Picking actuator self-adaptive to tomato growth posture

Abstract

The invention provides a picking actuator self-adaptive to tomato growth postures. The picking actuator comprises a first driving assembly, a rear fixing frame, a sleeve frame, a front movable frame, a second driving assembly and an image acquisition assembly. The image acquisition assembly is connected with the first driving assembly; the rear fixing frame and the sleeve frame are in driving connection with the first driving assembly, and the first driving assembly is used for driving the rear fixing frame and the sleeve frame to rotate and adjusting the sleeving angle of the sleeve frame to the tomato stems; the rear fixed frame is provided with a second driving assembly, the front movable frame is in driving connection with the second driving assembly, and the second driving assembly is used for driving the front movable frame to move in the direction close to the sleeving area of the sleeving frame; a shearing assembly is arranged on the front movable frame, and the front movable frame can drive the shearing assembly to reach the position where tomato stems are located. The fruit stem shearing device is simple in structure, fruit stems are sheared in a sleeving and shrinkage shearing picking mode, and the requirement for visual recognition precision can be lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural picking equipment, and in particular to a picking actuator that is adaptive to the growth posture of tomatoes, and in particular to a picking actuator that is adaptive to the growth posture of tomatoes for picking tomatoes. Background Art

[0002] In the field of fruit and vegetable agricultural production, large-scale and modular planting is becoming more and more common, so there is an urgent need for an automated picking solution to replace manual labor to improve efficiency and reduce costs. In the past, tomatoes were mostly picked manually because the fruits are easily damaged. This is often inefficient, costly, and labor-intensive for the pickers. Therefore, it is necessary to develop an automated picking technology to replace manual tomato picking.

[0003] The current automated tomato picking technology requires a camera to obtain accurate tomato posture information. In the actual unstructured environment of picking, it is difficult to accurately obtain the tomato posture visually due to variable lighting, occlusion by branches and leaves, and variable tomato growth position and space. In addition, the existing terminal picking device cannot adjust its posture, making it difficult to guarantee the success rate of picking.

[0004] The patent document with publication number CN107214716A discloses a tomato fruit bunch picking end effector and a picking method thereof. The tomato fruit bunch picking end effector includes a bracket, a clamping stepper motor, a fixed clamping arm, an ultrasonic distance sensor, a cam sawtooth knife, a cutting stepper motor, a movable clamping arm, a rack, a gear, and a controller. The clamping mechanism composed of a fixed clamping arm and a movable clamping arm clamps the main fruit stalk of the tomato fruit bunch. The clamping force is measured by an ultrasonic distance sensor and the clamping gap is controlled to control the clamping force. The main fruit stalk is cut off by a rotating cam sawtooth knife installed on the fixed clamping arm to separate the fruit bunch from the plant. However, this patent document still has the defect that it is difficult to accurately obtain the posture of the tomato visually. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide a picking actuator that is adaptive to the growth posture of tomatoes.

[0006] According to the present invention, a picking actuator that is adaptive to tomato growth posture includes: a first driving component, a rear fixed frame, a sleeve frame, a front movable frame, a second driving component and an image acquisition component;

[0007] The image acquisition component is connected to the first driving component; the rear fixing frame and the sleeve frame are drivingly connected to the first driving component, and the first driving component is used to drive the rear fixing frame and the sleeve frame to rotate and adjust the sleeve frame's sleeve angle for tomato stalks;

[0008] The rear fixed frame is provided with a second driving assembly, and the front movable frame is drivingly connected to the second driving assembly, and the second driving assembly is used to drive the front movable frame to move in the direction close to the sleeve area of ​​the sleeve frame; the front movable frame is provided with a shearing assembly, and the front movable frame can drive the shearing assembly to the position where the tomato stalk is located.

[0009] Preferably, the shearing assembly includes a third driving assembly, a left push plate and a right push plate arranged on the front movable frame;

[0010] The left push plate and the right push plate are drivingly connected to the third driving assembly, and the third driving assembly can drive the left push plate and the right push plate to move closer to and away from each other;

[0011] The left push plate is provided with a left push plate blade, and the right push plate is provided with a right push plate knife. The left push plate blade and the right push plate knife can shear the tomato stems by bringing the left push plate and the right push plate closer to each other.

[0012] Preferably, the third drive assembly includes a steering gear and a front support;

[0013] The steering gear and the front support are arranged on the front movable frame, the front support is provided with a first sliding groove, and the driving end of the steering gear is located in the first sliding groove;

[0014] A first rack is arranged on the left push plate, a second rack is arranged on the right push plate, and the first rack and the second rack are arranged in the first sliding groove relative to each other;

[0015] The driving end of the steering gear is meshed and connected with the first rack and the second rack through a gear, and the gear is located between the first rack and the second rack.

[0016] Preferably, the third drive assembly further comprises a front blade and a clamping piece;

[0017] The clamping piece is arranged on the front supporting member, the front blade is clamped between the clamping piece and the front movable frame, the first rack and the second rack are between the clamping piece and the front supporting member, and the first rack and the second rack can move on the front supporting member.

[0018] Preferably, the first driving assembly includes a driving motor and a swinging structure;

[0019] The swing structure is connected to the driving motor, and the driving motor drives the swing structure to rotate;

[0020] The rear fixing frame is connected to the swing structure, and the swing structure drives the rear fixing frame to rotate.

[0021] Preferably, the second drive assembly comprises a drive cylinder;

[0022] The cylinder piston end of the driving cylinder is connected to the rear fixed frame, and the cylinder body end of the driving cylinder is connected to the front movable frame.

[0023] Preferably, the image acquisition component is a camera.

[0024] Preferably, a second sliding groove is provided on the front movable frame;

[0025] The frame side wall of the sleeve frame is located in the second sliding groove, and the front movable frame moves along the frame side wall of the sleeve frame through the second sliding groove.

[0026] Preferably, the sleeve end of the sleeve frame is V-shaped.

[0027] Preferably, the left push plate is provided with a left guide bevel, the right push plate is provided with a right guide bevel, and a gathering channel is provided between the left guide bevel and the right guide bevel;

[0028] The left push plate is provided with a left limiting plane, the right push plate is provided with a right limiting plane, and a shearing channel is provided between the left limiting plane and the right limiting plane;

[0029] The shearing end of the left push plate blade and the shearing end of the right push plate blade are located in the shearing channel, and the tomato stalk enters the shearing channel through the gathering channel.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention is a picking robot that is adaptive to the growth posture of tomatoes. By adding an up and down swinging structure of the end effector, the swinging angle can be adaptively controlled according to the tomato posture information obtained by the camera, so as to adapt to the growth posture of tomatoes, ensure that the shear blade and the tomato stalk are relatively vertical during the picking process, and improve the picking success rate.

[0032] 2. The present invention adopts the method of sleeve picking and shrinking shearing picking and clamping the fruit bunch, which reduces the requirement for visual accuracy. The positioning of tomatoes can be completed only by using a visual camera to obtain approximate tomato position information.

[0033] 3. The sleeve and contraction shearing structure provided in the present invention ensures the synchronization of shearing and clamping, and improves the efficiency and stability of the picking action.

[0034] 4. The present invention adopts a method of collecting tomato fruits, and the tomato positioning can be achieved by only obtaining the approximate position of the tomato, which can reduce the demand for visual accuracy.

[0035] 5. The swing structure provided in the present invention can rotate according to the visual information, thereby ensuring that the shear blade and the tomato stalk are relatively vertical during the picking process, thereby improving the success rate of picking.

[0036] 6. The shearing and clamping structure provided in the present invention allows the shearing and clamping of the fruit stems to be synchronized during the picking process, thereby improving the efficiency and stability of the picking action. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1-3 Schematic diagram of the structure of the picking actuator for adaptive tomato growth posture.

[0039] Figure 4-5 This is a structural schematic diagram of the posture before the shearing action of the picking actuator for adaptive tomato growth posture.

[0040] Figure 6-7 Schematic diagram of the structure of the picking actuator in the shear posture for adaptive tomato growth posture.

[0041] Figure 8 and Fig. 9 This is a schematic diagram of the structural connection structure of the front movable frame part of the picking actuator for adaptive tomato growth posture.

[0042] The figure shows:

[0043] Connecting frame 1 Left push plate 12

[0044] Image acquisition component 2 First rack 1201

[0045] Drive motor 3 Left guide ramp 1202

[0046] Swing structure 4 left limit plane 1203

[0047] Rear fixing frame 5 Right push plate 13

[0048] Frame 6 Second rack 1301

[0049] Frame side wall 601 Right guide slope 1302

[0050] Sleeve end 602 right limit plane 1303

[0051] Front movable frame 7 Front blade 14

[0052] Second sliding groove 701 Clamping piece 15

[0053] Cylinder piston end 8 Left push plate blade 16

[0054] Cylinder body end 9 Right push plate blade 17

[0055] Servo 10 Tomato main vine 18

[0056] Front support 11 Tomato stem 19

[0057] The first sliding groove 1101 DETAILED DESCRIPTION

[0058] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0059] Embodiment 1:

[0060] like Figure 1-9 As shown, this embodiment provides a picking actuator that is adaptive to the growth posture of tomatoes, including: a first driving component, a rear fixed frame 5, a sleeve frame 6, a front movable frame 7, a second driving component and an image acquisition component 2; the image acquisition component 2 is connected to the first driving component; the rear fixed frame 5 and the sleeve frame 6 are drivingly connected to the first driving component, and the first driving component is used to drive the rear fixed frame 5 and the sleeve frame 6 to rotate, and adjust the sleeve frame 6 to the tomato stem 19 The angle of the sleeve frame 6 to take the tomato stem 19; the rear fixed frame 5 is provided with a second driving component, and the front movable frame 7 is drivingly connected to the second driving component, and the second driving component is used to drive the front movable frame 7 to move in the direction of the sleeve area close to the sleeve frame 6; the front movable frame 7 is provided with a shearing component, and the front movable frame 7 can drive the shearing component to the position of the tomato stem 19. The image acquisition component 2 collects the image information of the tomato stem 19, analyzes the posture of the tomato stem 19, and adjusts the sleeve frame 6 The angle of taking the tomato stem 19 on the main vine 18 of the tomato.

[0061] The first driving assembly includes a driving motor 3 and a swinging structure 4; the swinging structure 4 is connected to the driving motor 3, and the driving motor 3 drives the swinging structure 4 to rotate; the rear fixed frame 5 and the sleeve frame 6 are connected to the swinging structure 4, and the swinging structure 4 drives the rear fixed frame 5 and the sleeve frame 6 to rotate. The second driving assembly includes a driving cylinder; the cylinder piston end 8 of the driving cylinder is connected to the rear fixed frame 5, and the cylinder body end 9 of the driving cylinder is connected to the front movable frame 7.

[0062] The shearing assembly includes a third driving assembly, a left push plate 12 and a right push plate 13 arranged on the front movable frame 7; the left push plate 12 and the right push plate 13 are drivingly connected to the third driving assembly, and the third driving assembly can drive the left push plate 12 and the right push plate 13 to move closer to and away from each other; a left push plate blade 16 is arranged on the left push plate 12, and a right push plate 13 knife is arranged on the right push plate 13, and the left push plate blade 16 and the right push plate 13 knife can shear the tomato stalk 19 by bringing the left push plate 12 and the right push plate 13 closer to each other. The third driving assembly includes a steering gear 10 and a front support member 11; the steering gear 10 and the front support member 11 are arranged on the front movable frame 7, the front support member 11 is provided with a first sliding groove 1101, and the driving end of the steering gear 10 is located in the first sliding groove 1101; a first rack 1201 is provided on the left push plate 12, and a second rack 1301 is provided on the right push plate 13, and the first rack 1201 and the second rack 1301 are relatively arranged in the first sliding groove 1101; the driving end of the steering gear 10 is meshed and connected with the first rack 1201 and the second rack 1301 through a gear, and the gear is located between the first rack 1201 and the second rack 1301. The left push plate 12 is provided with a left guide bevel 1202, the right push plate 13 is provided with a right guide bevel 1302, and a gathering channel is provided between the left guide bevel 1202 and the right guide bevel 1302; the left push plate 12 is provided with a left limiting plane 1203, the right push plate 13 is provided with a right limiting plane 1302, and a shearing channel is provided between the left limiting plane 1203 and the right limiting plane 1302; the shearing end of the left push plate blade 16 and the shearing end of the right push plate blade 17 are located in the shearing channel, and the tomato stalk 19 enters the shearing channel through the gathering channel.

[0063] The third driving assembly also includes a front blade 14 and a clamping plate 15; the clamping plate 15 is arranged on the front support 11, the front blade 14 is clamped between the clamping plate 15 and the front movable frame 7, the first rack 1201 and the second rack 1301 are between the clamping plate 15 and the front support 11, and the first rack 1201 and the second rack 1301 can move on the front support 11.

[0064] The image acquisition component 2 is a camera. The front movable frame 7 is provided with a second sliding groove 701; the frame side wall 601 of the sleeve frame 6 is located in the second sliding groove 701, and the front movable frame 7 moves along the frame side wall 601 of the sleeve frame 6 through the second sliding groove 701. The sleeve end 602 of the sleeve frame 6 is V-shaped.

[0065] Embodiment 2:

[0066] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1.

[0067] This embodiment provides a picking actuator for picking tomatoes that is adaptive to the growth posture of tomatoes, including a visual module, a connecting frame, a driving module, an up-and-down swinging module, and a picking and contraction shearing picking clamping module. The visual module is arranged on the connecting frame; the driving module controls the up-and-down swinging module to produce an up-and-down swinging motion according to the tomato posture information given by the visual module; the picking and contraction shearing picking clamping module is arranged on the up-and-down swinging module.

[0068] The driving module includes a servo brushless motor, wherein: the servo brushless motor is fastened to a connecting frame; the swing module is arranged at the output end of the servo brushless motor, and is driven by the servo brushless motor so that the swing module can rotate around the output shaft of the servo brushless motor.

[0069] The sleeve and shrink shear picking module includes: a rear fixed frame, a front movable frame, a cylinder, a steering gear, a front blade, a front support, a clamping piece, a left push plate, a left push plate blade, a right push plate, a right push plate blade and a sleeve frame. The rear fixed frame is fastened to the swing module; the sleeve frame is fastened to the swing module; the front movable frame is arranged on the rear fixed frame; the front support is fastened to the front movable frame; the front blade and the clamping piece are fastened to the front movable frame; the left push plate and the right push plate are arranged on the front movable frame; the left push plate blade is fastened to the left push plate; the right push plate blade is fastened to the right push plate; the cylinder is arranged on the front movable frame; the steering gear is arranged on the front movable frame.

[0070] The cylinder piston rod is fixedly connected to the rear fixed frame of the sleeve and shrinking shearing and picking module, and the cylinder body is fixedly connected to the front movable frame of the sleeve and shrinking shearing and picking module. The cylinder drives the rear fixed frame and the front movable frame to produce relative linear motion.

[0071] The working stroke of the cylinder can make the front movable frame move to the vicinity of the sleeve frame, and the front blade fastened to the front movable frame extends into the rectangular groove of the sleeve frame, and the clamping piece fastened to the front movable frame and the sleeve frame produce a certain degree of extrusion.

[0072] The rear fixed frame is provided with a limit position, which limits the movement range of the front movable frame in the front and rear directions.

[0073] The clamping piece is fastened between the front blade and the left and right push plates, and the blade has a protruding length greater than the protruding length of the clamping piece.

[0074] The steering gear is fastened to the front end of the front movable frame, and the output shaft vertically passes through the front movable frame and extends into the interior of the front support member.

[0075] The output shaft end of the steering gear is engaged with the left and right push plates by means of a gear rack meshing mode, and the output shaft of the steering gear rotates to drive the left and right push plates to perform relative linear motion in the left and right directions.

[0076] This embodiment provides a picking actuator that is adaptive to the growth posture of tomatoes, including a connecting frame, a driving module, a visual module, a swinging module, an up and down swinging module, and a picking and contraction shearing picking module. The driving module and the visual module are arranged on the connecting frame; the visual module identifies the growth posture of tomatoes; the driving module controls the up and down movement of the swinging module; the picking clamping module is arranged on the swinging module; when the visual module identifies the target information, the driving module drives the swinging module to generate a corresponding swinging movement; the picking and contraction shearing picking module completes the picking of the target.

[0077] The present embodiment has a simple structure and can reduce the requirements for visual recognition accuracy by shearing the fruit stems through the looping and contraction shearing picking method. The swinging, looping and contraction shearing picking structure provided in the present embodiment can generate a swinging motion according to the tomato orientation information recognized by the camera, so that the blade is perpendicular to the tomato stems during the picking process, which can improve the accuracy of shearing the fruit stems.

[0078] Embodiment 3:

[0079] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1.

[0080] This embodiment provides a picking hand that is adaptive to the growth posture of tomatoes for picking tomatoes.

[0081] According to the present embodiment, a picking hand that is adaptive to tomato growth posture for tomato picking includes a connecting frame, a driving module, a visual module, a swing module, and a sleeve and shrinking shear picking module, wherein: the visual module is installed on the connecting frame; the driving module is installed on the connecting frame; the swing module is arranged on the driving module; the driving module drives the swing module to swing up and down through the forward and reverse rotation of the servo brushless motor; the sleeve and shrinking shear picking module is arranged on the swing module; when the picking action is performed, the sleeve and shrinking shear picking module is driven by the cylinder and the servo gear to complete the shearing and clamping of the tomato stalks.

[0082] The visual module is a depth camera, wherein: the depth camera is fixedly connected to the front end of the connecting frame.

[0083] The driving module is a servo brushless motor, wherein: the servo brushless motor is fixedly connected to the side of the connecting frame.

[0084] The swing module includes a swing structure, wherein: the swing structure is fixedly connected to the output end of the servo brushless motor, and the swing structure is driven by the servo brushless motor to rotate around the output shaft of the servo brushless motor.

[0085] The sleeve and shrinking shear picking module includes: a rear fixed frame, a front movable frame, a cylinder, a steering gear, a front blade, a front support, a clamping piece, a left push plate, a left push plate blade, a right push plate, a right push plate blade and a sleeve frame, wherein: the rear fixed frame is fastened to the swing structure; the sleeve frame is fastened to the swing structure; the front movable frame is arranged above the rear fixed frame, and the front movable frame can move linearly along the front and rear direction; the piston rod of the cylinder is fastened to the rear fixed frame, and the cylinder body is fastened to the front movable frame, and the front movable frame is driven by the cylinder to enable the front movable frame to move linearly along the front and rear direction relative to the rear fixed frame; the front blade is fixedly connected to the front end of the front movable frame; the steering gear is fixedly connected to the front end of the front movable frame; the front support frame is fixedly connected to the front end of the front movable frame; the left push plate and the right push plate are fixedly connected to the front end of the front movable frame; the left push plate blade and the right push plate blade are respectively fixedly connected to the left push plate and the right push plate.

[0086] During the shearing process, the left and right push plates can push the tomato stems in the frame to the middle area of ​​the frame to ensure the shearing and clamping effects. The clamping piece is arranged in the middle of the front blade and the clamping piece. The left and right push plates are arranged between the clamping piece and the front support member.

[0087] This embodiment adopts a method of collecting tomato fruits by sleeving, and the tomato positioning can be achieved by only obtaining the approximate position of the tomato, which can reduce the need for visual accuracy. The swing structure provided in this embodiment can rotate according to the visual information, ensuring that the shear blade and the tomato stalk are relatively vertical during the picking process, which can improve the success rate of picking. The shearing and clamping structure provided in this embodiment makes the shearing and clamping of the stalk synchronous during the picking process, improving the efficiency and stability of the picking action.

[0088] Embodiment 4:

[0089] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1.

[0090] like Figure 1-9 As shown, this embodiment provides a picking actuator that is adaptive to the growth posture of tomatoes. A motor is used to increase a swing degree of freedom, and the pitch angle is adjusted according to the tomato orientation information provided by the camera. The picking action is completed by using a cylinder and a servo drive.

[0091] Furthermore, if Figure 1-3As shown, the picking actuator for adaptive tomato growth posture in this embodiment includes a connecting frame 1, an image acquisition component 2, a drive motor 3, a swing structure 4, a rear fixed frame 5, a sleeve frame 6, a front movable frame 7, a cylinder piston end 8, a cylinder body end 9, a steering gear 10, a front support 11, a left push plate 12, a right push plate 13, a front blade 14, a clamping piece 15, a left push plate blade 16 and a right push plate knife 17. The image acquisition component 2 is a camera, and the drive motor 3 is a servo brushless motor.

[0092] The camera and the brushless servo brushless motor are fixed to the connecting frame 1 by bolts. The swing structure 4 is fixed to the output end of the brushless servo motor by bolts, and is driven by the brushless servo motor so that the swing structure 4 can rotate around the output shaft of the servo brushless motor 3. The rear fixed frame is fixed to the swing structure 4 by bolts. The sleeve frame 6 is fixedly connected to the swing structure 4 by screws. The servo 10 is fixed to the front end of the front movable frame 7 by bolts. The front blade 14, the clamping plate 15, the left push plate 12, the right push plate 13 and the front support member 11 are stacked in sequence from top to bottom under the front movable frame 7, and the front blade 14, the clamping plate 15 and the front support member 11 are fixed to the front movable frame 7 by bolts. The output shaft end of the servo 10 extends downward into the interior of the front support 11, and engages with the left push plate 12 and the right push plate 13 in a gear rack meshing manner. The servo 10 can drive the left push plate 12 and the right push plate 13 to make relative linear motion in the left and right directions, and centering motion. The cylinder body end 9 is fastened to the front movable frame 7 by a nut, and the cylinder piston end 8 is fastened to the rear fixed frame 5 by a nut. The front movable frame 7 is placed above the rear fixed frame 5 and the sleeve frame 6, so that the cylinder piston rod end 8 and the cylinder body end 9 are driven by the cylinder to produce relative displacement in the front and rear directions, driving the front movable frame 7 to produce relative displacement in the front and rear directions relative to the rear fixed frame 5. The left push plate blade 16 is fastened to the left push plate 12 by screws, and the right push plate blade 17 is fastened to the right push plate 13 by screws. The movement of the left and right push plates causes the left push plate blade 16 and the right push plate blade 17 to move closer and farther.

[0093] like Figure 4 and Figure 5 As shown, the picking actuator completes the adaptive swinging action according to the tomato posture. The servo brushless motor rotates about 30 degrees clockwise, causing the swing body structure 4 to rotate about 30 degrees clockwise. At this time, the cutting edge of the front blade 14 is vertical to the tomato stalk 19.

[0094] like Figure 6 and Figure 7As shown, the picking actuator is in the state of picking after adjusting its posture according to the visual information. The front movable frame 7 is driven by the cylinder to produce a linear displacement in the front and rear directions relative to the rear fixed frame 5. The front blade 14, the clamping piece 15, the left push plate 12, the right push plate 13 and the front support 11 fixedly connected to the front end of the front movable frame 7 also move forward. The front blade 14 enters the rectangular groove at the front end of the sleeve frame 6 to complete the shearing of the tomato stalk 19. At the same time, the steering gear 10 drives the left push plate 12 and the right push plate 13 to perform a centering movement, so that the left push plate blade 16 and the right push plate blade 17 are close to each other, and the tomato stalk 19 is sheared again. The clamping piece 15 and the front end of the sleeve frame 6 produce a certain amount of extrusion to complete the clamping of the tomato stalk 19.

[0095] The process of picking tomatoes is as follows: first, the camera locates the tomato bunch and obtains the orientation information of the tomato bunch. The servo brushless motor 3 is driven to rotate the swing structure 4 to a suitable angle, at which time the cylinder piston end 8 is not extended relative to the cylinder body end 9; when the tomato bunch enters the frame, the fruit stalk is in a suitable position, and the cylinder is driven to make the cylinder piston end 8 relative to the cylinder body end 9 to produce relative displacement, driving the front movable frame 7 to produce relative displacement in the front and rear directions relative to the rear fixed frame 5, so that the front blade 14 and the clamping piece 15 move forward to the front end of the frame 6 to complete the clamping and preliminary shearing. The servo 10 drives the left push plate 12 and the right push plate 13 to perform a centering movement, so that the left push plate blade 16 and the right push plate blade 17 are close to each other, and the fruit stalk is sheared again to complete the picking action, wherein the clamping of the fruit stalk is achieved by squeezing the clamping piece 15 and the frame 6.

[0096] The swing structure provided in the present invention can adaptively adjust the swing angle according to the growth posture of tomatoes, so that the blade and the tomato stalk are relatively vertical during the shearing process, thereby ensuring the efficiency and success rate of shearing. The present invention uses a sleeve frame to pick tomatoes, thereby reducing the requirements for visual positioning accuracy of tomatoes. The shearing and clamping part structure provided in the present invention improves the synchronization of shearing and clamping of tomato stalks, thereby ensuring the stability of tomato picking.

[0097] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0098] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A picking actuator that is self-adaptive to tomato growth posture, characterized in that: include: A first driving component, a rear fixed frame (5), a sleeve frame (6), a front movable frame (7), a second driving component and an image acquisition component (2); The image acquisition component (2) is connected to the first driving component; the rear fixing frame (5) and the sleeve frame (6) are drivingly connected to the first driving component, and the first driving component is used to drive the rear fixing frame (5) and the sleeve frame (6) to rotate, so as to adjust the sleeve frame (6) to take the tomato stalk (19) at an angle; The rear fixed frame (5) is provided with a second driving assembly, and the front movable frame (7) is drivingly connected to the second driving assembly, and the second driving assembly is used to drive the front movable frame (7) to move in a direction close to the sleeve area of ​​the sleeve frame (6); the front movable frame (7) is provided with a shearing assembly, and the front movable frame (7) can drive the shearing assembly to the position where the tomato stalk (19) is located.

2. The picking actuator capable of self-adapting tomato growth posture according to claim 1, characterized in that: The shearing assembly comprises a third driving assembly, a left push plate (12) and a right push plate (13) arranged on the front movable frame (7); The left push plate (12) and the right push plate (13) are drivingly connected to the third driving assembly, and the third driving assembly can drive the left push plate (12) and the right push plate (13) to move closer to and away from each other; The left push plate (12) is provided with a left push plate blade (16), and the right push plate (13) knife is provided on the right push plate (13). The left push plate blade (16) and the right push plate (13) knife can shear the tomato stalk (19) by bringing the left push plate (12) and the right push plate (13) closer to each other.

3. The picking actuator capable of self-adapting tomato growth posture according to claim 2 is characterized in that: The third driving assembly comprises a steering gear (10) and a front support member (11); The steering gear (10) and the front support member (11) are arranged on the front movable frame (7); a first sliding groove (1101) is arranged on the front support member (11); and a driving end of the steering gear (10) is located in the first sliding groove (1101); The left push plate (12) is provided with a first rack (1201), and the right push plate (13) is provided with a second rack (1301), and the first rack (1201) and the second rack (1301) are relatively arranged in the first sliding groove (1101); The driving end of the steering gear (10) is meshedly connected with the first rack (1201) and the second rack (1301) via a gear, and the gear is located between the first rack (1201) and the second rack (1301).

4. The picking actuator capable of self-adapting tomato growth posture according to claim 3 is characterized in that: The third driving assembly further comprises a front blade (14) and a clamping piece (15); The clamping plate (15) is arranged on the front support member (11), the front blade (14) is clamped between the clamping plate (15) and the front movable frame (7), the first rack (1201) and the second rack (1301) are between the clamping plate (15) and the front support member (11), and the first rack (1201) and the second rack (1301) are capable of moving on the front support member (11).

5. The picking actuator capable of self-adapting tomato growth posture according to claim 1, characterized in that: The first driving component comprises a driving motor (3) and a swinging structure (4); The swing structure (4) is drivingly connected to the drive motor (3), and the drive motor (3) drives the swing structure (4) to rotate; The rear fixing frame (5) and the sleeve frame (6) are connected to the swing structure (4), and the swing structure (4) drives the rear fixing frame (5) and the sleeve frame (6) to rotate.

6. The picking actuator capable of self-adapting tomato growth posture according to claim 1, characterized in that: The second drive assembly includes a drive cylinder; The cylinder piston end (8) of the driving cylinder is connected to the rear fixed frame (5), and the cylinder body end (9) of the driving cylinder is connected to the front movable frame (7).

7. The picking actuator capable of self-adapting tomato growth posture according to claim 1, characterized in that: The image acquisition component (2) is a camera.

8. The picking actuator capable of self-adapting tomato growth posture according to claim 1, characterized in that: The front movable frame (7) is provided with a second sliding groove (701); The frame side wall (601) of the sleeve frame (6) is located in the second sliding groove (701), and the front movable frame (7) moves along the frame side wall (601) of the sleeve frame (6) through the second sliding groove (701).

9. The picking actuator capable of self-adapting tomato growth posture according to claim 1, characterized in that: The sleeve end (602) of the sleeve frame (6) is V-shaped.

10. The picking actuator capable of self-adapting to tomato growth posture according to claim 2, characterized in that: The left push plate (12) is provided with a left guide bevel (1202), the right push plate (13) is provided with a right guide bevel (1302), and a gathering channel is provided between the left guide bevel (1202) and the right guide bevel (1302); The left push plate (12) is provided with a left limiting plane (1203), the right push plate (13) is provided with a right limiting plane (1302), and a shearing channel is provided between the left limiting plane (1203) and the right limiting plane (1302); The shearing end of the left push plate blade (16) and the shearing end of the right push plate blade (17) are located in the shearing channel, and the tomato stalk (19) enters the shearing channel through the gathering channel.

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