Cherry tomato harvesting end effector and harvesting robot

Abstract

The present invention relates to an integrated cherry tomato harvesting end effector, comprising a clamping jaw, a connecting rod, a connector, a robotic arm vacuum suction cup, a harvesting barrel, a hose, a frame, and a front and rear drive mechanism. The clamping jaws are at least three and evenly distributed along the circumference. The middle portion of the clamping jaw is rotatably connected to the front end of the harvesting barrel, the rear end of the clamping jaw is rotatably connected to the front end of the connecting rod, and the rear end of the connecting rod is rotatably connected to the connector. The front and rear drive mechanisms drive the connector to slide back and forth relative to the frame, and the robotic arm vacuum suction cup is fixed in front of the connector. The harvesting barrel is fixed to the frame, the front end of the harvesting barrel is provided with an opening for the cherry tomatoes to enter, the rear end of the harvesting barrel is provided with an opening for the robotic arm vacuum suction cup to pass through, and the lower end of the harvesting barrel is provided with a collection port for the cherry tomatoes to fall into, which is connected to the hose. The present invention also relates to an integrated cherry tomato harvesting robot. This invention improves picking efficiency and reduces breakage, and belongs to cherry tomato picking equipment.

Description

Technical Field

[0001] The invention relates to cherry tomato picking equipment, in particular to a cherry tomato picking end effector integrated with harvesting, and also to a cherry tomato picking robot integrated with harvesting. Background Art

[0002] With social development and people's pursuit of a better quality of life, market demand for cherry tomatoes has gradually increased, leading to higher quality and processing output. However, due to the thin, fragile skin and prone stems, cherry tomatoes have long been difficult to harvest, and the quality of harvested cherry tomatoes cannot be effectively guaranteed. With labor costs rising annually, labor shortages, harvesting difficulties, and increased costs have become major constraints to the cherry tomato industry. Mechanized harvesting with minimal damage and high automation is becoming the future direction of the cherry tomato industry.

[0003] Existing cherry tomato picking devices are relatively limited. Existing fruit picking devices have a relatively simple function: a mechanical claw plucks the fruit, then moves the claw over a collection basket and releases it, allowing the fruit to fall naturally. These fruit picking devices have the following disadvantages: 1. The need to move to the collection basket results in a long picking time for each fruit, making it inefficient. 2. The fruit falls directly into the collection basket by gravity, resulting in a high breakage rate if used for cherry tomato harvesting. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a cherry tomato end effector and a harvesting robot that are specially used for harvesting cherry tomatoes.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A cherry tomato harvesting end effector comprises a clamping jaw, a connecting rod, a connector, a robot arm vacuum suction cup, a harvesting barrel, a hose, a frame, and a front and rear drive mechanism; the number of the clamping jaws is more than three and they are evenly distributed along the circumference; the middle portion of the clamping jaw is rotatably connected to the front end of the harvesting barrel, the rear end of the clamping jaw is rotatably connected to the front end of the connecting rod, the rear end of the connecting rod is rotatably connected to the connector, the front and rear drive mechanisms drive the connector to slide back and forth relative to the frame, and the robot arm vacuum suction cup is fixed in front of the connector; the harvesting barrel is fixed on the frame, the front end of the harvesting barrel is provided with an opening for cherry tomatoes to enter, the rear end of the harvesting barrel is provided with an opening for the robot arm vacuum suction cup to pass through, the lower end of the harvesting barrel is provided with a collection port for the cherry tomatoes to fall, and the collection port is connected to the hose.

[0007] As a preferred embodiment, the harvesting cylinder is cylindrical, with its axis arranged along the front-to-back direction, and the collecting port passes through the lower end wall of the cylinder.

[0008] As a preferred embodiment, the vacuum suction cup of the robotic arm is long and narrow, with a vacuum suction port at the front end for sucking cherry tomatoes and a rear end connected to a vacuum generator through an air pipe; the vacuum suction cup of the robotic arm is arranged on the axis of the harvesting cylinder.

[0009] As a preferred embodiment, the number of the clamping jaws is four, the number of the connecting rods is four, and the clamping jaws and the connecting rods are all straight rods.

[0010] As a preferred embodiment, the connector includes an annular part, four straight rod parts located outside the annular part, and a push rod located below the annular part. The four straight rod parts are evenly distributed along the circumference of the annular part, and the straight rod parts are located in the radial direction of the annular part; the outer end of the straight rod part is connected to the connecting rod; the rear end of the vacuum suction cup of the robotic arm is fixed in the annular part; and the push rod is connected to the front and rear drive mechanisms.

[0011] As a preferred embodiment, the front and rear drive mechanisms are electric push rods.

[0012] As a preferred embodiment, the front end of the hose is connected to the collection port, and the rear end of the hose is arranged corresponding to the cherry tomato collection basket.

[0013] As a preferred embodiment, a cherry tomato harvesting end effector further includes a base bracket, which is mounted on the frame and located behind the connector, and a depth camera is mounted on the base bracket.

[0014] As a preferred embodiment, the gripper, connecting rod, connector, robotic arm vacuum suction cup, harvesting cylinder, and frame are all made by 3D printing, and the material is PLA.

[0015] A cherry tomato harvesting robot comprises a robotic arm and a cherry tomato harvesting end effector, wherein the end effector is mounted on a flange at the end of the robotic arm.

[0016] The present invention has the following advantages:

[0017] 1. A harvesting cylinder is set up to integrate the picking and collecting functions of cherry tomatoes, so that the end effector has both picking and collecting functions. The picking and collecting actions are completed in a linked manner, improving picking efficiency.

[0018] 2. The action of the gripper is linked with the action of the vacuum cup of the robot arm, making the picking and collecting actions continuous.

[0019] 3. The use of four grippers expands the picking range and reduces the impact of the robot arm's accuracy.

[0020] 4. The structure is simple and can realize 3D printing of most parts. Even individuals can easily obtain the end effector.

[0021] 5. Made of PLA biodegradable material, more environmentally friendly.

[0022] 6. After the cherry tomatoes fall from the collection port, they are transported to the collection basket through a hose and are not easily damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is the front view of the end effector.

[0024] Figure 2 is a top view of the end effector.

[0025] Figure 3 is a three-dimensional diagram of the end effector.

[0026] Figure 4 It is a three-dimensional diagram of the harvesting cylinder.

[0027] Figure 5 This is a perspective view of the connector.

[0028] Figure 6 It is a structural diagram of the end effector.

[0029] Among them, 1 is the clamping claw, 2 is the connecting rod, 3 is the connector, 4 is the vacuum suction cup of the robotic arm, 5 is the harvesting cylinder, 6 is the hose, 7 is the frame, 8 is the front and rear drive mechanism, 9 is the base bracket, and 10 is the air pipe.

[0030] x is the length of the front section of the jaw’s rotation point, y is the length of the rear section of the jaw’s rotation point, z is the length of the connecting rod, θ is the angle between the jaw and the vertical direction, and α is the angle between the connecting rod and the horizontal direction. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below with reference to specific implementation methods.

[0032] Example 1

[0033] A cherry tomato harvesting end effector comprises a clamping jaw, a connecting rod, a connector, a robot arm vacuum suction cup, a harvesting barrel, a hose, a frame, and a front and rear drive mechanism; the number of the clamping jaws is more than three and they are evenly distributed along the circumference; the middle portion of the clamping jaw is rotatably connected to the front end of the harvesting barrel, the rear end of the clamping jaw is rotatably connected to the front end of the connecting rod, the rear end of the connecting rod is rotatably connected to the connector, the front and rear drive mechanisms drive the connector to slide back and forth relative to the frame, and the robot arm vacuum suction cup is fixed in front of the connector; the harvesting barrel is fixed on the frame, the front end of the harvesting barrel is provided with an opening for cherry tomatoes to enter, the rear end of the harvesting barrel is provided with an opening for the robot arm vacuum suction cup to pass through, the lower end of the harvesting barrel is provided with a collection port for the cherry tomatoes to fall, and the collection port is connected to the hose.

[0034] The harvesting cylinder is cylindrical, with its axis arranged along the front-back direction, and the collecting port penetrates the lower end wall of the cylinder.

[0035] The vacuum suction cup of the robotic arm is long and narrow, with a vacuum suction port at the front end for sucking cherry tomatoes and a rear end connected to a vacuum generator through an air pipe; the vacuum suction cup of the robotic arm is arranged on the axis of the harvesting cylinder.

[0036] The number of the clamping jaws is four, the number of the connecting rods is four, and both the clamping jaws and the connecting rods are straight rods.

[0037] The connector includes an annular part, four straight rod parts located outside the annular part, and a push rod located below the annular part. The four straight rod parts are evenly distributed along the circumference of the annular part, and the straight rod parts are located in the radial direction of the annular part; the outer end of the straight rod part is connected to the connecting rod; the rear end of the vacuum suction cup of the robotic arm is fixed in the annular part; the push rod is connected to the front and rear drive mechanisms.

[0038] The front and rear drive mechanisms are electric push rods.

[0039] The front end of the hose is connected to the collection port, and the rear end of the hose corresponds to the cherry tomato collection basket.

[0040] A cherry tomato harvesting end effector also includes a base bracket, which is installed on a frame and located behind a connector, and a depth camera is installed on the base bracket.

[0041] The gripper, connecting rod, connector, robotic arm vacuum cup, harvesting cylinder, and frame are all made by 3D printing using PLA as the material.

[0042] Figure 6 As shown, to ensure a seamless harvesting motion, the dimensions of x, y, z, θ, and α must be designed based on the size of the cherry tomatoes. Initially, the electric actuator is at the rear, the connector is at the rear, and the robotic arm's vacuum cup is at the rear. The front end of the vacuum cup is aligned with the rear end of the collection port, and the jaws are at their widest opening.

[0043] The working process of the end effector of the present invention is as follows:

[0044] In the first step, after the end effector approaches the cherry tomatoes to be picked, the vacuum generator is started, and the electric push rod pushes the connector forward. The connector drives the clamping claws to rotate under the action of the connecting rod, and the four clamping claws produce a "clamping" action. In this step, the cherry tomatoes will be pulled into the harvesting barrel until the vacuum suction cup of the robotic arm contacts the cherry tomatoes and sucks them.

[0045] In the second step, the vacuum generator remains in the started state, and the electric push rod pulls the vacuum suction cup of the robotic arm back until the vacuum suction cup of the robotic arm pulls the cherry tomato and breaks the connection between the cherry tomato and its stem. At this time, the electric push rod, gripper, and vacuum suction cup of the robotic arm also return to the initial state.

[0046] The third step is to turn off the vacuum generator. Under the action of gravity, the picked cherry tomatoes fall freely from the collection port of the harvesting cylinder to the hose and enter the collection basket.

[0047] Thus, a picking process ends.

[0048] Example 2

[0049] A cherry tomato harvesting robot comprises a robotic arm and a cherry tomato harvesting end effector according to the first embodiment, wherein the end effector is mounted on a flange at the end of the robotic arm.

[0050] Based on the cherry tomato location data collected by the depth camera, the robotic arm approaches the cherry tomatoes to pick them.

[0051] A single chip microcomputer can be used to control the robot's movements, so that the robot arm movements, electric push rod movements, and vacuum generator start and stop movements are adapted.

[0052] The parts not mentioned in this embodiment are the same as those in the first embodiment.

[0053] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A cherry tomato harvesting end effector, characterized by: It includes a clamping claw, a connecting rod, a connector, a mechanical arm vacuum suction cup, a harvesting barrel, a hose, a frame, and a front and rear drive mechanism; the number of the clamping claws is more than three and is evenly distributed along the circumference; the middle part of the clamping claw is rotatably connected to the front end of the harvesting barrel, the rear end of the clamping claw is rotatably connected to the front end of the connecting rod, the rear end of the connecting rod is rotatably connected to the connector, the front and rear drive mechanisms drive the connector to slide back and forth relative to the frame, and the mechanical arm vacuum suction cup is fixed in front of the connector; the harvesting barrel is fixed on the frame, the front end of the harvesting barrel is provided with an opening for cherry tomatoes to enter, the rear end of the harvesting barrel is provided with an opening for the mechanical arm vacuum suction cup to pass through, the lower end of the harvesting barrel is provided with a collection port for the cherry tomatoes to fall, and the collection port is connected to the hose.

2. The cherry tomato harvesting end effector according to claim 1, characterized in that: The harvesting cylinder is cylindrical, with its axis arranged along the front-back direction, and the collecting port penetrates the lower end wall of the cylinder.

3. The cherry tomato harvesting end effector according to claim 2, characterized in that: The vacuum suction cup of the robotic arm is long and narrow, with a vacuum suction port at the front end for sucking cherry tomatoes and a rear end connected to a vacuum generator through an air pipe; the vacuum suction cup of the robotic arm is arranged on the axis of the harvesting cylinder.

4. The cherry tomato harvesting end effector according to claim 1, characterized in that: The number of the clamping jaws is four, the number of the connecting rods is four, and both the clamping jaws and the connecting rods are straight rods.

5. The cherry tomato harvesting end effector according to claim 4, characterized in that: The connector includes an annular part, four straight rod parts located outside the annular part, and a push rod located below the annular part. The four straight rod parts are evenly distributed along the circumference of the annular part, and the straight rod parts are located in the radial direction of the annular part; the outer end of the straight rod part is connected to the connecting rod; the rear end of the vacuum suction cup of the robotic arm is fixed in the annular part; the push rod is connected to the front and rear drive mechanisms.

6. The cherry tomato harvesting end effector according to claim 1, characterized in that: The front and rear drive mechanisms are electric push rods.

7. The cherry tomato harvesting end effector according to claim 1, characterized in that: The front end of the hose is connected to the collection port, and the rear end of the hose corresponds to the cherry tomato collection basket.

8. The cherry tomato harvesting end effector according to claim 1, characterized in that: Also included is a base bracket mounted on the frame and located behind the connector, with the depth camera mounted on the base bracket.

9. The cherry tomato harvesting end effector according to claim 1, characterized in that: The gripper, connecting rod, connector, robotic arm vacuum cup, harvesting cylinder, and frame are all made by 3D printing using PLA as the material.

10. A cherry tomato harvesting robot, characterized by: The invention comprises a mechanical arm and a cherry tomato harvesting end effector according to any one of claims 1 to 9, wherein the end effector is mounted on a flange at the end of the mechanical arm.

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