module 2. The vision inspection module 2 is attached to the multiple fins 511 and connected to the heat dissipation aluminum plate 51. A cooling fan 52 is also provided on the end of the heat dissipation aluminum plate 51 away from the vision inspection module 2.

[0034] Specifically, the length direction of the heat dissipation aluminum plate 51 is the Z-axis direction, and the thickness direction is the Y-axis direction. The heat dissipation aluminum plate 51 is connected to the upper end of the rear seat 12 via a connecting bracket. The end of the heat dissipation aluminum plate 51 facing the vision inspection module 2 refers to the front end of the heat dissipation aluminum plate 51. The front end of the heat dissipation aluminum plate 51 is provided with multiple fins 511, which extend along the length direction of the heat dissipation aluminum plate 51 and are distributed parallel to each other along the width direction of the heat dissipation aluminum plate 51. The back side (non-probe side) of the vision inspection module 2 is attached to the multiple fins 511 along the X-axis direction and is connected to both ends of the heat dissipation aluminum plate 51 in the width direction via threaded connectors. A cooling fan 52 is also provided at the end of the heat dissipation aluminum plate 51 facing away from the vision inspection module 2, and the exhaust end of the cooling fan 52 faces away from the heat dissipation aluminum plate 51.

[0035] Thus, multiple fins 511 are arranged on one end of the heat dissipation aluminum plate 51 facing the vision inspection module 2. The vision inspection module 2 is attached to the multiple fins 511 and connected to the heat dissipation aluminum plate 51. The heat generated by the vision inspection module 2 is conducted to the fins 511. The fins 511 increase the heat dissipation area in a limited space so as to contact the air. At the same time, the heat dissipation aluminum plate 51 has good thermal conductivity, which can conduct heat to one end of the cooling fan 52. The cooling fan 52 enhances the airflow, and the airflow will carry away the heat from the surface of the fins 511, reducing their temperature. The fins 511 will also dissipate heat through radiation. In this way, the heat is discharged through multiple conduction steps.

[0036] Optionally, combined Figure 1 As shown, the picking gripper also includes two supplementary lighting structures 6, with the visual detection module 2 located between the two supplementary lighting structures 6, and the two supplementary lighting structures 6 connected to the heat dissipation structure 5.

[0037] Specifically, the visual inspection module 2 and the two supplementary lighting structures 6 are distributed along the Z-axis, with the visual inspection module 2 located between the two supplementary lighting structures 6. The two supplementary lighting structures 6 are connected to the heat dissipation structure 5. When the ambient light is poor, the two supplementary lighting structures 6 can illuminate the picking area to facilitate visual inspection by the visual inspection module 2. At the same time, the heat dissipation structure 5 can reduce the temperature of the two supplementary lighting structures 6 during the illumination process; that is, the heat dissipation structure 5 exchanges heat with the two supplementary lighting structures 6 through contact.

[0038] Thus, with the visual inspection module 2 located between the two supplementary lighting structures 6, and the two supplementary lighting structures 6 connected to the heat dissipation structure 5, the two supplementary lighting structures 6 enable the visual inspection module 2 to be used even when the optical fiber is faulty. At the same time, the heat dissipation structure 5 cools down the two supplementary lighting structures 6, thereby extending their service life.

[0039] Optionally, combined Figure 1As shown, the angle adjustment module 3 also includes a transmission rod 32. One end of the transmission rod 32 is rotatably connected to the output end of the drive component 31, and the other end is rotatably connected to the side end of the picking claw assembly 4 in the rotation direction.

[0040] Specifically, the end of the transmission rod 32 located in the positive Y-axis direction is rotatably connected to the side end of the picking claw assembly 4 in the rotational direction, and the end of the transmission rod 32 located in the negative Y-axis direction is rotatably connected to the output end of the drive member 31. For example, the transmission rod 32 can be located above the picking claw assembly 4 and the drive member 31. When the output end of the drive member 31 moves in the negative Y-axis direction, the front end of the transmission rod 32 tilts upward, and the picking claw assembly 4 rotates clockwise. When the output end of the drive member 31 moves in the positive Y-axis direction, the front end of the transmission rod 32 tilts downward, and the picking claw assembly 4 rotates counterclockwise.

[0041] Thus, by rotatably connecting one end of the transmission rod 32 to the output end of the drive member 31 and the other end to the side end of the picking claw assembly 4 in the rotation direction, the transmission rod 32 can reduce the stiffness of the drive member 31 driving the picking claw assembly 4 to rotate, thereby improving the smoothness of the drive member 31 driving the picking claw assembly 4 to rotate and to a certain extent expanding the range of the drive member 31 driving the picking claw assembly 4 to rotate.

[0042] Optionally, combined Figure 1 As shown, the picking claw assembly 4 includes three grippers 41, an electric push rod 42, and a bracket 43. The bracket 43 is rotatably connected to the front end of the main frame 1, and the driving component 31 is drivenly connected to the bracket 43. The three grippers 41 are rotatably connected to the bracket 43 respectively. The electric push rod 42 is connected to the bracket 43, and the output end of the electric push rod 42 extends from the front end of the bracket 43 and extends between the three grippers 41. The middle parts of the three grippers 41 are rotatably connected to the output end of the electric push rod 42 through connecting rods 44 respectively.

[0043] Specifically, the bracket 43 is rotatably connected to the front end of the main frame 1 and rotates around the rotation axis a. In the rotation direction of the bracket 43, the driving member 31 is driven to the side end of the bracket 43 in the rotation direction through the transmission rod 32. The driving member 31 drives the bracket 43 to rotate around the rotation axis a through the transmission rod 32. The three grippers 41 are rotatably connected to the bracket 43 near one end of the bracket 43 and rotate around the axis of the rotatable connection point. The electric actuator 42 is connected to the end of the bracket 43 facing the negative Y-axis, and the output end of the electric actuator 42 extends from the front end of the bracket 43 and extends between the three grippers 41. The middle parts of the three grippers 41 are rotatably connected to the output end of the electric actuator 42 through connecting rods 44. When the output end of the electric actuator 42 moves in the negative Y-axis direction, the output end of the electric actuator 42 drives the three grippers 41 to move closer together through the connecting rods 44, thereby closing the three grippers 41. When the output end of the electric actuator 42 moves in the positive Y-axis direction, the output end of the electric actuator 42 drives the three grippers 41 to move apart through the connecting rods 44, thereby opening the three grippers 41. When the driving end of the drive member 31 moves in the negative Y-axis direction, the drive member 31 drives the bracket 43 to rotate clockwise through the transmission rod 32. When the driving end of the drive member 31 moves in the positive Y-axis direction, the drive member 31 drives the bracket 43 to rotate counterclockwise through the transmission rod 32.

[0044] Thus, by rotating the bracket 43 to the front end of the main frame 1, the bracket 43 can rotate relative to the main frame 1. The drive component 31 is then connected to the bracket 43, which can drive the bracket 43 to rotate. The three grippers 41 are rotatably connected to the bracket 43. The electric push rod 42 is connected to the bracket 43, and the output end of the electric push rod 42 extends from the bracket 43 and extends along the center of the three grippers 41. The middle parts of the three grippers 41 are rotatably connected to the output end of the electric push rod 42 through the connecting rod 44. The opening or closing of the three grippers 41 can be achieved by the linear movement of the output end of the electric push rod 42 at the center of the three grippers 41, thereby improving the operating efficiency of the three grippers 41.

[0045] Optionally, combined Figure 1 As shown, the picking gripper also includes a diffuse reflection sensor 7, which is located at the front end of the main frame 1 and is connected in communication with the controller.

[0046] Specifically, the diffuse reflection sensor 7 is installed at the head end of the main frame 1 via a threaded connector. The light receiving element of the diffuse reflection sensor 7 is aligned with the three grippers 41. The light receiving element of the diffuse reflection sensor 7 can receive the reflected light from the fruit and convert the reflected light into an electrical signal, which is then transmitted to the controller. During the fruit picking process, if the three grippers 41 accurately grasp the fruit, the diffuse reflection sensor 7 can accurately receive the light reflected from the fruit. The controller can determine that the three grippers 41 have picked the fruit based on the electrical signal transmitted by the diffuse reflection sensor 7. If the diffuse reflection sensor 7 does not receive the light reflected from the fruit, the controller can determine that the three grippers 41 have not picked the fruit and the picking angle of the three grippers 41 needs to be adjusted. Therefore, after the picking grippers grasp the fruit, the diffuse reflection sensor 7 can monitor in real time whether the picking grippers have accurately picked the fruit. When the picking grippers are in the clamping state and the diffuse reflection sensor 7 is not triggered, the controller determines that the fruit has been picked without a gripping action. In this way, by using the diffuse reflection sensor 7 to communicate with the controller, feedback can be provided on whether the picking gripper has accurately picked the fruit, thereby improving the reliability of the picking gripper.

[0047] Optionally, combined Figure 1 As shown, the main frame 1 includes a weight reduction hole 13, which penetrates the first arm 11 along the thickness direction of each first arm 11.

[0048] Specifically, the thickness direction of the first arm 11 is the X-axis direction. The weight-reducing hole 13 penetrates the first arm 11 along the X-axis direction to form a hollow area on the first arm 11, thereby reducing the weight of the first arm 11 while ensuring strength.

[0049] Thus, by passing through the weight-reducing hole 13 along the thickness direction of each first arm 11, a lightweight design of the first arm 11 can be achieved, thereby reducing the weight of the first arm 11 and improving the flexibility of the picking gripper.

[0050] Another embodiment of this utility model also provides a harvesting device, including a robotic arm and a harvesting gripper as described above, wherein the end of the robotic arm is connected to the harvesting gripper.

[0051] Specifically, during harvesting, the end of the main frame 1 is connected to the end of the robotic arm via a threaded connector. The robotic arm moves the main frame 1 to the harvesting area, and after the harvesting claw assembly 4 approaches the fruit to be harvested, the robotic arm stops. The vision detection module 2 captures an image of the fruit position in the harvesting area. The controller controls the drive component 31 to operate based on the captured fruit position image. The drive component 31 drives the harvesting claw assembly 4 to rotate at a certain angle. The vision detection module 2 captures the harvesting angle of the harvesting claw assembly 4. If the fruit can be harvested, the controller controls the harvesting claw assembly 4 to harvest the fruit. If the fruit cannot be harvested, the controller controls the drive component 31 to readjust the rotation of the harvesting claw assembly 4 to a suitable angle before the harvesting claw assembly 4 harvests the fruit again. This allows for flexible adjustment of the harvesting angle of the harvesting claw assembly 4 near the fruit without increasing the flexibility of the robotic arm.

[0052] This harvesting device has all the beneficial effects of the harvesting gripper, which will not be elaborated here.

[0053] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A picking gripper, characterized in that, The device includes a main frame (1), a controller, a vision detection module (2), an angle adjustment module (3), and a picking claw assembly (4). The angle adjustment module (3) is connected to the end of the main frame (1), and the picking claw assembly (4) is rotatably connected to the head of the main frame (1). The angle adjustment module (3) includes a drive component (31), the output end of which is driven to the picking claw assembly (4) and is used to drive the picking claw assembly (4) to rotate. The vision detection module (2) is located above the angle adjustment module (3) and is connected to the main frame (1). The controller is connected to the main frame (1) and is communicatively connected to the vision detection module (2) and the drive component (31) respectively.

2. The picking gripper according to claim 1, characterized in that, The main frame (1) includes two first arms (11) extending along its length and a rear seat (12) connected to the ends of the two first arms (11). The two first arms (11) are spaced apart along the width direction of the main frame (1) and are respectively connected to the rear seat (12). The picking claw assembly (4) and the angle adjustment module (3) are located between the two first arms (11). The picking claw assembly (4) is rotatably connected to the end of the two first arms (11) away from the rear seat (12), and the rotation axis is consistent with the width direction of the main frame (1). The angle adjustment module (3) is connected to the end of the two first arms (11) near the rear seat (12). The visual detection module (2) is located above the two first arms (11) and connected to the rear seat (12).

3. The picking gripper according to claim 2, characterized in that, It also includes a heat dissipation structure (5), which is attached to the vision detection module (2) and is connected between the vision detection module (2) and the rear seat (12).

4. The picking gripper according to claim 3, characterized in that, The heat dissipation structure (5) includes a heat dissipation aluminum plate (51), which is connected to the rear seat (12). The heat dissipation aluminum plate (51) has multiple fins (511) at one end facing the vision detection module (2). The vision detection module (2) is attached to the multiple fins (511) and connected to the heat dissipation aluminum plate (51). A cooling fan (52) is also provided at the end of the heat dissipation aluminum plate (51) away from the vision detection module (2).

5. The picking gripper according to claim 4, characterized in that, It also includes two supplementary lighting structures (6), the visual detection module (2) is located between the two supplementary lighting structures (6), and the two supplementary lighting structures (6) are connected to the heat dissipation structure (5).

6. The picking gripper according to claim 1, characterized in that, The angle adjustment module (3) also includes a transmission rod (32), one end of which is rotatably connected to the output end of the drive unit (31), and the other end is rotatably connected to the picking claw assembly (4).

7. The picking gripper according to claim 1, characterized in that, The picking claw assembly (4) includes three grippers (41), an electric push rod (42), and a bracket (43). The bracket (43) is rotatably connected to the front end of the main frame (1). The driving component (31) is driven to the bracket (43). The three grippers (41) are rotatably connected to the bracket (43) respectively. The electric push rod (42) is connected to the bracket (43), and the output end of the electric push rod (42) extends from the front end of the bracket (43) and extends between the three grippers (41). The middle part of the three grippers (41) is rotatably connected to the output end of the electric push rod (42) through a connecting rod (44).

8. The picking gripper according to claim 1, characterized in that, It also includes a diffuse reflection sensor (7), which is disposed at the head end of the main frame (1) and is communicatively connected to the controller.

9. The picking gripper according to claim 2, characterized in that, The main frame (1) includes a weight reduction hole (13) that penetrates the first arm (11) along the thickness direction of each first arm (11).

10. A harvesting device, characterized in that, It includes a robotic arm and a picking gripper as described in any one of claims 1-9, wherein the end of the robotic arm is connected to the picking gripper.

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