Flexible gripper for harvesting oilseed peony pods

Abstract

This utility model relates to the field of peony seed pod harvesting technology, and discloses a flexible gripping robot for harvesting oilseed peony seed pods. It includes a connecting block, a gripper fixedly connected to the bottom of the connecting block, a blade fixedly connected to the bottom of the gripper, springs fixedly connected to adjacent sides of the outer wall of the gripper, rubber blocks fixedly connected to adjacent ends of the springs, and limit rods fixedly connected to the opposite sides of the rubber blocks. A connecting rod is rotatably connected to the outer wall of the connecting block, and a disassembly mechanism is fixedly connected to the top of the connecting block for quickly disassembling the robotic gripper. In this utility model, when harvesting seed pods, pulling the handle upwards moves the connecting block and the pull rod upwards. The pull rod pulls the connecting frame via a connector, and the blade at the bottom cuts the stem. Furthermore, the rubber blocks inside the gripper protect the seed pod skin from being scratched by rigid components, ensuring oil yield and quality, and improving economic efficiency.

Description

Technical Field

[0001] This utility model relates to the field of peony seed and pod harvesting technology, and in particular to a flexible gripping robot for harvesting oilseed peony seed and pods. Background Technology

[0002] As an emerging woody oil crop in my country, oil peony has long faced a bottleneck in mechanization during the seed and pod harvesting process. Currently, the industry still relies heavily on manual harvesting. However, the harvesting period for oil peony is concentrated in the high-temperature period of summer. Manual harvesting is labor-intensive, inefficient, and prone to seed and pod damage due to improper operation, which affects the oil yield of peony seeds and the industry's benefits. Although some studies have attempted to achieve mechanized harvesting through devices such as reciprocating cutters and reeling boards, the harvest rate is greatly affected by environmental factors, and there is a lack of precise control technology for holding the seeds and pods.

[0003] In large-scale peony planting bases, in order to efficiently complete the harvesting task with low loss, while avoiding seed and pod damage caused by rigid devices, and improving oil yield and economic benefits, flexible peony seed and pod harvesting robotic arms are more in line with market demand. Most existing devices are metal grippers and bladed cutters that clamp the seed and pod like robotic arms. They move along fixed tracks and grab the pods with preset force. However, peony seed and pods are of different shapes and have thin skins, making it difficult for rigid devices to accurately control the force. They are prone to clamping too tightly and breaking the seed and pod, resulting in a decrease in the oil yield of peony seeds and a deterioration in oil quality, which directly affects the income of growers. Utility Model Content

[0004] To address the above shortcomings, this utility model provides a flexible gripping robot for harvesting oilseed peony pods, aiming to improve the problem of decreased oil yield and deteriorated oil quality in existing technologies, which directly affects the income of growers.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a flexible gripping robot for harvesting peony seeds, comprising a connecting block 1, a gripper fixedly connected to the bottom of the connecting block 1, a blade fixedly connected to the bottom of the gripper, a spring fixedly connected to each adjacent side of the outer wall of the gripper, a rubber block fixedly connected to each adjacent end of the spring 1, a limit rod fixedly connected to each opposite side of the rubber block, a connecting rod rotatably connected to the outer wall of the connecting block 1, a connecting frame fixedly connected to the opposite end of the connecting rod, a connector rotatably connected to the bottom of the connecting frame, a pull rod fixedly connected to the top surface of the connector, a connecting block 3 fixedly connected to the top surface of the pull rod, a handle fixedly connected to the top surface of the connecting block 3, and a disassembly mechanism fixedly connected to the top of the connecting block 1, the disassembly mechanism being used for quick disassembly and replacement of the robotic gripper.

[0006] As a further description of the above technical solution: The disassembly mechanism includes a rotating disk, the bottom surface of which is fixedly connected to the top surface of connecting block one. A connecting shaft is fixedly connected to the bottom of the inner wall of the rotating disk, and a buckle is fixedly connected to the top of the connecting shaft. A chuck is engaged with the outer wall of the buckle. A slot is provided on the inner wall of the chuck. A connecting plate is fixedly connected to the top surface of the chuck. A second spring is fixedly connected to the top of the inner wall of the connecting plate, and a baffle is fixedly connected to the bottom end of the second spring.

[0007] As a further description of the above technical solution: The top left and right sides of the connecting block three are slidably connected to the limiting rod two, and the top of the limiting rod two is fixedly connected to the support frame.

[0008] As a further description of the above technical solution: A spring three is fixedly connected to the top of the inner wall of the support frame, and the inner wall of the spring three is slidably connected to the outer wall of the limiting rod two.

[0009] As a further description of the above technical solution: A second connecting block is fixedly connected to the top of the connecting plate, and a stud is threaded onto the top surface of the second connecting block.

[0010] As a further description of the above technical solution: The stud is threaded with a nut on its outer wall and with a movable shaft threaded to its top.

[0011] As a further description of the above technical solution: The outer wall of the movable shaft is rotatably connected to a rotating shaft, and the outer wall of the rotating shaft is fixedly connected to a bearing.

[0012] As a further description of the above technical solution: The bottom of the support frame is fixedly connected to a frame, and the inner wall of the frame is rotatably connected to a rotating shaft.

[0013] This utility model has the following beneficial effects: 1. In this utility model, when harvesting the pods, the handle is pulled upwards, which moves the connecting block three and the pull rod upwards. The pull rod pulls the connecting frame through the connector, causing the connecting block one to move the gripper to close. The bottom blade cuts the stem, and the rubber block inside the gripper can protect the outer skin of the pods from being scratched by the rigid parts, ensuring the oil yield and oil quality, and improving economic benefits.

[0014] 2. In this utility model, when replacing the blade and rubber block after long-term operation, the clamping jaws need to be removed, the rotating disk is rotated, and the buckle is slid out of the chuck slot and pulled out. During normal operation, the baffle plate is pressed and limited by the second spring, so that the buckle can be quickly disassembled and replaced. Attached Figure Description

[0015] Figure 1 This is a front perspective view of the flexible gripper for harvesting oilseed peony pods proposed in this utility model. Figure 2 This is a partial structural diagram of the connector for the flexible gripping robot for harvesting oilseed peony pods proposed in this utility model. Figure 3 This is a partial structural breakdown of the handle of the flexible gripping robot for harvesting oilseed peony pods proposed in this utility model. Figure 4 This is a partial structural breakdown of the rubber block of the flexible gripper for harvesting oilseed peony pods proposed in this utility model. Figure 5 This is a partial structural breakdown of the stud of the flexible gripper for harvesting oilseed peony pods proposed in this utility model. Figure 6 This is a partial structural breakdown of the baffle of the flexible gripper for harvesting oilseed peony pods proposed in this utility model.

[0016] Legend: 1. Connecting block one; 2. Disassembly mechanism; 201. Rotating disk; 202. Connecting shaft; 203. Buckle; 204. Chuck; 205. Slot; 206. Baffle; 207. Spring two; 208. Connecting disk; 3. Gripper; 4. Blade; 5. Rubber block; 6. Spring one; 7. Limiting rod one; 8. Connecting rod; 9. Connecting frame; 10. Connecting block two; 11. Stud; 12. Nut; 13. Movable shaft; 14. Bearing; 15. Rotating shaft; 16. Connector; 17. Pull rod; 18. Connecting block three; 19. Limiting rod two; 20. Spring three; 21. Handle; 22. Support frame; 23. Frame. Detailed Implementation

[0017] 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.

[0018] Please see the appendix Figure 2 Appendix Figure 3 and attached Figure 4An embodiment of this utility model provides a flexible gripping robot for harvesting peony seeds and pods, including a connecting block 1. A gripper 3 is fixedly connected to the bottom of the connecting block 1. A blade 4 is fixedly connected to the bottom of the gripper 3. A spring 6 is fixedly connected to each adjacent side of the outer wall of the gripper 3. A rubber block 5 is fixedly connected to each adjacent end of the spring 6. A limit rod 7 is fixedly connected to each opposite side of the rubber block 5. A connecting rod 8 is rotatably connected to the outer wall of the connecting block 1. A connecting frame 9 is fixedly connected to the opposite end of the connecting rod 8. A connector 16 is rotatably connected to the bottom of the connecting frame 9. A pull rod 17 is fixedly connected to the top surface of the connector 16. A connecting block 18 is fixedly connected to the top surface of the pull rod 17. A handle 21 is fixedly connected to the top surface of the connecting block 18. A disassembly mechanism 2 is fixedly connected to the top of the connecting block 1. The disassembly mechanism 2 is used for quick disassembly and replacement of the mechanical gripper. Specifically, the bottom of the connecting block 1 is fixed with a gripper 3, the bottom of the gripper 3 is equipped with a blade 4, the two sides of the outer wall are connected to rubber blocks 5 by springs 6, the outer side of the rubber blocks is limited by a limit rod 7, the outer wall of the connecting block 1 is rotatably connected to a connecting rod 8, the outer end of which is connected to a connecting frame 9, and connected to a handle 21 via a connector 16 and a pull rod 17. The top of the connecting block 1 is provided with a disassembly mechanism 2, which can realize the quick disassembly and replacement of the mechanical gripper.

[0019] Please see the appendix Figure 5 and attached Figure 6 The disassembly mechanism 2 includes a rotating disk 201, the bottom surface of the rotating disk 201 and the top surface of the connecting block 1 are fixedly connected, a connecting shaft 202 is fixedly connected to the bottom of the inner wall of the rotating disk 201, a buckle 203 is fixedly connected to the top of the connecting shaft 202, a chuck 204 is engaged with the outer wall of the buckle 203, a slot 205 is opened on the inner wall of the chuck 204, a connecting disk 208 is fixedly connected to the top surface of the chuck 204, a spring 207 is fixedly connected to the top of the inner wall of the connecting disk 208, and a baffle 206 is fixedly connected to the bottom end of the spring 207. Specifically, in the disassembly mechanism 2, the bottom surface of the rotating disk 201 is fixed to the top surface of the connecting block 1. The bottom of its inner wall has a connecting shaft 202, and the top is connected to a buckle 203. The buckle 203 engages with the slot 205 of the chuck 204. The top surface of the chuck 204 is connected to the connecting disk 208, and the top of its inner wall has a spring 207, and the bottom is connected to a baffle 206.

[0020] Please see the appendix Figure 3 and attached Figure 5 The top left and right sides of the connecting block 3 18 are slidably connected to the limiting rod 2 19. The top of the limiting rod 2 19 is fixedly connected to the support frame 22. The top of the inner wall of the support frame 22 is fixedly connected to the spring 3 20. The inner wall of the spring 3 20 and the outer wall of the limiting rod 2 19 are slidably connected. The top of the connecting plate 208 is fixedly connected to the connecting block 2 10. The top surface of the connecting block 2 10 is threadedly connected to the stud 11. Specifically, the top left and right sides of the connecting block 3 18 are slidably connected to the limiting rod 2 19, and the top of the connecting block 3 is fixed to the support frame 22. The top of the inner wall of the support frame 22 has a spring 3 20, which is slidably connected to the outer wall of the limiting rod 2 19. The top of the connecting plate 208 is fixed to the connecting block 2 10, and the top surface of the connecting block 2 10 is threadedly connected to the stud 11.

[0021] Please see the appendix Figure 1 Appendix Figure 4 and attached Figure 5 The outer wall of the stud 11 is threaded with a nut 12, the top of the stud 11 is threaded with a movable shaft 13, the outer wall of the movable shaft 13 is rotatably connected with a rotating shaft 15, the outer wall of the rotating shaft 15 is fixedly connected with a bearing 14, the bottom of the support frame 22 is fixedly connected with a frame 23, and the inner wall of the frame 23 is rotatably connected with a rotating shaft 15. Specifically, the outer wall of the stud 11 is connected to the nut 12 and the movable shaft 13 by threads in sequence. The outer wall of the movable shaft 13 is rotatably connected to the rotating shaft 15. The outer wall of the movable shaft 13 is also fixed with the bearing 14. The bottom of the support frame 22 is fixed with the frame 23, and the inner wall of the frame 23 is rotatably connected to the rotating shaft 15.

[0022] Working principle: When harvesting pods, pulling the handle 21 upwards causes the connecting block 3 18 and the bottom pull rod 17 to move upwards. The bottom of the pull rod 17 is fixedly connected to the connector 16, and multiple connecting frames 9 are rotatably connected around the connector 16. The upward movement of the pull rod 17 pulls the connecting frame 9 inwards, causing the connecting block 1 to retract the gripper 3 connected to the bottom of the connecting block 1. When it retracts to a certain extent, the blade 4 at the bottom of the gripper 3 cuts the stem of the pod. Multiple rubber blocks 5 are placed on the inner wall of the gripper 3 to protect the outer skin of the pod from being broken and to ensure the oil yield. When replacing or maintaining the blade 4 and rubber block 5 after a long period of operation, the jaw 3 needs to be removed as a whole. Rotate the rotating disk 201 to make the buckle 203 slide out of the slot 205 in the middle of the chuck 204, and then rotate it to the appropriate position to pull it out. During normal operation, the baffle 206 is pressed down by the spring 207 to limit the buckle 203. The top surface of the chuck 204 is fixedly connected to the bottom surface of the connecting disk 208, and the bottom surface of the chuck 204 is slidably connected to the top surface of the rotating disk 201.

[0023] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible gripping robot for harvesting oilseed peony pods, comprising a connecting block (1), characterized in that: The bottom of the connecting block 1 (1) is fixedly connected to a gripper (3), the bottom of the gripper (3) is fixedly connected to a blade (4), the outer wall of the gripper (3) is fixedly connected to a spring (6) on each adjacent side, the adjacent end of the spring (6) is fixedly connected to a rubber block (5), the opposite side of the rubber block (5) is fixedly connected to a limit rod (7), the outer wall of the connecting block 1 (1) is rotatably connected to a connecting rod (8), the opposite end of the connecting rod (8) is fixedly connected to a connecting frame (9), the bottom of the connecting frame (9) is rotatably connected to a connector (16), the top surface of the connector (16) is fixedly connected to a pull rod (17), the top surface of the pull rod (17) is fixedly connected to a connecting block 3 (18), the top surface of the connecting block 3 (18) is fixedly connected to a handle (21), the top of the connecting block 1 (1) is fixedly connected to a disassembly mechanism (2), the disassembly mechanism (2) is used for quick disassembly and replacement of the mechanical gripper.

2. The flexible gripping robot for harvesting oilseed peony pods according to claim 1, characterized in that: The disassembly mechanism (2) includes a rotating disk (201), the bottom surface of the rotating disk (201) and the top surface of the connecting block (1) are fixedly connected, a connecting shaft (202) is fixedly connected to the bottom of the inner wall of the rotating disk (201), a buckle (203) is fixedly connected to the top of the connecting shaft (202), a chuck (204) is engaged with the outer wall of the buckle (203), a slot (205) is provided on the inner wall of the chuck (204), a connecting disk (208) is fixedly connected to the top surface of the chuck (204), a spring (207) is fixedly connected to the top of the inner wall of the connecting disk (208), and a baffle (206) is fixedly connected to the bottom end of the spring (207).

3. The flexible gripping robot for harvesting oilseed peony pods according to claim 1, characterized in that: The top left and right sides of the connecting block three (18) are slidably connected to the limiting rod two (19), and the top of the limiting rod two (19) is fixedly connected to the support frame (22).

4. The flexible gripping robot for harvesting oilseed peony pods according to claim 3, characterized in that: The inner wall of the support frame (22) is fixedly connected to the top of the spring three (20), and the inner wall of the spring three (20) and the outer wall of the limiting rod two (19) are slidably connected.

5. The flexible gripping robot for harvesting oilseed peony pods according to claim 2, characterized in that: The top of the connecting plate (208) is fixedly connected to the connecting block two (10), and the top surface of the connecting block two (10) is threadedly connected to the stud (11).

6. The flexible gripping robot for harvesting oilseed peony pods according to claim 5, characterized in that: The stud (11) is threaded with a nut (12) on its outer wall, and a movable shaft (13) is threaded with its top end.

7. The flexible gripping robot for harvesting oilseed peony pods according to claim 6, characterized in that: The outer wall of the movable shaft (13) is rotatably connected to a rotating shaft (15), and the outer wall of the rotating shaft (15) is fixedly connected to a bearing (14).

8. The flexible gripping robot for harvesting oilseed peony pods according to claim 3, characterized in that: The bottom of the support frame (22) is fixedly connected to the frame (23), and the inner wall of the frame (23) is rotatably connected to the rotating shaft (15).

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