A vegetable harvesting robot
By designing a vegetable harvesting and clamping device with a rotating cylinder and jet assembly, the problem of easy breakage of vegetable leaves in the prior art is solved, efficient and stable vegetable harvesting is achieved, and the harvesting quality is improved.
Patent Information
- Application Number
- CN202110925084.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2021-08-12
- Publication Date
- 2025-06-24
- Estimated Expiration
- 2041-08-12
AI Technical Summary
When the existing vegetable harvesting and picking device picks up vegetables, the leaves are prone to break and scatter, resulting in waste and poor harvesting quality.
A vegetable harvesting and clamping device including a rotating cylinder, a pneumatic clamping jaw and clamping is designed. The clamping piece rotates by pulling the rotating shaft, clamping the planting cup separates from the planting plate at a certain inclination angle, and blows the vegetable leaves through the jet assembly to avoid pinching.
It effectively avoids the breakage and waste of vegetable leaves, improves the harvest quality of vegetables, and ensures the stability and efficiency of the harvesting process.
Smart Images
Figure CN113575109B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vegetable harvesting, and particularly to a vegetable harvesting clamping device and a robot. Background Art
[0002] Vegetables in a plant factory are planted in rows at fixed intervals on a flat planting board. At present, the harvesting of mature vegetables is completed by manually taking out the vegetables with hands and then trimming the roots with scissors. The manual harvesting method is not only inefficient, but also manual operation with hands will cause a certain degree of pollution to the vegetables. For some existing robotic arm clamping devices, when harvesting and clamping vegetables, they can only clamp the vegetables planted in planting cups in the vertical direction, causing them to separate from the vegetable planting board. During the vertical clamping process, the leaves between adjacent rows of vegetables will be pulled and the leaves will break and scatter, resulting in waste and ultimately affecting the harvesting quality. Summary of the Invention
[0003] Therefore, it is necessary to provide a vegetable harvesting clamping device to solve the problem that the leaves are easily broken and scattered when the existing clamping device clamps vegetables.
[0004] To achieve the above object, the present invention provides a vegetable harvesting clamping device, including a rotating cylinder, a pneumatic gripper and a pair of clamping pieces. The clamping pieces include a horizontal clamping piece and a vertical pulling piece. One end of the horizontal clamping piece is connected to the bottom end of the vertical pulling piece. A pulling rotating shaft is provided at the connection between the vertical pulling piece and the horizontal clamping piece. The clamping piece is pivotally connected to the output end of the pneumatic gripper through the pulling rotating shaft. The output shaft of the rotating cylinder is connected to the top end of the vertical pulling piece. The rotating cylinder drives the clamping piece to rotate with the pulling rotating shaft as the rotation center.
[0005] Furthermore, it further includes a jetting assembly. The jetting assembly includes an air nozzle, an air pipe and a pipe joint. The air nozzle is communicated with the pipe joint through the air pipe. The air nozzle is located between the two clamping pieces. The air nozzle faces away from the pneumatic gripper. When the clamping pieces clamp the planting cup, the left and right clamping pieces approach the planting cup with vegetables. The air nozzle blows air outwards to blow away the leaves in the advancing direction of the clamping pieces, avoiding the leaves being punctured by the left and right clamping pieces and ensuring the harvesting quality.
[0006] Furthermore, a driving through groove is opened at the top end of the vertical pulling piece. The driving through groove extends along the vertical direction. A horizontally arranged sliding pull rod is fixed on the output shaft of the rotating cylinder. The two ends of the sliding pull rod respectively pass through the driving through grooves of the two clamping pieces. The rotating cylinder drives the clamping piece to rotate with the pulling rotating shaft as the rotation center through the sliding pull rod. The driving through groove has a certain extension length, which is convenient for the output shaft of the rotating cylinder to drive the clamping piece to rotate when horizontally contracting, effectively avoiding the clamping device being stuck when clamping the planting cup.
[0007] Further, a cylinder pushing block is fixed on the output shaft of the rotating cylinder. On the side of the cylinder pushing block away from the rotating cylinder, two relatively arranged pull rod fixing plates are fixed. Fixing holes are provided on the pull rod fixing plates. Both ends of the sliding pull rod sequentially pass through the fixing holes and the driving through slots of the vertical pulling piece, and the sliding pull rod is fixed to the pull rod fixing plate through the fixing holes. The pull rod fixing plates are used to fix both ends of the sliding pull rod. After the sliding pull rod passes through the driving through slots, it can drive the clamping piece to rotate. Specifically, in order to prevent the sliding pull rod from falling off the driving through slots, convex edges can be fixed at both ends of the sliding pull rod.
[0008] Further, the air pipe joint is fixed on the cylinder pushing block, and the air pipe passes through the space between the sliding pull rod and the cylinder pushing block. The air pipe is limited in the space between the sliding pull rod and the cylinder pushing block, avoiding the phenomenon of the air pipe being entangled during continuous operation, ensuring the stable operation of the clamping device, and making the structure of the entire clamping device more concise.
[0009] Further, the driving through slot is a waist-shaped hole.
[0010] Further, the horizontal clamping piece includes a connecting piece and a clamping piece connected to each other. One end of the connecting piece is connected to the bottom end of the vertical pulling piece, and the other end of the connecting piece is connected to the clamping piece. The connecting piece is inclined outward. The outward inclination of the connecting piece makes there be a larger inlet in front of the two opposite clamping pieces, which is more convenient for clamping the planting cup.
[0011] Further, it further includes a clamping fixing plate which is vertically arranged. The rotating cylinder and the pneumatic clamping jaw are fixed on the same side of the clamping fixing plate, and the rotating cylinder is located above the pneumatic clamping jaw.
[0012] Further, a cylinder fixing boss protrudes and is fixed on the side edge in the middle of the clamping fixing plate, the rotating cylinder is fixed on the cylinder fixing boss, and a jaw fixing boss protrudes and is fixed on the bottom edge of the clamping fixing plate, and the pneumatic clamping jaw is fixed on the jaw fixing boss. The cylinder fixing boss and the jaw fixing boss play a certain positioning role in the installation positions of the rotating cylinder and the pneumatic clamping jaw on the clamping fixing plate.
[0013] Further, the clamping piece rotates around the pulling rotating shaft as the rotation center, so that it has an inclined angle α with the horizontal plane, and the range of the inclined angle α is 10° - 25°.
[0014] A vegetable harvesting robot includes a plurality of the above-mentioned vegetable harvesting clamping devices and a clamping robotic arm. A slide rail is fixed on the output end of the clamping robotic arm, and a plurality of vegetable harvesting clamping devices are slidably arranged on the slide rail.
[0015] The above technical solution has the following beneficial effects:
[0016] In the present invention, the rotating cylinder rotates the clamping piece around the pulling rotating shaft, so that the clamping piece clamps the planting cup and separates from the planting plate at a certain inclination angle. Compared with the rigid pulling out in the vertical separation, the vegetables and the planting cup are separated at a certain inclination angle, so that the adjacent vegetable leaves are separated by a certain angle, which can avoid the breaking phenomenon caused by the mutual collision and pulling of the adjacent vegetable leaves, effectively improve the harvesting quality of the vegetables and avoid waste. Description of the Drawings
[0017] Figure 1 It is a structural diagram of the clamping device described in the specific implementation manner.
[0018] Figure 2 It is an installation structural diagram of the clamping piece described in the specific implementation manner.
[0019] Figure 3 It is a schematic diagram of the rotation inclination angle of the clamping piece described in the specific implementation manner.
[0020] Figure 4 It is a structural diagram of the robot described in the specific implementation manner.
[0021] Description of the reference numerals:
[0022] 1. Rotating cylinder; 11. Cylinder pushing block; 12. Sliding pull rod; 13. Pull rod fixing plate; 2. Pneumatic gripper; 3. Clamping piece; 31. Vertical pulling piece; 311. Driving through groove; 32. Horizontal clamping piece; 321. Connecting piece; 322. Clamping piece; 4. Pulling rotating shaft; 5. Clamping fixing plate; 51. Cylinder fixing boss; 52. Gripper fixing boss; 6. Jetting component; 61. Air nozzle; 62. Air pipe; 63. Pipe joint; 7. Clamping robotic arm; 71. Slide rail; 8. Vegetable harvesting clamping device. Specific Implementation Manner
[0023] In order to describe in detail the technical content, structural features, achieved purposes and effects of the technical solution, the following is described in detail in combination with specific embodiments and with reference to the drawings.
[0024] Please refer to Figures 1-3, this embodiment discloses a vegetable harvesting clamping device, which includes a rotating cylinder 1, a pneumatic gripper 2, a pair of clamping pieces 3, a jet component 6 and a clamping fixing plate 5. The clamping fixing plate 5 is vertically arranged. The rotating cylinder 1 and the pneumatic gripper 2 are fixed on the same side of the clamping fixing plate 5. The rotating cylinder 1 is located above the pneumatic gripper 2. The clamping piece 3 includes a horizontal clamping piece 32 and a vertical pulling piece 31. One end of the horizontal clamping piece 32 is connected to the bottom end of the vertical pulling piece 31. A pulling rotating shaft 4 is arranged at the connection between the vertical pulling piece 31 and the horizontal clamping piece 32. The clamping piece 3 is pivotally connected to the output end of the pneumatic gripper 2 through the pulling rotating shaft 4. The output shaft of the rotating cylinder 1 is connected to the top end of the vertical pulling piece 31. The rotating cylinder 1 drives the clamping piece 3 to rotate with the pulling rotating shaft 4 as the rotation center. Specifically, the rotating cylinder 1 is a three-axis cylinder. The three-axis cylinder has high stroke accuracy, which is convenient for controlling the inclination angle of the clamping piece 3, and the power of the three-axis cylinder is large, and the action is fast.
[0025] A driving through groove 311 is opened at the top end of the vertical pulling piece 31. The driving through groove 311 extends along the vertical direction. A horizontally arranged sliding pull rod 12 is fixed on the output shaft of the rotating cylinder 1. Both ends of the sliding pull rod 12 respectively pass through the driving through grooves 311 of the two clamping pieces 3. The rotating cylinder 1 drives the clamping piece 3 to rotate with the pulling rotating shaft 4 as the rotation center through the sliding pull rod 12. The driving through groove 311 has a certain extension length, which is convenient for the output shaft of the rotating cylinder 1 to drive the clamping piece 3 to rotate when horizontally contracting, effectively avoiding the clamping device from being stuck when clamping the planting cup. In this embodiment, the driving through groove 311 is a waist-shaped hole.
[0026] Furthermore, a cylinder pushing block 11 is fixed on the output shaft of the rotating cylinder 1. Two relatively arranged pull rod fixing plates 13 are fixed on the side of the cylinder pushing block 11 away from the rotating cylinder 1. Fixing holes are arranged on the pull rod fixing plates 13. Both ends of the sliding pull rod 12 respectively pass through the fixing holes and the driving through grooves 311 of the vertical pulling piece 31 in sequence. The sliding pull rod 12 is fixed to the pull rod fixing plates 13 through the fixing holes. The pull rod fixing plates 13 are used to fix both ends of the sliding rod pull. After the sliding pull rod 12 passes through the driving through groove 311, it can drive the clamping piece 3 to rotate. Specifically, in order to prevent the sliding pull rod 12 from falling off the driving through groove 311, convex edges can be fixed at both ends of the sliding pull rod 12.
[0027] The jet component 6 includes an air nozzle 61, an air pipe 62 and a pipe joint 63. The air nozzle 61 is communicated with the pipe joint 63 through the air pipe 62. The air nozzle 61 is located between the two clamping pieces 3. The air jet faces away from the side of the pneumatic gripper 2. When the clamping piece 3 clamps the planting cup, the left and right clamping pieces 3 approach the planting cup with vegetables planted. The air nozzle 61 blows air outwards to blow away the vegetable leaves in the advancing direction of the clamping piece 3, avoiding the vegetable leaves from being stabbed by the left and right clamping pieces 3 and ensuring the harvesting quality.
[0028] Specifically, the tracheal joint 63 is fixed on the cylinder push block 11, and the air pipe 62 passes through the space between the sliding pull rod 12 and the cylinder push block 11. The air pipe 62 is confined within the space between the sliding pull rod 12 and the cylinder push block 11, preventing the air pipe 62 from getting entangled during continuous operation, ensuring the stable operation of the clamping device, and making the structure of the entire clamping device more concise.
[0029] The horizontal clamping piece 32 includes a connecting piece 321 and a clamping piece 322 connected to each other. One end of the connecting piece 321 is connected to the bottom end of the vertical pulling piece 31, the other end of the connecting piece 321 is connected to the clamping piece 322, and the connecting piece 321 is inclined outward. The outward inclination of the connecting piece 321 creates a larger inlet in front of the two opposite clamping pieces 322, making it more convenient to clamp the planting cup. Specifically, the connecting piece 321, the clamping piece 322, and the vertical pulling piece 31 are of an integral structure.
[0030] In this embodiment, a cylinder fixing boss 51 is convexly fixed on the side of the middle part of the clamping fixing plate 5, the rotating cylinder 1 is fixed on the cylinder fixing boss 51, a clamping jaw fixing boss 52 is convexly fixed on the bottom side of the clamping fixing plate 5, and the pneumatic clamping jaw 2 is fixed on the clamping jaw fixing boss 52. The cylinder fixing boss 51 and the clamping jaw fixing boss 52 play a certain positioning role in the installation positions of the rotating cylinder 1 and the pneumatic clamping jaw 2 on the clamping fixing plate 5.
[0031] Such as Figure 4 , a vegetable harvesting robot includes a plurality of the above-mentioned vegetable harvesting clamping devices 8 and a clamping robotic arm 7. A slide rail 71 is fixed on the output end of the clamping robotic arm 7, and a plurality of clamping devices 8 are slidably arranged on the slide rail 7. The slidable arrangement of the vegetable harvesting clamping devices 8 facilitates the adjustment of the spacing, and the clamping robotic arm 7 is a six-axis robotic arm.
[0032] The operation process of the present invention:
[0033] 1. The operator places the planting plate on the planting plate conveyor line, and the planting plate is conveyed to the end.
[0034] 2. The clamping robotic arm 7 is activated, and the pneumatic clamping jaw 2 of the clamping device on its output end is in an open state and approaches the planting plate, passes through the vegetable leaves, and approaches the planting cup on the planting plate (the vegetables are planted in the planting cup) until the clamping position. At the same time, the air nozzle 61 sprays air to avoid damaging the leaves of the clamping piece 3.
[0035] 3. The pneumatic clamping jaw 2 closes, and the clamping piece 3 of the pneumatic clamping jaw 2 clamps the planting cup.
[0036] 4. The clamping piece 3 of the pneumatic gripper 2 rotates with the pulling rotating shaft 4 as the rotating shaft, and the output shaft of the rotating cylinder 1 contracts, causing the clamping piece 3 to rotate obliquely upward by an inclination angle α, separating the clamped vegetables from the vegetables in the back row. The inclination angle α can be 10°, 21°, or 25°. The inclination angle α is associated with the length of the driving through groove 311. In this embodiment, the inclination angle α is set to 21°.
[0037] 5. The picking robotic arm 7 continues to move and takes out the planting cup and vegetables along the normal direction of the gripper inclination angle.
[0038] In the present invention, the rotating cylinder 1 rotates the clamping piece 3 around the pulling rotating shaft 4, so that the clamping piece 3 clamps the planting cup and separates from the planting plate at a certain inclination angle. Compared with the rigid pulling out in the vertical separation, the vegetables and the planting cup are separated at a certain inclination angle, enabling the adjacent vegetable leaves to be separated by a certain angle, which can avoid the breaking phenomenon caused by the mutual collision and pulling of the adjacent vegetable leaves, effectively improving the harvesting quality of the vegetables and avoiding waste.
[0039] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, the elements defined by the statement "including..." or "comprising..." do not exclude the existence of additional elements in the process, method, article or terminal device including the said elements. In addition, in this article, "greater than", "less than", "exceeding", etc. are understood not to include the present number; "above", "below", "within", etc. are understood to include the present number.
[0040] Although the above embodiments have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the above description is only the embodiment of the present invention, and does not limit the patent protection scope of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention by the same token.
Claims
1. A vegetable harvesting robot, characterized in that, It includes multiple vegetable harvesting clamping devices and a clamping robotic arm. A slide rail is fixed on the output end of the clamping robotic arm, and multiple vegetable harvesting clamping devices are slidably arranged on the slide rail; The vegetable harvesting clamping device includes a rotating cylinder, a pneumatic gripper and a pair of clamping pieces. The clamping pieces include a horizontal clamping piece and a vertical pulling piece. One end of the horizontal clamping piece is connected to the bottom end of the vertical pulling piece. A pulling rotating shaft is provided at the connection between the vertical pulling piece and the horizontal clamping piece. The clamping piece is pivotally connected to the output end of the pneumatic gripper through the pulling rotating shaft. The output shaft of the rotating cylinder is connected to the top end of the vertical pulling piece. The rotating cylinder drives the clamping piece to rotate with the pulling rotating shaft as the rotation center; The horizontal clamping piece includes a connecting piece and a clamping piece connected to each other. One end of the connecting piece is connected to the bottom end of the vertical pulling piece, and the other end of the connecting piece is connected to the clamping piece. The connecting piece is inclined towards the outside; The clamping piece rotates with the pulling rotating shaft as the rotation center, so that it has an inclined angle α with the horizontal plane. The range of the inclined angle α is 10°-25°; 2. The vegetable harvesting robot according to claim 1, characterized in that, It further includes a jet component. The jet component includes an air nozzle, an air pipe and a pipe joint. The air nozzle is communicated with the pipe joint through the air pipe. The air nozzle is located between the two clamping pieces, and the air nozzle faces away from the side of the pneumatic gripper; 3. The vegetable harvesting robot according to claim 2, characterized in that, A driving through groove is opened at the top end of the vertical pulling piece. The driving through groove extends along the vertical direction. A horizontally arranged sliding pull rod is fixed on the output shaft of the rotating cylinder. Both ends of the sliding pull rod respectively pass through the driving through grooves of the two clamping pieces. The rotating cylinder drives the clamping piece to rotate with the pulling rotating shaft as the rotation center through the sliding pull rod; 4. The vegetable harvesting robot according to claim 3, characterized in that, A cylinder pushing block is fixed on the output shaft of the rotating cylinder. Two oppositely arranged pull rod fixing plates are fixed on the side of the cylinder pushing block away from the rotating cylinder. Fixing holes are provided on the pull rod fixing plates. Both ends of the sliding pull rod respectively pass through the fixing holes and the driving through grooves of the vertical pulling piece in sequence. The sliding pull rod is fixed to the pull rod fixing plate through the fixing holes; 5. The vegetable harvesting robot according to claim 4, characterized in that, The pipe joint is fixed on the cylinder pushing block, and the air pipe passes through the space between the sliding pull rod and the cylinder pushing block; 6. The vegetable harvesting robot according to claim 3, wherein, The driving through groove is a kidney-shaped hole; 7. The vegetable harvesting robot according to claim 1, characterized in that, It further includes a clamping fixing plate which is vertically arranged. The rotating cylinder and the pneumatic gripper are fixed on the same side of the clamping fixing plate, and the rotating cylinder is located above the pneumatic gripper; 8. The vegetable harvesting robot according to claim 7, characterized in that, A cylinder fixing boss protrudes and is fixed on the side edge of the middle part of the clamping fixing plate. The rotating cylinder is fixed on the cylinder fixing boss. A gripper fixing boss protrudes and is fixed on the bottom edge of the clamping fixing plate. The pneumatic gripper is fixed on the gripper fixing boss;
Citation Information
Patent Citations
Straw puller
CN103004361A
Air blowing fixture for transplanting plant seedling
CN111844102A
Paper folding machine for inner packages of Pu'er tea cake
CN113232908A
Vegetable harvesting and clamping device and robot
CN215872706U