A gripper and picking apparatus

Abstract

The utility model discloses an agricultural technical field, especially discloses a kind of clamping jaw and picking equipment, including driving mechanism, clamping mechanism and shell, driving mechanism is set in shell, driving mechanism includes electromagnetic assembly and magnetic column, clamping mechanism includes elastic base and clamping piece, elastic base is connected with shell, clamping piece is set to the surface of elastic base away from shell, magnetic column one end is inserted in the receiving cavity of electromagnetic assembly, other end is connected with elastic base. By the above-mentioned mode, the utility model embodiment can respond immediately when energized, complete clamping, reaction is very fast, and it is favorable to promote picking efficiency.

Description

Technical Field

[0001] This utility model relates to the field of agricultural technology, and in particular to a gripper and harvesting device. Background Technology

[0002] In recent years, with the significant increase in market demand for fruit and the rapid development of new agricultural production models, fruit production has increased substantially year by year. Fruit harvesting is greatly affected by seasons and climate, and currently, fruit harvesting still relies mainly on manual labor. The labor force used for harvesting accounts for a high proportion of the entire fruit production process, resulting in low efficiency and a large workload. Therefore, this has created a large market demand for fruit harvesting machinery.

[0003] In the process of developing this utility model, the inventors discovered that most fruit picking methods on the market currently use pneumatic grippers. These pneumatic grippers include at least two air claws and an air pump. The air claws are connected to the air pump, and the air pump inflates the air claws to make them bend relatively slowly, thus achieving gripping. Pneumatic grippers are more suitable for picking fruits with brittle peels. However, when dealing with fruits with hard peels, they do not require slow gripping, which can lead to excessively long gripping times and affect picking efficiency. Utility Model Content

[0004] The main technical problem solved by this utility model embodiment is to provide a gripper and picking device with a simple structure that can react quickly when powered on to complete the gripping and improve picking efficiency.

[0005] To solve the above-mentioned technical problems, the present invention provides a gripper comprising: a housing, a driving mechanism, and a clamping mechanism. The driving mechanism is disposed within the housing and includes an electromagnetic component and a magnetic column. The electromagnetic component has a receiving cavity, one end of the magnetic column is inserted into the receiving cavity, and the magnetic column is slidable along the receiving cavity. The clamping mechanism includes at least two clamping members and an elastic base. The elastic base is located at one end of the housing, and the at least two clamping members are disposed on the surface of the elastic base opposite to the driving mechanism. The other end of the magnetic column is connected to the other surface of the elastic base opposite to the clamping members. When the electromagnetic component drives the magnetic column to move away from the clamping members, the elastic base deforms to bring the at least two clamping members closer together, thereby clamping the object to be clamped.

[0006] Optionally, the gripper further includes a limiting member disposed on the housing, the elastic base is disposed on the limiting member, the limiting member has a limiting cavity, the magnetic post is inserted into the limiting cavity, and the magnetic post can slide along the limiting cavity.

[0007] Optionally, the magnetic column includes a magnetic core, a column head, and a limiting block. The magnetic core is inserted into the receiving cavity, the column head is inserted into the limiting through cavity, and the magnetic core and the column head are connected by the limiting block. The cross-sectional area of ​​the limiting block is larger than the cross-sectional area of ​​the receiving cavity, and the cross-sectional area of ​​the limiting block is larger than the cross-sectional area of ​​the limiting through cavity.

[0008] Optionally, a positioning post is provided at one end of the column head facing the elastic base, and a positioning hole is provided on the side of the elastic base facing the magnetic column, with the positioning post inserted into the positioning hole.

[0009] Optionally, the inner wall of the housing is provided with a fixing part, and the outer wall of the electromagnetic component is provided with a fixing groove. The fixing part is embedded in the fixing groove to fix the electromagnetic component to the inner wall of the housing.

[0010] Optionally, the limiting member has a receiving groove on the surface away from the electromagnetic component, and an annular groove is provided at the bottom of the receiving groove. The limiting cavity is located at the bottom of the receiving groove. The elastic base has an annular portion protruding from the other surface facing the driving mechanism. The elastic base is partially received in the receiving groove, and the annular portion is inserted into the annular groove.

[0011] Optionally, the surface of the clamping member is provided with a plurality of anti-slip protrusions, which are spaced apart.

[0012] Optionally, the clamping member includes a connecting part and a clamping part. The clamping part is fixed to one end of the connecting part, and the other end of the connecting part is connected to the elastic base. The clamping part is arranged parallel to the axial direction of the elastic base. When the elastic base deforms in the direction of the driving mechanism, the elastic base pulls the connecting part to bend, and the clamping part moves toward the axial direction of the elastic base. The clamping part remains parallel to the axial direction of the elastic base during the movement.

[0013] Optionally, the electromagnetic component has a balancing hole at the bottom of the receiving cavity, and the receiving cavity communicates with the outside through the balancing hole.

[0014] To solve the above-mentioned technical problems, another technical solution adopted by this utility model is to provide a harvesting device, including the above-mentioned grippers.

[0015] The beneficial effects of this utility model embodiment are as follows: Unlike the prior art, this utility model embodiment provides a gripper, including a driving mechanism, a clamping mechanism, and a housing. The driving mechanism is disposed inside the housing and includes an electromagnetic component and a magnetic column. The clamping mechanism includes an elastic base and a clamping member. The elastic base is connected to the housing, and the clamping member is disposed on the surface of the elastic base away from the housing. One end of the magnetic column is inserted into the receiving cavity of the electromagnetic component, and the other end is connected to the elastic base. When the electromagnetic component is energized, the electromagnetic component and the magnetic column attract each other, driving the elastic base to deform in the direction of the driving mechanism, causing the clamping member to move towards the opposite direction and complete the gripping action. The electromagnetic component generates magnetism immediately when energized and immediately drives the elastic base to deform, thus achieving clamping. Compared with the slow driving of pneumatic grippers, the driving of the clamping member of this application is immediately reflected when the electromagnetic component is energized, which is very fast and helps to improve harvesting efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an overall structural diagram of the gripper provided in this embodiment of the utility model; Figure 2 The explosion of the gripper provided in this embodiment of the utility model Figure 1 ; Figure 3 The explosion of the gripper provided in this embodiment of the utility model Figure 2 ; Figure 4 The explosion of the gripper provided in this embodiment of the utility model Figure 3 ; Figure 5 This is a half-sectional schematic diagram of the gripper provided in an embodiment of this utility model.

[0018] Explanation of reference numerals in the attached figures: 1. Housing; 11. Fixing parts; 2. Drive mechanism, 21. Electromagnetic assembly, 211. Receiving cavity, 212. Fixing groove, 213. Balancing hole, 22. Magnetic column, 221. Magnetic core, 222. Column head, 223. Limiting block, 224. Positioning column; 3 clamping mechanism, 31 clamping member, 311 connecting part, 312 clamping part, 313 anti-slip protrusion, 32 elastic base, 321 positioning hole, 322 annular part; 4 limiting components, 41 limiting cavity, 42 receiving groove, 43 annular groove; 100 grippers. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] This utility model provides a gripper 100 that can respond immediately when powered on to complete the gripping, greatly improving harvesting efficiency.

[0022] To facilitate the reader's understanding of the concept of this utility model embodiment, the specific structure of the gripper 100 is described below: Please see Figure 1 and Figure 2 The gripper 100 includes a housing 1, a drive mechanism 2, and a clamping mechanism 3. The drive mechanism 2 is disposed inside the housing 1, and the clamping mechanism 3 is disposed at one end of the housing 1. The clamping mechanism 3 is connected to the drive mechanism 2. By energizing the drive mechanism 2, the drive mechanism 2 drives the clamping mechanism 3 to deform, thereby completing the clamping.

[0023] For the drive mechanism 2 mentioned above, please refer to Figure 3 The driving mechanism 2 includes an electromagnetic component 21 and a magnetic column 22. The electromagnetic component 21 has a receiving cavity 211. One end of the magnetic column 22 is inserted into the receiving cavity 211 and can slide along the receiving cavity 211. When the electromagnetic component 21 is energized, the magnetism of the electromagnetic component 21 is generated, and the electromagnetic component 21 and the magnetic column 22 are attracted together. When the electromagnetic component 21 is de-energized, the magnetism of the electromagnetic component 21 disappears, and the electromagnetic component 21 and the magnetic column 22 are released.

[0024] The clamping mechanism 3 includes an elastic base 32 and at least two clamping members 31. The elastic base 32 is connected to one end of the housing 1. The clamping members 31 are disposed on the surface of the elastic base 32 away from the driving mechanism. The other surface of the elastic base 32 away from the clamping members 31 is connected to the magnetic column 22. When the electromagnetic component 21 is energized, the electromagnetic component 21 and the magnetic column 22 are attracted to each other. The magnetic column 22 causes the elastic base 32 to deform, and the clamping members 31 move closer to each other to complete the clamping of the object to be clamped.

[0025] In some embodiments, please refer to Figure 4 The gripper 100 also includes a limiting member 4, which is disposed at one end of the housing 1. An elastic base 32 is disposed on the limiting member 4, and a through limiting cavity 41 is provided on the limiting member 4. The magnetic column 22 is inserted into the limiting cavity 41 and can slide along the limiting cavity 41. The movement direction of the magnetic column 22 is limited by the limiting cavity 41 to prevent the end of the magnetic column 22 connected to the elastic base 32 from being offset from the axial direction.

[0026] In some embodiments, please refer to Figure 3 and Figure 4 The magnetic column 22 includes a magnetic core 221, a column head 222, and a limiting block 223. The magnetic core 221 is inserted into the receiving cavity 211, and the column head 222 is inserted into the limiting passage cavity 41. The magnetic core 221 and the column head 222 are connected by the limiting block 223. The cross-sectional area of ​​the limiting block 223 is larger than the cross-sectional area of ​​the receiving cavity 211 and the limiting passage cavity 41. Through the cooperation of the limiting block 223 with the receiving cavity 211 and the limiting passage cavity 41, the movement stroke of the magnetic column 22 is limited, ensuring that the deformation range of the elastic base 32 is within the elastic deformation range, and reducing the probability of the elastic base 32 being damaged beyond the limit.

[0027] In some embodiments, please refer to Figure 2 and Figure 4 The column head 222 has a positioning column 224 at one end facing the elastic base 32, and the elastic base 32 has a positioning hole 321 at one end facing the column head 222. The positioning column 224 is inserted into the positioning hole 321, so that the magnetic column 22 and the elastic base 32 are subjected to collinear forces, thereby improving the stability of the connection between the magnetic column 22 and the elastic base 32.

[0028] In some embodiments, please refer to Figure 5 A fixing part 11 is provided on the inner wall of the housing 1, and a fixing groove 212 is provided on the outer wall of the electromagnetic component 21. By embedding the fixing part 11 into the fixing groove 212, the electromagnetic component 21 is fixed on the inner wall of the housing 1.

[0029] In some embodiments, please refer to Figure 4The limiting member 4 has a receiving groove 42 on the surface away from the electromagnetic component 21. The bottom of the receiving groove 42 has an annular groove 43. The limiting cavity 41 is located at the bottom of the receiving groove 42. The elastic base 32 has a raised annular portion 322 on the surface facing the drive mechanism 2. The annular portion 322 is inserted into the annular groove 43 to fix the elastic base 32 on the limiting member 4.

[0030] In some embodiments, please refer to Figure 4 The surface of the clamping member 31 is provided with a number of anti-slip protrusions 313 at intervals to increase the friction between the clamping member 31 and the object to be clamped, and to prevent the object to be clamped from sliding or falling off during the clamping process.

[0031] In some embodiments, please refer to Figure 5 The clamping member 31 includes a connecting part 311 and a clamping part 312. The clamping part 312 is fixed to one end of the connecting part 311, and the clamping part 312 is arranged in a direction parallel to the axis of the elastic base 32. The other end of the connecting part 311 is connected to the elastic base 32, and the connecting part 311 can deform. When the elastic base 32 deforms in the direction of the driving mechanism 2, the elastic base 32 pulls the connecting part 311 to bend the connecting part, which drives the clamping part 312 to move closer to the axis of the elastic base 32 to complete the clamping. When the elastic base 32 returns to its original deformation state, the connecting part 311 returns to its natural state, and the clamping part 312 moves away from the axis of the elastic base 32, releasing the object to be clamped. During this process, the clamping part 312 always remains parallel to the axis of the elastic base 32.

[0032] In some embodiments, please refer to Figure 2 The electromagnetic component 21 has a balance hole 213 at the bottom of the receiving cavity 211. The receiving cavity 211 is connected to the outside through the balance hole 213. When the magnetic column 22 slides in the receiving cavity 211, it balances the air pressure between the receiving cavity 211 and the outside, eliminating the resistance to the movement of the magnetic column 22 caused by the pressure difference between the inside and outside.

[0033] In this embodiment of the utility model, the gripper 100 includes a driving mechanism 2, a clamping mechanism 3, and a housing 1. The driving mechanism 2 includes an electromagnetic component 21 and a magnetic column 22. The clamping mechanism 3 includes an elastic base 32 and a clamping member 31. The elastic base 32 is connected to the housing 1. The clamping member 31 is disposed on the surface of the elastic base 32 away from the housing. One end of the magnetic column 22 is inserted into the receiving cavity 211 of the electromagnetic component 21, and the other end is connected to the elastic base 32. When the electromagnetic component 21 is energized, the electromagnetic component 21 and the magnetic column 22 attract each other, driving the elastic base 32 to deform in the direction of the driving mechanism 2, causing the clamping member 31 to move towards each other and complete the clamping action. The electromagnetic component 21 generates magnetism immediately when energized and immediately drives the elastic base 32 to deform, realizing clamping. The response is very fast, which is beneficial to improving harvesting efficiency.

[0034] This utility model provides an embodiment of a harvesting device, which includes the aforementioned gripper 100. The structure and function of the gripper 100 can be found in the above embodiment, and will not be described in detail here.

[0035] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this utility model specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A gripper, characterized in that, include: case; A drive mechanism is disposed within the housing. The drive mechanism includes an electromagnetic component and a magnetic column. The electromagnetic component is provided with a receiving cavity. One end of the magnetic column is inserted into the receiving cavity, and the magnetic column is slidable along the receiving cavity. A clamping mechanism includes at least two clamping members and an elastic base. The elastic base is located at one end of the housing. The at least two clamping members are disposed on the surface of the elastic base opposite to the driving mechanism. The other end of the magnetic column is connected to the other surface of the elastic base opposite to the clamping members. When the electromagnetic component drives the magnetic column to move away from the clamping member, the elastic base deforms to bring the at least two clamping members closer together so as to clamp the object to be clamped.

2. The gripper according to claim 1, characterized in that, The gripper also includes a limiting member disposed on the housing, the elastic base is disposed on the limiting member, the limiting member has a limiting cavity, the magnetic post is inserted into the limiting cavity, and the magnetic post can slide along the limiting cavity.

3. The gripper according to claim 2, characterized in that, The magnetic column includes a magnetic core, a column head, and a limiting block. The magnetic core is inserted into the receiving cavity, and the column head is inserted into the limiting through cavity. The magnetic core and the column head are connected by the limiting block. The cross-sectional area of ​​the limiting block is larger than the cross-sectional area of ​​the receiving cavity, and the cross-sectional area of ​​the limiting block is larger than the cross-sectional area of ​​the limiting through cavity.

4. The gripper according to claim 3, characterized in that, A positioning post is provided at one end of the column head facing the elastic base, and a positioning hole is provided on the side of the elastic base facing the magnetic column, into which the positioning post is inserted.

5. The gripper according to claim 4, characterized in that, The inner wall of the housing is provided with a fixing part, and the outer wall of the electromagnetic component is provided with a fixing groove. The fixing part is embedded in the fixing groove to fix the electromagnetic component to the inner wall of the housing.

6. The gripper according to claim 5, characterized in that, The limiting member has a receiving groove on its surface away from the electromagnetic component, and the bottom of the receiving groove has an annular groove. The limiting cavity is located at the bottom of the receiving groove. The elastic base has an annular portion protruding from the other surface facing the drive mechanism. The elastic base portion is partially received in a receiving groove, and the annular portion is inserted into the annular groove.

7. The gripper according to any one of claims 1-6, characterized in that, The surface of the clamping member is provided with a plurality of anti-slip protrusions, which are spaced apart.

8. The gripper according to any one of claims 1-6, characterized in that, The clamping member includes a connecting part and a clamping part. The clamping part is fixed to one end of the connecting part, and the other end of the connecting part is connected to the elastic base. The clamping part is arranged parallel to the axial direction of the elastic base. When the elastic base deforms in the direction of the driving mechanism, the elastic base pulls the connecting part to bend, and the clamping part moves toward the axis of the elastic base. During the movement, the clamping part remains parallel to the axis of the elastic base.

9. The gripper according to any one of claims 1-6, characterized in that, The electromagnetic component has a balancing hole at the bottom of the receiving cavity, through which the receiving cavity communicates with the outside.

10. A harvesting device, characterized in that, Includes the gripper as described in any one of claims 1-9.

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