Shearing and clamping integrated citrus harvesting end effector based on bionics

Abstract

The invention provides a shearing and clamping integrated citrus harvesting end effector based on bionics. The shearing and clamping integrated citrus harvesting end effector is structurally composed of a shearing and clamping device designed based on the bionics of bread crabs, a connecting base, a transmission device, a power source, a mechanical arm connecting base device and the like. The shearing and clamping device is composed of a movable shear, a fixed shear and a clamping module installed on the movable shear and the fixed shear, and fruit stems are fixed and sheared synchronously through the cooperative action of a shearing tool and the clamping module. The transmission device adopts a connecting rod mechanism, converts torque output by the power source into rotating torque of the shearing device and drives the shearing and clamping device to execute shearing and clamping operation. A power source is a steering engine, and output angular displacement of the steering engine is accurately controlled according to parameters of diameters of different types of citrus stems, so that accurate operation of the shearing and clamping mechanism is driven; the mechanical arm connecting base is a standardized connecting module between the end effector and the mechanical arm, so that the end effector can be conveniently mounted on the mechanical arm to perform corresponding harvesting operation; the connecting base is connected with the shearing and clamping device, the transmission device and the mechanical arm connecting device to play a main role in bearing; the invention aims to provide the citrus lossless harvesting end effector which is simple in structure, small and exquisite in size, convenient to control accurately and driven only by a single power source, so that large-scale production and application of the citrus lossless harvesting end effector in a citrus orchard are realized, and the citrus harvesting efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural picking robots, and in particular to a bionics-based shear-clamp integrated citrus harvesting end effector. Background Art

[0002] The popularization of agricultural mechanization and the application of intelligent technology have become the key ways to solve the current bottleneck of agricultural production. In the field of intelligent citrus harvesting, the core issue is how to achieve accurate picking of citrus on the tree under the premise of high efficiency and low loss. As a key component in the citrus intelligent harvesting equipment that directly contacts the fruit, the performance of the end effector directly determines the efficiency of harvesting and the rate of fruit damage, and is the core link in improving the level of agricultural harvesting mechanization.

[0003] Existing citrus picking end effectors usually reduce damage to citrus during the picking process by optimizing the fruit fixing device, such as fixing and clamping the fruit through flexible claws or suction cups. However, these devices often require multiple power sources and have complex structures, which results in a large end effector and makes it difficult to efficiently pick citrus fruits deep into densely populated foliage trees. Due to the complex mechanical structure, high failure rate, and strict requirements on the control system, it is difficult to adapt to the actual needs of large-scale orchards. Therefore, there is an urgent need for an end effector with a simple structure, compact size, and high efficiency to achieve non-destructive picking of citrus.

[0004] The bionics-based shear-clamp integrated citrus harvesting end effector proposed in the present invention has a simplified structure and a compact size, and can achieve accurate and non-destructive picking of citrus. Its design is not only conducive to the precise control of the equipment, but also can effectively promote the large-scale promotion and application of citrus orchards, and help to comprehensively improve the level of agricultural intelligence. Summary of the invention

[0005] In response to the above-mentioned problems, the present invention provides a bionics-based shear-clamp integrated citrus harvesting end effector, which can achieve efficient and low-loss picking in citrus orchards, facilitate precise control through a single power source servo, and can solve the problems of low citrus picking rate, high failure rate, easy fruit damage and difficulty in large-scale promotion caused by traditional citrus picking end effectors due to their large size, multiple power sources and complex structure.

[0006] The purpose and function of the end effector of the suction-holding citrus picking robot described in the present invention are achieved by adopting the following technical solutions: A bionics-based shear-clamp integrated citrus harvesting end effector, which is mainly composed of a shear clamping device 1, a connecting base 2, a transmission device 3, a steering gear 4, a mechanical arm connecting device 5, etc. Specifically, the shear clamping device 1 includes a movable shear 101, a fixed shear 102, a clamping block 103, and a clamping block 104. The clamping block 103 and the clamping block 104 are respectively fixed to the movable shear 101 and the fixed shear 102. The transmission device 3 includes a connecting rod 1 301, a connecting rod 2 302, a stud 303, a steering gear 4, and a mechanical arm connecting device 5. The steering gear flange 304 and the steering disc 305 are fixed together, the steering gear flange 304 and the connecting rod 2 302 are connected through the stud 303, the connecting rod 1 301 and the connecting rod 2 302 are connected through a movable rotating connector, the steering gear 4 is connected to the steering disc 305, the mechanical arm connecting device 5 includes a fixed support 501, a fixed end 1 502 and a fixed end 2 503, the connecting base 2 is connected with the shear clamping device 1, the transmission device 3, and the mechanical arm connecting device 5, and plays a major role in bearing; The fixed end 1 (502) and the fixed end 2 (503) in the mechanical arm connection device (5) are connected by threads, and the fixed support (501) fixes the fixed end 1 (502) and the fixed end 2 (503) by flange connection. At the same time, the fixed end 1 (502) and the external mechanical arm are fixed by reserved threaded holes. After receiving the mechanical arm signal, the power source steering gear (4) rotates to drive the steering gear flange (304), the steering plate (305), and the connecting rod 2 (302) to rotate, thereby driving the connecting rod 1 (301) to move, and the fixed scissors (102) are fixed on the connecting rod 1 (30 1), the citrus stalk is rotated around the rotating shaft under the drive of the robot arm to realize the fruit stem shearing action; during the fruit stem shearing process, the clamping block 1 (103) and the clamping block 2 (104) are engaged and fixed to the fruit stem just above the fruit, and the movable scissors (101) and the fixed scissors (102) fixedly connected to the clamping block 1 (103) and the clamping block 2 (104) realize the synchronous shearing of the fruit stem. After the fruit stem shearing is completed, the citrus stalk fixedly clamped by the clamping block 1 (103) and the clamping block 2 (104) moves to a certain position under the action of the robot arm to execute the opening action of the end effector; During the opening action of the end effector, after receiving the signal from the mechanical arm, the servo 4 performs a reset action opposite to the shearing and clamping action of the end effector, and rotates to drive the servo flange 304, the steering wheel 305, and the second connecting rod 302 to rotate in the opposite direction, thereby driving the first connecting rod 301 to move, and the fixed scissors 102 rotates in the opposite direction around the rotating shaft driven by the first connecting rod 301, thereby realizing the opening action of the end effector; the end effector drives the servo 4 to rotate forward and reversely under the drive of the mechanical arm signal, realizing the reciprocating cycle of shearing and clamping and the opening action of the end effector; Preferably, the bionic design of the shearing and clamping device is based on the following considerations: like Figure 5 As shown in (a), the sliding cutting curve on the shearing blade of the movable scissors 101 in the shearing clamping device 1 is extracted based on the sliding cutting contour of the claw of an adult brown crab, and the curve equation after fitting is: The curve contour of the clamping part of the clamping block 1 (103) and the clamping block 2 (104) is extracted and fitted based on the convex contour of the clamping fixed part of the adult crab claw, and the curve equation after fitting is: , where the major axis length 2a of the ellipse is 30.95 units and the minor axis length 2b is 28.65 units.

[0007] Compared with the prior art, the present invention has the following advantages and positive effects: The end effector is a bionics-designed integrated shear-clamp citrus harvesting end effector that can simultaneously cut and clamp the citrus stalks. The motor can achieve precise control of the cutting and clamping of different types of citrus stalks, avoiding direct contact between the end effector and the citrus fruit, thus achieving non-destructive picking of citrus.

[0008] The end effector has the characteristics of simple structure and single power source, which effectively avoids the problems of high failure rate and difficult control caused by complex structure. In addition, the end effector is small in size and flexible, and can adapt to the picking operation in complex orchards. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings constituting part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 Schematic diagram of the overall structure Figure 2 A partial schematic diagram of the shear clamping device Figure 3 A partial schematic diagram of the transmission device Figure 4 A partial schematic diagram of the robotic arm connection device Figure 5 Basic schematic diagram of bionic curve contour Implementation

[0010] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but it should not be understood that the above subject matter of the present invention is limited to the following embodiments. Without departing from the above technical ideas of the present invention, various substitutions and changes are made according to common technical knowledge and customary means in the field, which should all be included in the protection scope of the present invention.

[0011] A bionics-based shear-clamp integrated citrus harvesting end effector, whose main structure includes: a shearing and clamping device 1, a connecting base 2, a transmission device 3, a steering gear 4, and a mechanical arm connecting device 5, specifically: a movable shear 101, a fixed shear 102, a clamping block 103, a clamping block 2 104, a connecting base 2, a connecting rod 1 301, a connecting rod 2 302, a stud 303, a steering gear flange 304, a steering disc 305, a steering gear 4, a fixed support 501, a fixed end 1 502, and a fixed end 2 503.

[0012] This device is fixed to the end of the robot arm by connecting the robot arm connecting device 5. The entire end effector performs shearing, clamping and resetting actions under the motion control of the robot arm. Figure 1 To Attachment Figure 5 The present invention is described in detail: The shearing and clamping device 1 includes a movable scissors 101, a fixed scissors 102, a clamping block 103, and a clamping block 2 104. The clamping block 103 and the clamping block 2 104 are respectively fixed to the movable scissors 101 and the fixed scissors 102. The transmission device 3 includes a connecting rod 1 301, a connecting rod 2 302, a stud 303, a steering gear flange 304, and a steering disc 305. The steering gear flange 304 is fixed to the steering disc 305. The steering gear flange 304 is connected to the connecting rod 2 302 through the stud 303. The connecting rod 1 301 is connected to the connecting rod 2 302 through a movable rotating connector. The steering gear 4 is connected to the steering disc 305. The mechanical arm connecting device 5 includes a fixed support 501, a fixed end 1 502 and a fixed end 2 503. The connecting base 2 is connected to the shearing and clamping device 1, the transmission device 3, and the mechanical arm connecting device 5, and plays a major bearing role. The fixed end 1 502 and the fixed end 2 503 in the mechanical arm connection device 5 are connected by threads, and the fixed support (501) fixes the fixed end 1 502 and the fixed end 2 503 by flange connection. At the same time, the fixed end 1 502 is fixed to the external mechanical arm through a reserved threaded hole; after the power source steering gear 4 receives the mechanical arm signal, it rotates to drive the steering gear flange 304, the steering plate 305, and the connecting rod 2 302 to rotate, thereby driving the connecting rod 1 301 to move, and the fixed scissors 102 are driven by the connecting rod 1 301. The robot arm 104 rotates around the rotating shaft to realize the fruit stem shearing action; during the fruit stem shearing process, the clamping block 103 and the clamping block 2 104 are engaged and fixed to the fruit stem just above the fruit, and the movable scissors 101 and the fixed scissors 102 fixedly connected to the clamping block 103 and the clamping block 2 104 realize the synchronous shearing of the fruit stem. After the fruit stem shearing is completed, the citrus fruit stem fixedly clamped by the clamping block 103 and the clamping block 2 104 moves to a certain position under the action of the robot arm to perform the opening action of the end effector; During the opening action of the end effector, after receiving the signal from the robot arm, the servo 4 performs a reset action opposite to the shearing and clamping action of the end effector, and rotates to drive the servo flange 304, the steering wheel 305, and the connecting rod 2 302 to rotate in the opposite direction, thereby driving the connecting rod 1 301 to move. The fixed scissors 102 rotates in the opposite direction around the rotating axis under the drive of the connecting rod 1 301, thereby realizing the opening action of the end effector; the end effector drives the servo 4 to rotate forward and reversely under the drive of the robot arm signal, thereby realizing the reciprocating cycle of shearing and clamping and the opening action of the end effector.

[0013] The above are only preferred embodiments of the present invention, not all embodiments. Anyone should be aware that any structural changes made under the inspiration of the present invention, and any technical solutions that are the same or similar to the present invention, belong to the protection scope of the present invention.

Claims

1. A bionics-based shear-clamp integrated citrus harvesting end effector, characterized by: The invention mainly comprises a shearing and clamping device (1), a connecting base (2), a transmission device (3), a steering gear (4), a mechanical arm connecting device (5), etc., specifically comprising: a movable shear (101), a fixed shear (102), a clamping block 1 (103), a clamping block 2 (104), a connecting base (2), a connecting rod 1 (301), a connecting rod 2 (302), a stud (303), a steering gear flange (304), a steering disc (305), a steering gear (4), a fixed support (501), a fixed end 1 (502), and a fixed end 2 (503).

2. The bionics-based shear-clamp integrated citrus harvesting end effector according to claim 1, characterized in that: The shearing and clamping device (1) comprises a movable shear (101), a fixed shear (102), a clamping block 1 (103), and a clamping block 2 (104); the clamping block 1 (103) and the clamping block 2 (104) are respectively fixed to the movable shear (101) and the fixed shear (102); the transmission device (3) comprises a connecting rod 1 (301), a connecting rod 2 (302), a stud (303), a steering gear flange (304), and a steering disc (305); the steering gear flange (304) and the steering disc (305) are fixed to Together, the steering gear flange (304) is connected to the second connecting rod (302) through a stud (303), the first connecting rod (301) is connected to the second connecting rod (302) through a movable rotating connecting piece, the steering gear (4) is connected to the steering plate (305), the mechanical arm connecting device (5) includes a fixed support (501), a fixed end one (502) and a fixed end two (503), and the connecting base (2) is connected to the shear clamping device (1), the transmission device (3) and the mechanical arm connecting device (5) to play a major bearing role; The fixed end 1 (502) and the fixed end 2 (503) in the mechanical arm connection device (5) are connected by threads, and the fixed support (501) fixes the fixed end 1 (502) and the fixed end 2 (503) by flange connection. At the same time, the fixed end 1 (502) and the external mechanical arm are fixed by reserved threaded holes. After receiving the mechanical arm signal, the power source steering gear (4) rotates to drive the steering gear flange (304), the steering plate (305), and the connecting rod 2 (302) to rotate, thereby driving the connecting rod 1 (301) to move, and the fixed scissors (102) are fixed on the connecting rod 1 (30 1), the citrus fruit stem is rotated around the rotating shaft under the drive of the mechanical arm to realize the fruit stem shearing action; during the fruit stem shearing process, the clamping block 1 (103) and the clamping block 2 (104) are engaged and fixed to the fruit stem just above the fruit, and the movable scissors (101) and the fixed scissors (102) fixedly connected to the clamping block 1 (103) and the clamping block 2 (104) realize the synchronous shearing of the fruit stem. After the fruit stem shearing is completed, the citrus fruit stem fixedly clamped by the clamping block 1 (103) and the clamping block 2 (104) moves to a certain position under the action of the mechanical arm to execute the opening action of the end effector; During the opening action of the end effector, after receiving the signal from the mechanical arm, the steering gear (4) performs a reset action opposite to the shearing and clamping action of the end effector, and rotates to drive the steering gear flange (304), the steering plate (305), and the second connecting rod (302) to rotate in the opposite direction, thereby driving the first connecting rod (301) to move, and the fixed scissors (102) rotates in the opposite direction around the rotating shaft under the drive of the first connecting rod (301), thereby realizing the opening action of the end effector; the end effector drives the steering gear (4) to rotate in the forward and reverse directions under the drive of the mechanical arm signal, thereby realizing the reciprocating cycle of shearing and clamping and the opening action of the end effector.

3. According to the bionics-based shear-clamp integrated citrus harvesting end effector of claim 1, the technical solution adopted to achieve the purpose of the present invention also includes the following contents: The sliding cutting curve on the shearing blade of the movable scissors (101) is extracted based on the sliding cutting contour of the claw of an adult brown crab, and the curve equation after fitting is: ; The curve contour of the clamping part of the clamping block 1 (103) and the clamping block 2 (104) is extracted and fitted based on the convex contour of the clamping fixed part of the adult crab claw, and the curve equation after fitting is: , in, The length 2a of the major axis of the ellipse is 30.95 units, and the length 2b of the minor axis is 28.65 units.

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