Rotary cutting type citrus lossless picking end effector

Abstract

The utility model provides a rotary cutting type citrus lossless picking end effector which comprises a comb tooth type fruit catching ring, an annular serrated knife, an upper housing, an end effector supporting frame, a lower housing, a main body mounting frame, a corrugated hose, a pinion, a motor, a bearing, a motor support and an annular serrated knife mounting frame. An annular serrated knife is fixed to the inner ring of the annular serrated knife installation frame, a gear is arranged on the outer ring of the annular serrated knife installation frame, a small gear is installed on the motor, comb teeth are evenly distributed on the end face of the comb tooth type fruit catching ring, and U-shaped gaps are formed between the comb teeth. During picking operation, the comb tooth type fruit catching ring is used for sleeving fruits, fruit stems fall between comb tooth gaps under the action of gravity, and the motor drives the annular serrated knife mounting frame on the outer ring of the bearing to rotate, so that the annular serrated knife is driven to rotate to quickly saw the fruit stems; according to the fruit picking device, fast and efficient picking can be achieved, fruits are effectively protected from being damaged by the cutter, and lossless picking is achieved.

Description

Technical Field

[0001] The utility model relates to the field of citrus picking, in particular to a citrus non-destructive picking end effector. Background Art

[0002] my country is one of the important origins of citrus, and citrus is also one of the pillar industries of agriculture in the hilly areas of southwest my country. The annual output of citrus in the hilly areas of southwest China accounts for 21% of the national annual output. However, at present, citrus picking in the hilly areas of southwest China and even across the country is mostly done manually, with low efficiency and high cost (picking costs account for 50% to 70% of the cost), and the quality of picking is difficult to guarantee. Citrus picking robots can reduce labor costs, improve picking efficiency and operation quality, and have great development potential.

[0003] The end effector of the harvesting robot is one of the key components of the harvesting robot, so the research and development of the end effector of citrus harvesting is of great significance to improving the production efficiency of citrus. Most of the current end effectors of citrus harvesting complete the harvesting by shearing the fruit stem. This method requires high accuracy of robot vision recognition, requires accurate positioning of the fruit stem position before completing the shearing, and has certain requirements for the shearing force. In addition, this method needs to reset the shearing mechanism after completing the shearing of the fruit stem before the next shearing can be performed. Utility Model Content

[0004] In view of the shortcomings of the above-mentioned background technology, the utility model provides a rotary cutting citrus non-destructive picking end effector, which is equipped with a bearing-supported annular serrated knife to rotate and cut the citrus fruit stalks. At the same time, the comb-tooth fruit capture ring can protect the citrus from damage when picking citrus to achieve non-destructive picking, while improving the efficiency of citrus picking.

[0005] In order to achieve the purpose of non-destructive and rapid picking of citrus, the utility model provides the following technical solutions: a rotary cutting type non-destructive citrus picking end effector, comprising a motor, a bearing, an annular serrated knife, a comb-toothed fruit catching ring, a pinion, a corrugated hose, a motor bracket, an annular serrated knife mounting frame, an end effector bracket, a lower cover shell, an upper cover shell, and a main body mounting frame. The annular serrated knife is mounted on the annular serrated knife mounting frame, the annular serrated knife mounting frame is mounted on the outer ring of the bearing, the inner ring of the bearing is mounted on the thin-walled round tube at the upper end of the main body mounting frame, the motor is mounted on the motor bracket and fixed on the motor mounting plane of the main body mounting frame, the pinion is meshed with the gear on the annular serrated knife mounting frame, the lower cover shell is mounted on the side of the main body mounting frame and the inner side of the upper cover shell, the upper cover shell is used to protect the overall device, especially the gear meshing part, and the end effector support frame is used to connect the overall device and the mechanical arm.

[0006] Preferably, the annular serrated knife is mounted on an annular serrated knife mounting frame, and threaded holes are provided on the annular serrated knife and the annular serrated knife mounting frame, and the annular serrated knife and the annular serrated knife mounting frame are fixed by hexagon socket set screws.

[0007] Preferably, the annular serrated knife mounting frame is mounted on the outer ring of the bearing, a threaded hole is provided on the gear of the annular serrated knife mounting frame, and the annular serrated knife mounting frame and the outer ring of the bearing are fixedly mounted by means of hexagon socket set screws.

[0008] Preferably, the bearing inner ring is mounted on the thin-walled circular tube at the upper end of the main body mounting frame, and the bearing inner ring is in contact with the raised inner circular ring on the upper end surface of the main body mounting frame.

[0009] Preferably, the pinion is meshed with a gear on an annular serrated knife mounting frame, and limiting rings are provided on both end faces of the gear of the annular serrated knife mounting frame, and the maximum diameter of the gear end face limiting ring is larger than the top circle diameter of the gear.

[0010] Preferably, the lower cover shell is installed on the outside of the main body mounting frame and the inside of the upper cover shell, and the upper and lower cover shells are fixed to the main body mounting frame by screws.

[0011] Preferably, the upper cover shell is used to protect the entire device, and the upper end surface of the upper cover shell is sleeved on the outside of the comb-tooth type fruit catching ring and is lower than the bottom end of the comb-tooth interval concave surface of the comb-tooth type fruit catching ring.

[0012] Compared with the prior art, the utility model provides a rotary cutting type citrus non-destructive picking end effector, which has the following beneficial effects: the rotation of the annular serrated knife in the utility model is achieved by transmitting power through a high-speed motor using a gear transmission method, and a large-diameter rolling bearing is used to connect the main mounting frame and the annular serrated knife mounting frame, which can reduce friction resistance and ensure operational stability; when picking, a comb-toothed fruit catching ring is used to cover the fruit, and the fruit stalk falls between the comb tooth gaps under the action of gravity, and the citrus stalk does not need to be accurately positioned. The citrus stalk is cut by the high-speed rotating annular serrated knife, and the cutting is fast. The shearing mechanism does not need to be reset after picking, and the picking efficiency is high; a protective device is installed on the rotating annular serrated knife, and the citrus does not touch the blade at all during picking, so non-destructive picking of citrus can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is an assembly diagram of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0014] Figure 2 This is an exploded view of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0015] Figure 3This is a cross-sectional view of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0016] Figure 4 This is a parts diagram of a comb-tooth fruit catching ring of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0017] Figure 5 This is a parts diagram of a circular serrated knife for a rotary cutting type non-destructive citrus picking end effector proposed by the utility model.

[0018] Figure 6 This is a parts diagram of a circular serrated knife mounting frame of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0019] Figure 7 This is a parts diagram of the main mounting frame of the rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0020] Figure 8 This is a parts diagram of the upper cover of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0021] Fig. 9 This is a parts diagram of the lower cover of a rotary cutting type citrus non-destructive picking end effector proposed by the utility model.

[0022] Legend: 1. Comb-tooth fruit catching ring; 2. Annular serrated knife; 3. Annular serrated knife mounting bracket; 4. Bearing; 5. Main body mounting bracket; 6. Pinion; 7. Motor bracket; 8. Motor; 9. Upper cover shell; 10. Lower cover shell; 11. End effector support bracket; 12. Corrugated hose; 13. Threaded hole; 14. Comb teeth; 15. Main body mounting bracket thin-walled round tube upper end surface fixing ring; 16. Bearing inner ring upper end surface fixing surface; 17. Threaded hole; 18. The inner raised ring on the upper end face of the main mounting frame; 19, the side face of the main mounting frame; 20, the outer raised ring on the upper end face of the main mounting frame; 21, the motor mounting plane; 22, the corrugated hose mounting round tube; 23, the threaded hole; 24, the groove; 25, the upper end face ring of the upper cover shell; 26, the threaded hole; 27, the annular serrated knife support surface; 28, the bearing outer ring mounting plane; 29, the threaded hole; 30, the gear; 31, the gear end face limit ring; 32, the threaded hole. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects of the utility model easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described here are only used to illustrate and explain the utility model, and the protection scope of the utility model is not limited to the specific implementation methods described below.

[0024] like Figures 1 to 3 As shown, the main mounting frame 5 is the core of the entire device, and the bearing 4 and the fixed comb-tooth fruit catching ring 1 are directly installed on the upper part thereof. The motor 8 is installed on the motor mounting plane 21 of the main mounting frame 5 through the motor bracket 7; the upper cover shell 9, the lower cover shell 10, and the end effector support frame 11 are fixed together on the side 19 of the main mounting frame 5; and the corrugated hose 12 is connected to the bottom of the main mounting frame 5.

[0025] Furthermore, the bearing 4 is installed on the main mounting frame 5, and the bearing 4 is coaxially and tightly fitted with the thin-walled circular tube part on the upper end surface of the main mounting frame 5. The raised inner ring 18 on the upper end surface of the main mounting frame 5 supports the lower surface of the inner ring of the bearing 4, and the raised outer ring 20 on the upper end surface of the main mounting frame 5 limits the deformation of the bearing.

[0026] Furthermore, an annular serrated knife mounting bracket 3 is fixed on the outer ring of the bearing 4, and there are 8 evenly spaced threaded holes along the circumference of the gear of the annular serrated knife mounting bracket 3. The annular serrated knife mounting bracket 3 is fixed to the outer ring of the bearing 4 by means of hexagon socket set screws. After installation, the hexagon socket set screws are lower than the toothed portion of the gear.

[0027] Furthermore, four countersunk threaded holes are provided at the motor mounting plane 21 on the main body mounting frame 5 to mount and fix the motor bracket 7 .

[0028] Furthermore, the motor bracket 7 is used to fix the motor 8, a pinion 6 is mounted on the shaft of the motor 8, and the output shaft of the motor 8 is fixed to the pinion 6 by means of set screws.

[0029] Furthermore, the pinion 6 is meshed with the gear on the annular serrated knife mounting frame 3. The gear end face of the annular serrated knife mounting frame 3 is provided with a gear end face limiting ring 31. When the gears are meshed, the pinion 6 is within the two gear end face limiting rings.

[0030] Furthermore, there is an annular serrated knife support surface 27 inside the annular serrated knife mounting frame 3, and the inner wall of the annular serrated knife support surface 27 has 8 threaded holes 29 evenly distributed along the circumference. The annular serrated knife 2 is installed on the annular serrated knife support surface 27 of the annular serrated knife mounting frame 3 and fixed with a hexagon socket set screw.

[0031] Furthermore, the end face of the comb-tooth fruit catching ring 1 has evenly distributed comb teeth 14, and there are U-shaped gaps between the comb teeth. The tips of the comb teeth 14 are solid structures, and an annular gap for the rotation of the blade is opened at the bottom of the comb teeth 14. The annular serrated knife 2 is 15-20 mm higher than the bottom end face of the recessed part of the comb teeth 14. The annular serrated knife 2 rotates in the annular serrated knife gap of the comb-tooth fruit catching ring 1, and the comb-tooth fruit catching ring 1 does not contact the annular serrated knife 2.

[0032] Furthermore, a fixed surface 16 on the upper end face of the inner ring of the bearing at the bottom of the comb-toothed fruit catching ring 1 contacts the upper surface of the inner ring of the bearing 4, and threaded holes 13 evenly distributed along the circumference are provided inside the comb-toothed fruit catching ring 1. The threaded holes 13 are connected to the threaded holes 17 of the main mounting frame 5 for fixation. The comb-toothed fruit catching ring 1 will remain stationary during the entire working process of the component, and a circular serrated knife rotating gap is provided under its comb teeth, and the circular serrated knife 2 rotates in the circular serrated knife gap of the comb-toothed fruit catching ring 1.

[0033] Furthermore, the lower cover shell 10 is used to protect the motor, and is installed and positioned through the bottom corrugated hose mounting tube 22 of the main body mounting frame 5. The bottom of the lower cover shell 10 has a through hole with a diameter larger than the diameter of the bottom corrugated hose mounting tube 22 of the main body mounting frame 5 and smaller than the side 19 of the main body mounting frame. The lower cover shell 10 is provided with three evenly distributed threaded holes 26, and is fixed to the main body mounting frame 5 through these threaded holes 26.

[0034] Furthermore, the upper cover shell 9 is installed on the outside of the lower cover shell 10 to protect the motor and the annular serrated knife mounting bracket 3. The upper cover shell 9 is installed in the end effector support bracket 11. These four components are nested and installed in layers. They have threaded holes evenly distributed on the circumference for positioning and assembly.

[0035] Furthermore, the end effector support frame 11 is installed on the outer layer of the entire component to fix the upper cover 9, the lower cover 10 and the main body mounting frame 5 and connect the robot arm.

[0036] Working principle: During the picking operation, the utility model supplies power to the motor 8, which drives the annular serrated knife mounting frame 3 fixed on the outer ring of the bearing 4 to rotate, thereby driving the annular serrated knife 2 to rotate. At this time, the end effector is used to cover the citrus, and the citrus stalk will enter the comb tooth gap of the comb tooth fruit capture ring. Once the blade contacts the citrus stalk, it will cut the stalk. After the citrus stalk is cut, it will fall into the corrugated hose 12 and enter the citrus collection device.

[0037] Finally, it should be noted that: Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the utility model, and the scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. Rotary cutting type citrus non-destructive picking end effector, characterized by: The invention comprises a comb-toothed fruit catching ring (1), an annular serrated knife (2), an annular serrated knife mounting frame (3), a bearing (4), a main body mounting frame (5), a pinion (6), a motor bracket (7), a motor (8), an upper cover shell (9), a lower cover shell (10), an end effector support frame (11), and a corrugated hose (12); the invention is characterized in that the inner ring of the annular serrated knife mounting frame (3) is fixed with an annular serrated knife (2), the annular serrated knife mounting frame (3) is mounted on the outer ring of the bearing (4), the inner ring of the bearing (4) is fixed on the main body mounting frame (5), the main body mounting frame (5) is mounted on the end effector support frame (11), and when the motor (8) is working, power is transmitted to the annular serrated knife mounting frame (3) by means of a gear group meshing mode, thereby driving the annular serrated knife mounting frame (3) and the annular serrated knife (2) to rotate together.

2. The rotary cutting type citrus non-destructive picking end effector according to claim 1 is characterized in that: The annular serrated knife (2) is an annular knife structure with sharp serrations on the top. The annular serrated knife (2) is fixed on the annular serrated knife mounting frame (3) by means of fastening screws.

3. The rotary cutting type citrus non-destructive picking end effector according to claim 1 is characterized in that: The outer ring of the annular serrated knife mounting frame (3) is processed with a gear, the pressure angle and module of the gear and the pinion (6) on the annular serrated knife mounting frame (3) are the same, and the inner side of the annular serrated knife mounting frame (3) is fixed on the outer ring of the bearing (4).

4. The rotary cutting type citrus non-destructive picking end effector according to claim 1 is characterized in that: The inner ring of the bearing (4) is sleeved on the outer side of the thin-walled circular tube on the upper end surface of the main body mounting frame (5), and the lower end surface of the inner ring of the bearing (4) is in contact with the raised inner circular ring (18) on the upper end surface of the main body mounting frame.

5. The rotary cutting type citrus non-destructive picking end effector according to claim 1 is characterized by: The end surface of the comb-toothed fruit catching ring (1) is provided with comb teeth (14) evenly distributed, and there are U-shaped gaps between the comb teeth. The tips of the comb teeth (14) are solid structures, and the bottom of the comb teeth (14) is provided with an annular gap for the blade to rotate. The annular serrated knife (2) is 15-20 mm higher than the bottom end surface of the recessed part of the comb teeth (14), and the comb-toothed fruit catching ring (1) does not contact the annular serrated knife (2). The comb-toothed fruit catching ring (1) is fixed to the outer side of the thin-walled circular tube of the main body mounting frame (5) by means of hexagon socket set screws through threaded holes (13) and (17).

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