Flexible white apricot picking mechanical claw

Abstract

The utility model discloses a flexible white apricot picking mechanical claw belongs to fruit picking technical field, including the mechanical claw drive assembly for fruit picking, claw body subassembly and connecting drive assembly, the drive assembly is micro -cylinder, and the cylinder body is fixed in the mounting groove of claw body outer tube through tight fit, and the free end of cylinder column passes through the threaded connection annular connecting seat, and the bottom of micro -cylinder is fixed to the base through fastener, the claw body subassembly is a plurality of flexible claws that are evenly distributed in a circle. The setting of opening and closing interval and the structure of grabbing, completely adapt to the small size characteristics of white apricot 30mm 30mm, and the compact structure of micro -drive composition can work in the narrow space between white apricot branches, reduce the fruit breakage rate, and the silicone claw of shore hardness 30 degrees 45 degrees can increase the contact area with white apricot and disperse the grabbing pressure, and the accurate thrust control of micro -cylinder 8N 12N can ensure that white apricot fruit stem is pulled off, and can avoid rigid impact and excessive extrusion.

Description

Technical Field

[0001] This utility model relates to the field of fruit picking technology, specifically a flexible mechanical claw for picking white apricots. Background Technology

[0002] White apricots are a fruit rich in vitamins. In order to improve the efficiency of picking white apricots, mechanical claws are usually used to replace manual labor.

[0003] In traditional manual harvesting, the apricots have thin skin (about 0.1-0.2mm) and soft flesh, making them prone to damage if the manual force is not controlled properly. In addition, some trees are 2-3 meters tall, requiring workers to climb to work at heights. The high temperature and strong sunlight during the harvesting season can also easily cause fatigue, posing safety and efficiency risks. Due to the small size of white apricots (average size 30mm×30mm) and their susceptibility to damage, existing mechanical claws are mostly rigid structures, and their harvesting method is the same as manually tearing off the fruit stem. However, since white apricots have thin skin (about 0.1-0.2mm) and soft flesh, rigid gripping and pulling can easily cause damage to the surface of the white apricots and deformation of the flesh due to compression.

[0004] Therefore, we propose a flexible apricot-picking mechanical claw to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this utility model is to provide a flexible mechanical claw for picking white apricots, in order to solve the problem mentioned in the background art that most existing mechanical claws on the market are rigid structures and that the picking method is the same as the method of manually tearing off the fruit stem. However, white apricots have thin skin (about 0.1-0.2mm) and soft flesh, and rigid gripping and pulling can easily cause damage to the surface of the white apricots and deformation of the flesh due to compression.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a flexible apricot-picking mechanical claw, comprising a mechanical claw drive assembly, a claw body assembly, and a connecting transmission assembly for fruit picking. The drive assembly is a miniature cylinder, the cylinder body being tightly fitted into the mounting groove of the claw's outer cylinder. The free end of the cylinder column is threadedly connected to an annular connecting seat, and the bottom of the miniature cylinder is fixed to the base with fasteners. The claw body assembly consists of multiple flexible claws evenly distributed around the circumference. Each flexible claw is hinged to a claw connecting rod via bolts and nuts. Each flexible claw is linked to the annular connecting seat via two sets of claw connecting rods. One end of the claw connecting rod is hinged to the ear seat of the flexible claw, and the other end is hinged to a connecting rod. The other end of the connecting rod is hinged to the annular connecting seat. When the cylinder column of the miniature cylinder extends or retracts, the multiple flexible claws open and close synchronously through the linkage of the annular connecting seat, claw connecting rod, and connecting rod, thereby achieving flexible grasping and severing of the apricot's stem.

[0007] Preferably, the claw assembly consists of three flexible claws evenly distributed in a circle, and the included angle between adjacent flexible claws is 120°.

[0008] By adopting the above technical solution, the flexible claws with an adjacent included angle of 120° can effectively grasp white apricots.

[0009] Preferably, each of the flexible claws is made of medical-grade silicone with a Shore hardness of 30. The claws are 40mm long, 20mm wide, and 3mm thick, and the inner wall is provided with a 0.5mm deep diamond-shaped anti-slip texture.

[0010] By adopting the above technical solution, the diamond-shaped anti-slip texture can be used to improve the contact friction between the hand and the white apricot when grasping it.

[0011] Preferably, the fasteners at the bottom of the miniature cylinder are DIN933M4×12mm fully threaded bolts and DIN934M4 hexagonal nuts, and the base is used to connect with the climbing platform.

[0012] By adopting the above technical solution and setting fasteners, it is possible to easily and stably limit the movement of the miniature cylinder.

[0013] Preferably, the fasteners connecting the flexible claw to the claw connecting rod are DIN933M3×7mm fully threaded hex bolts and DIN934M3 hex nuts.

[0014] Preferably, the fasteners connecting the claw connecting rod and the connecting rod are DIN933M3×9mm fully threaded hex bolts and DIN934M3 hex nuts.

[0015] Preferably, the extension and retraction speed of the piston rod of the miniature cylinder is adjusted by an external air valve, with an adjustment range of 200-500 mm / s.

[0016] By adopting the above technical solution, the extension and retraction speed of the cylinder piston rod can be adjusted by an external air valve from 200mm / s to 500mm / s, avoiding rapid impact on the white apricot and further reducing the risk of breakage.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: The flexible white apricot picking mechanical claw, through the setting of the claw finger size, opening and closing distance and gripping structure of the flexible gripping component, is fully adapted to the small size characteristics of white apricots (30mm×30mm). At the same time, the compact structure composed of micro-drive can go deep into the narrow space between white apricot branches to operate, reducing the fruit damage rate. The silicone claw with a Shore hardness of 30-45 degrees can increase the contact area with the white apricot and disperse the gripping pressure. Meanwhile, the precise thrust control of the micro cylinder (8N-12N) can ensure that the white apricot stem is broken, while avoiding rigid impact and excessive squeezing.

[0018] 1. Miniature Drive: A miniature cylinder is used, with a cylinder body length of 60mm, a cylinder diameter of 16mm, a stroke of 15mm, and a maximum output thrust of 8-12N, matching the connection force of 5-10N for the white apricot fruit stalk. The cylinder body is bolted to the gripping mechanism, and the free end of the cylinder piston rod extends out of the mounting groove and is fixed to the flexible gripping component by a threaded connection. The extension and retraction speed of the piston rod can be adjusted by an external air valve to avoid impacting the white apricot with rapid movements.

[0019] 2. Flexible claws: Includes three circumferentially distributed flexible claws, each 40mm long, 20mm wide, and 3mm thick, to fit the 30mm×30mm size of white apricots. The claws are made of medical-grade silicone with a Shore hardness of 30, combining flexibility and wear resistance. The inner wall of the groove has 0.5mm deep diamond-shaped anti-slip texture to increase friction with the surface of the white apricot and prevent slippage. When the piston rod extends, it drives the claws to open synchronously, with a maximum opening and closing distance of 35mm-40mm, making it easy to grab the white apricot. When the piston rod retracts, it drives the claws to close synchronously, and the gripping force is stably controlled at 8-12N.

[0020] 3. Gripping Mechanism: It adopts a double-link linkage structure. Each claw is connected to the cylinder piston rod through two sets of connecting rods. One end of the connecting rod is hinged to the ear seat of the claw, and the other end is hinged to the annular connecting seat of the cylinder piston rod. When the cylinder piston rod extends or retracts, the connecting rod will push or pull the three claws synchronously to achieve equidistant synchronous opening and closing, ensuring centering and stability during gripping. Attached Figure Description

[0021] Figure 1 This is a frontal three-dimensional structural diagram of the present utility model;

[0022] Figure 2 This is a front cross-sectional view of the present invention.

[0023] In the diagram: 1. Claw connecting rod; 2. Claw outer cylinder; 3. Connecting rod; 4. Annular connecting seat; 5. Flexible claw; 6. DIN933M3×7mm fully threaded hex bolt; 7. DIN933M3×9mm fully threaded hex bolt; 8. DIN934M3 hex nut; 9. Cylinder column; 10. Miniature cylinder; 11. DIN933M4×12mm fully threaded hex bolt; 12. DIN934M4 hex nut. Detailed Implementation

[0024] 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.

[0025] Example 1: Please refer to Figures 1-2 Existing mechanical claws are mostly rigid structures, and their picking action is the same as manually tearing off the fruit stem. However, white apricots have thin skin (about 0.1-0.2mm) and soft flesh. Rigid gripping and pulling can easily cause damage to the surface of the white apricot and deformation of the flesh due to compression. To solve this technical problem, this embodiment discloses the following technical content: a flexible white apricot picking mechanical claw, including a mechanical claw drive assembly, a claw body assembly, and a connecting transmission assembly for fruit picking. The drive assembly is a miniature cylinder 10. The cylinder body is fixed in the mounting groove of the claw outer cylinder 2 by a tight fit. The free end of the cylinder column 9 is connected to the annular connecting seat 4 by a thread. The bottom of the miniature cylinder 10 is fixed to the base by fasteners. The claw body assembly consists of multiple flexible claws 5 evenly distributed around the circumference. Each flexible claw 5 is connected to the claw by bolts and nuts. The connecting rod 1 is hinged, and each flexible claw 5 is linked to the annular connecting seat 4 through two sets of claw connecting rods 1. One end of the claw connecting rod 1 is hinged to the ear seat of the flexible claw 5, and the other end is hinged to the connecting rod 3. The other end of the connecting rod 3 is hinged to the annular connecting seat 4. When the cylinder column 9 of the micro cylinder 10 extends and retracts, it drives multiple flexible claws 5 to open and close synchronously through the linkage of the claw connecting rod 1 and the connecting rod 3 via the annular connecting seat 4, so as to realize the flexible grasping of the white apricot and the breaking of the fruit stem. The claw body component consists of 3 flexible claws 5 evenly distributed in a circle, and the included angle between adjacent flexible claws 5 is 120°. Each flexible claw 5 is made of medical-grade silicone with a Shore hardness of 30. The claw fingers of the flexible claw 5 are 40mm long, 20mm wide, and 3mm thick, and the inner wall is provided with a 0.5mm deep diamond anti-slip texture.

[0026] When the fruit needs to be grasped, the cylinder column 9 is extended and retracted by the miniature cylinder 10. After the cylinder column 9 extends and retracts, it can drive the three flexible claws 5 to open and close synchronously through the linkage of the annular connecting seat 4, the claw connecting rod 1, and the connecting rod 3, thereby realizing the flexible grasping of the white apricot and the breaking of the fruit stem. At the same time, each claw finger is 40mm long, 20mm wide, and 3mm thick, which can effectively adapt to the 30mm×30mm size of the white apricot. The claw fingers are made of medical-grade silicone with a Shore hardness of 30, which combines flexibility and wear resistance. The inner wall of the groove has a 0.5mm thickness. The deep diamond-shaped anti-slip texture increases the friction with the surface of the white apricot, preventing slippage. When the piston rod extends, it drives the claws to open synchronously, with a maximum opening and closing distance of 35mm-40mm, making it easy to grab the white apricot. When the piston rod retracts, it drives the claws to close synchronously, with the gripping force stably controlled at 8N-12N. This not only reliably breaks the white apricot stem with a stem connection force of 5N-10N, but also achieves non-destructive gripping of the white apricot due to the flexible contact and anti-slip texture design of the silicone claws.

[0027] Example 2: The technical content disclosed in this example is a further improvement based on Example 1. The following technical content is disclosed in this example: the fasteners at the bottom of the miniature cylinder 10 are DIN933M4×12mm fully threaded bolts 11 and DIN934M4 hexagonal nuts 12. The base 10 is used to connect with the climbing platform. The fasteners connecting the flexible claw 5 and the claw connecting rod 1 are DIN933M3×7mm fully threaded hexagonal bolts 6 and DIN934M3 hexagonal nuts 12. The fasteners connecting the claw connecting rod 1 and the connecting rod 3 are DIN933M3×9mm fully threaded hexagonal bolts 7 and DIN934M3 hexagonal nuts 8. The extension and retraction speed of the piston rod of the miniature cylinder 10 is adjusted by an external air valve, and the adjustment range is 200-500mm / s.

[0028] The extension and retraction speed of the cylinder piston rod can be adjusted by an external air valve to avoid rapid impact on the apricot, further reducing the risk of breakage.

[0029] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0030] Although the present invention 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 invention should be included within the protection scope of the present invention.

Claims

1. A flexible apricot-picking mechanical gripper, comprising a mechanical gripper drive assembly, a gripper body assembly, and a connecting transmission assembly for fruit picking, characterized in that: The driving component is a miniature cylinder (10). The cylinder body is fixed in the mounting groove of the claw outer cylinder (2) by a tight fit. The free end of the cylinder column (9) is connected to the annular connecting seat (4) by a thread. The bottom of the miniature cylinder (10) is fixed to the base by fasteners. The claw body component consists of multiple flexible claws (5) evenly distributed in a circle. Each flexible claw (5) is hinged to the claw connecting rod (1) by bolts and nuts. Each flexible claw (5) is linked to the annular connecting seat (4) by two sets of claw connecting rods (1). One end of the claw connecting rod (1) is hinged to the ear seat of the flexible claw (5), and the other end is hinged to the connecting rod (3). The other end of the connecting rod (3) is hinged to the annular connecting seat (4). When the cylinder column (9) of the miniature cylinder (10) extends and retracts, the multiple flexible claws (5) are driven to open and close synchronously through the linkage of the claw connecting rod (1) and the connecting rod (3) via the annular connecting seat (4), so as to realize the flexible grasping and fruit stem breaking of the white apricot.

2. The flexible apricot-picking mechanical claw according to claim 1, characterized in that: The claw assembly consists of three flexible claws (5) evenly distributed in a circle, and the included angle between adjacent flexible claws (5) is 120°.

3. The flexible apricot-picking mechanical claw according to claim 1, characterized in that: Each of the aforementioned flexible claws (5) is made of medical-grade silicone with a Shore hardness of 30 to 45 degrees. The claws of the flexible claws (5) are 40 mm long, 20 mm wide, and 3 mm thick, and the inner wall is provided with a 0.5 mm deep diamond-shaped anti-slip texture.

4. The flexible apricot-picking mechanical claw according to claim 1, characterized in that: The fasteners at the bottom of the miniature cylinder (10) are DIN933M4×12mm fully threaded bolts (11) and DIN934M4 hexagonal nuts (8), and the base is used to connect with the climbing platform.

5. The flexible apricot-picking mechanical claw according to claim 1, characterized in that: The fasteners connecting the flexible claw (5) and the claw connecting rod (1) are DIN933M3×7mm fully threaded hex bolts (6) and DIN934M3 hex nuts (8).

6. The flexible apricot-picking mechanical claw according to claim 1, characterized in that: The fasteners connecting the claw connecting rod (1) and the connecting rod (3) are DIN933M3×9mm fully threaded hex bolts (7) and DIN934M3 hex nuts (8).

7. The flexible apricot-picking mechanical claw according to claim 1, characterized in that: The extension and retraction speed of the piston rod of the miniature cylinder (10) is adjusted by an external air valve, with an adjustment range of 200-500 mm / s.

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