A picking end actuator for aquatic fruits and a picking device thereof

Abstract

The present invention provides a picking end actuator for aquatic fruits and a picking device thereof, comprising a picking actuator, a support plate connected to a bottom plate through a flexible connection assembly, a rotating plate rotatably mounted on the support plate, two thumb cylinders arranged on the upper and lower sides of the end of the rotating plate, wherein the actuator of the thumb cylinder located on the lower side of the two thumb cylinders is provided with a cutter, a circulating conveying mechanism is arranged on the support plate, and the actuator of the circulating conveying mechanism is provided with a hopper, wherein the hopper is used to receive the fruits picked by the picking mechanism. By arranging the picking actuator on the hull, it is avoided that the picking mechanism is manually lifted, the lotus stem is clamped by the thumb cylinder, and the other thumb cylinder cuts the lotus stem to achieve picking, after the picking is completed, the rotating plate rotates, and the top plate applies a force to the L-shaped push plate, so that the L-shaped push plate pushes the lotus pod into the hopper, and the hopper realizes a circulating action through the drive of the circulating conveying mechanism, thereby realizing automatic picking and collection.

Description

Technical Field

[0001] The invention relates to the technical field of aquatic fruit picking, in particular to an aquatic fruit picking terminal execution mechanism and a picking device thereof. Background Art

[0002] Lotus pod is also known as lotus seed meat, lotus root fruit, water Zhidan, lotus pod seed, lotus fruit, and pod meat. There are many scattered honeycomb-like holes on the surface of the lotus receptacle. Simply put, the fruit in the center of the lotus is the lotus pod, and the lotus pod grows in water.

[0003] Publication No. CN216254032U provides a lotus pod picking manipulator, which can conveniently grab lotus pods through a fixing mechanism, and the lotus pods are not easy to fall during the picking process. The length of the rod body can be adjusted, so that lotus pods far away from the user can be conveniently picked, reducing the labor intensity of the user.

[0004] However, after the lotus pods are picked, the existing technology will keep them in the collecting net. Therefore, during the picking process, either the picking robot needs to be retracted frequently for unloading, or the collecting net containing the lotus pods and its picking robot-related parts need to be held up all the time, which is inconvenient for picking the lotus pods and wastes manpower. Summary of the invention

[0005] The object of the present invention is to provide an aquatic fruit picking end-effector and a picking device thereof to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A picking end actuator for aquatic fruits, comprising a picking actuator, wherein:

[0008] The picking actuator comprises a support plate, a bottom plate, a flexible connection assembly, a picking mechanism, a circulating conveying mechanism, and a hopper. The support plate is connected to the bottom plate through a flexible connection assembly. The picking mechanism comprises a rotating plate, a rotating cylinder, a thumb cylinder, an L-shaped push plate, a top plate, a spring I, and a cutter. The rotating plate is rotatably mounted on the support plate through a rotating cylinder. The two thumb cylinders are arranged on the upper and lower sides of the end of the rotating plate, wherein the actuator of the thumb cylinder located on the lower side of the two thumb cylinders is provided with a cutter. The L-shaped push plate is cooperatively mounted in a sliding groove on the rotating plate, and a spring I is provided between the L-shaped push plate and the rotating plate. The top plate is arranged on the support plate, and the side surface of the L-shaped push plate contacts the end of the top plate.

[0009] The circulating conveying mechanism is arranged on the supporting plate, and a hopper is arranged on the executing component of the circulating conveying mechanism, wherein the hopper is used to receive the fruits picked by the picking mechanism.

[0010] Preferably, the circulating conveying mechanism comprises pulleys, belts and a motor, the two pulleys are rotatably mounted on a support plate, belts are sleeved on the pulleys, and the motor is power-connected to one of the pulleys.

[0011] Preferably, the picking actuator also includes a friction plate and a friction wheel, a flexible support frame is provided on the outer side of the belt, and the hopper is rotatably mounted on the flexible support frame through a rotating shaft, the friction wheel is fixedly sleeved on the rotating shaft on the side of the hopper, and the two friction plates are arranged on the opposite sides of the support plate, wherein the upper end surface of the friction plate and the lowest end of the outer cylindrical surface of the friction wheel are at the same height, so that the friction wheel can frictionally contact the friction plate when it moves to the side of the friction plate.

[0012] Preferably, the flexible connection assembly includes a ball head base, a double-headed ball rod, a turntable, a slider and a spring II. A ball head base is provided on the lower side of the support plate and the upper side of the base plate respectively. The two ends of the double-headed ball rod are respectively engaged in the two ball head bases. A turntable is provided on the lower side of the support plate and the upper side of the base plate respectively. The turntable is equipped with a slider, and the two ends of the spring II are connected to the sliders on the two turntables.

[0013] Preferably, a handle is provided at the end of the support plate.

[0014] Preferably, the picking execution mechanism further comprises a counterweight balancing assembly, wherein the counterweight balancing assembly is arranged on the handle and is on the opposite side to the picking mechanism.

[0015] Preferably, the counterweight balancing assembly includes a sliding frame, a limit bolt, a weight frame and a weight, the sliding frame is movably mounted on the handle, a limit bolt is provided in the threaded hole on the sliding frame, the end of the limit bolt is in contact with the handle, the weight frame is arranged on the sliding frame, and the weight frame is provided with a weight.

[0016] A picking device comprises a hull and an aquatic fruit picking end actuator, wherein a bottom plate is connected to the hull.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention avoids manual lifting of the picking mechanism by arranging the picking actuator on the hull, and the support plate is connected to the bottom plate through a flexible connection component. Then, the support plate as a support component of the picking mechanism has multiple degrees of freedom, so the picking mechanism can cover a wider range. The lotus stem is clamped by a thumb cylinder and the other thumb cylinder cuts the lotus stem to achieve picking. After the picking is completed, the rotating plate rotates, and the top plate applies a force to the L-shaped push plate, so that the L-shaped push plate pushes the lotus pods into the hopper, and the hopper realizes a circulating action through the drive of the circulating conveying mechanism, thereby realizing automatic picking and collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a three-dimensional schematic diagram of the picking execution mechanism in the present invention;

[0021] Figure 3 It is a cross-sectional view of the front view state of the picking actuator in the present invention;

[0022] Figure 4 for Figure 2 Schematic diagram of the middle section A;

[0023] Figure 5 for Figure 2 Schematic diagram of middle section B;

[0024] Figure 6 It is a three-dimensional schematic diagram of the counterweight balancing assembly in the present invention.

[0025] In the figure: 1 picking actuator, 2 hull, 11 support plate, 12 bottom plate, 13 flexible connection component, 14 picking mechanism, 15 circulating conveying mechanism, 16 hopper, 17 friction plate, 18 friction wheel, 19 counterweight balancing component, 111 handle, 131 ball head base, 132 double-headed ball rod, 133 turntable, 134 slider, 135 spring II, 141 rotating plate, 142 rotating cylinder, 143 thumb cylinder, 144 L-shaped push plate, 145 top plate, 146 spring I, 147 cutter, 151 pulley, 152 belt, 153 motor, 191 sliding frame, 192 limit bolt, 193 weight frame, 194 weight. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Example:

[0028] See also Figures 1 to 6 , the present invention provides a technical solution:

[0029] A picking end actuator for aquatic fruits, comprising a picking actuator 1, wherein:

[0030] The picking actuator 1 includes a support plate 11, a bottom plate 12, a flexible connection component 13, a picking mechanism 14, a circulating conveying mechanism 15, and a hopper 16. The support plate 11 is connected to the bottom plate 12 through the flexible connection component 13, so that the support plate 11 has multiple degrees of freedom and can cover a wider water surface. The picking mechanism 14 includes a rotating plate 141, a rotating cylinder 142, a thumb cylinder 143, an L-shaped push plate 144, a top plate 145, a spring Ⅰ146 and a cutter 147. The rotating plate 141 is rotatably installed on the support plate 11 through the rotating cylinder 142. Specifically, the rotating cylinder 142 is installed on the support plate 11 by bolts, and the rotating plate 141 is connected to the power output end of the rotating cylinder 142. Two thumb cylinders 143 are arranged on the upper and lower sides of the end of the rotating plate 141, and the two thumb cylinders 143 are arranged on the upper and lower sides of the end of the rotating plate 141. The actuator of the thumb cylinder 143 located at the lower side of the cylinder 143 is provided with a cutter 147, so the thumb cylinder 143 located at the upper side is used to clamp the lotus stem, and the thumb cylinder 143 located at the lower side is used to cut the lotus stem. The L-shaped push plate 144 is installed in the sliding groove on the rotating plate 141, so that the L-shaped push plate 144 can move linearly along the sliding groove, wherein the movement direction of the L-shaped push plate 144 is the direction of approaching or moving away from the thumb cylinder 143, and a spring I 146 is provided between the L-shaped push plate 144 and the rotating plate 141, and the top plate 145 is arranged on the support plate 11, and the side surface of the L-shaped push plate 144 contacts the end of the top plate 145, and at this time, the spring I 146 is in a stretched state, so when the L-shaped push plate 144 is separated from the top plate 145, the spring I 146 will pull back the L-shaped push plate 144;

[0031] The circulating conveying mechanism 15 is arranged on the supporting plate 11, and a hopper 16 is arranged on the executing part of the circulating conveying mechanism 15, wherein the hopper 16 is used to receive the fruits picked by the picking mechanism 14, and then the circulating conveying mechanism 15 drives the hopper 16 to circulate, thereby realizing receiving and unloading of the materials.

[0032] As a preferred embodiment, the circulating conveying mechanism 15 includes a pulley 151, a belt 152 and a motor 153. The two pulleys 151 are rotatably installed on the support plate 11. The belt 152 is sleeved on the pulley 151. The motor 153 is power-connected to one of the pulleys 151. Specifically, the motor 153 is installed on the support plate 11 by bolts, and the power output end of the motor 153 is power-connected to one of the pulleys 151.

[0033] As a preferred embodiment, the circulating conveying mechanism 15 includes a chain, a sprocket and a motor, wherein the arrangement of the chain, the sprocket and the motor is the same as the arrangement direction of the pulley 151, the belt 152 and the motor 153 in the above embodiment, and its specific assembly style will not be repeated here.

[0034] As a preferred embodiment, the picking actuator 1 also includes a friction plate 17 and a friction wheel 18. A flexible support frame is provided on the outer side of the belt 152, and the hopper 16 is rotatably mounted on the flexible support frame through a rotating shaft. The friction wheel 18 is fixedly sleeved on the rotating shaft on the side of the hopper 16. Two friction plates 17 are arranged on the opposite sides of the support plate 11, wherein the upper end surface of the friction plate 17 and the lowest end of the outer cylindrical surface of the friction wheel 18 are at the same height, so that the friction wheel 18 can frictionally contact with the friction plate 17 when it moves to the side of the friction plate 17. Since the overall movement form of the hopper 16 is a circulating type, the friction wheel 18 on the side of the hopper 16 will pass through the two friction plates 17 respectively.

[0035] As a preferred embodiment, since the hopper 16 is installed on the flexible support frame on the outer side of the belt 152 through a rotating shaft, in order to prevent the hopper 16 from turning over by itself, there is a large friction between the hopper 16 and the flexible support frame, which can prevent the hopper 16 from automatically turning over when receiving materials.

[0036] As a preferred embodiment, the friction plate 17 and the friction wheel 18 in the picking actuator 1 can also be replaced by a gear and a rack, wherein the assembly method is the same as described above.

[0037] As a preferred embodiment, the number of the hoppers 16 is at least two, and then the number of the corresponding friction wheels 18 corresponds to the number of the hoppers 16, and the number of the friction plates 17 is always two.

[0038] As a preferred embodiment, the flexible connection component 13 includes a ball head base 131, a double-headed ball rod 132, a turntable 133, a slider 134 and a spring II 135. A ball head base 131 is respectively provided on the lower side of the support plate 11 and the upper side of the base plate 12. The two ends of the double-headed ball rod 132 are respectively engaged in the two ball head bases 131, so that the double-headed ball rod 132 and the ball head base 131 form a high-pair connection. A turntable 133 is respectively provided on the lower side of the support plate 11 and the upper side of the base plate 12. The turntable 133 is equipped with a slider 134, so that the slider 134 can move along the turntable 133, and the two ends of the spring II 135 are connected to the sliders 134 on the two turntables 133.

[0039] As a preferred embodiment, in order to ensure the supporting strength of the flexible connection assembly 13 , at least one slider 134 is provided on the rotating disk 133 , and the spring II 135 corresponds to the slider 134 on the rotating disk 133 .

[0040] As a preferred embodiment, a handle 111 is provided at the end of the support plate 11 to facilitate the user to hold and move the support plate 11 .

[0041] As a preferred embodiment, the picking actuator 1 also includes a counterweight balancing assembly 19, wherein the counterweight balancing assembly 19 is arranged on the handle 111 and is opposite to the picking mechanism 14, and the double-headed ball rod 132 is equivalent to a fulcrum. The counterweight balancing assembly 19 will offset the weight of the picking mechanism 14, thereby achieving lever balance, so the user does not need to use a large external force to move the picking mechanism 14.

[0042] As a preferred embodiment, the counterweight balancing assembly 19 includes a counterweight block, wherein the counterweight block is disposed on the handle 111 .

[0043] As a preferred embodiment, the counterweight balancing assembly 19 includes a sliding frame 191, a limiting bolt 192, a weight frame 193 and a weight 194. The sliding frame 191 is movably mounted on the handle 111. A limiting bolt 192 is provided in the threaded hole on the sliding frame 191, wherein the end of the limiting bolt 192 contacts the handle 111, thereby achieving a limiting effect. The weight frame 193 is arranged on the sliding frame 191, and the weight 194 is provided on the weight frame 193. Then, by moving the sliding frame 191, the distance between the weight frame 193 and the double-headed ball rod 132 is changed, thereby changing the length of the force arm, thereby achieving infinite adjustment of the magnitude of the force.

[0044] A picking device comprises a hull 2 ​​and an aquatic fruit picking end actuator, wherein a bottom plate 12 is connected to the hull 2.

[0045] The working principle of the present invention is as follows: the weight of the picking mechanism 14 at the end of the support plate 11 is balanced by the counterweight balancing component 19, and the flexible connection component 13 is a multi-degree-of-freedom component, so the support plate 11 can be rotated, lifted or pressed down relative to the bottom plate 12, so when a force is applied to the support plate 11, the support plate 11 can move in degrees of freedom, and at this time the picking mechanism 14 at the end of the support plate 11 can move to the lotus pod to be picked, and then the thumb cylinder 143 without the cutter 147 clamps the lotus stem, and the thumb cylinder 143 with the cutter 147 The thumb cylinder 143 cuts off the lotus stem, and then the rotating cylinder 142 drives the rotating plate 141 to rotate, driving the picked lotus pod to move above the hopper 16. During this process, the L-shaped push plate 144 moves in a direction close to the top plate 145, and then the top plate 145 applies a thrust to the L-shaped push plate 144. At this time, the end of the L-shaped push plate 144 moves in a direction close to the thumb cylinder 143, and then contacts the picked lotus pod. Then the thumb cylinder 143 releases the lotus pod, and the L-shaped push plate 144 can push the lotus pod into the hopper 16.

[0046] When the number of lotus pods collected in the hopper 16 reaches a certain amount and needs to be unloaded, the motor 153 drives the pulley 151 connected to its power to rotate, and then the belt 152 drives the hopper 16 to move. When the friction wheel 18 arranged on the side of the hopper 16 moves to the friction plate 17, it rubs and contacts with the friction plate 17, and then the friction wheel 18 rotates. At this time, the hopper 16 is turned over, and the lotus pods are unloaded. Then the hopper 16 continues to move driven by the pulley 151, and the turned hopper 16 moves to another friction plate 17. At this time, the friction wheel 18 continues to rotate, so that the opening of the hopper 16 faces upward to receive the lotus pods.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A picking end actuator for aquatic fruits, comprising a picking actuator (1), characterized in that: The picking actuator (1) comprises a support plate (11), a bottom plate (12), a flexible connection component (13), a picking mechanism (14), a circulating conveying mechanism (15), and a hopper (16); the support plate (11) is connected to the bottom plate (12) via the flexible connection component (13); the picking mechanism (14) comprises a rotating plate (141), a rotating cylinder (142), a thumb cylinder (143), an L-shaped push plate (144), a top plate (145), a spring I (146), and a cutter (147); the rotating plate (141) is rotated by the rotating cylinder (142) to move the picking mechanism (144) toward the bottom plate (145); and the picking mechanism (145) is connected to the bottom plate (12) via the flexible connection component (13). The two thumb cylinders (143) are mounted on the support plate (11), and the two thumb cylinders (143) are arranged on the upper and lower sides of the end of the rotating plate (141), wherein the actuator of the thumb cylinder (143) located on the lower side of the two thumb cylinders (143) is provided with a cutter (147), the L-shaped push plate (144) is mounted in a sliding groove on the rotating plate (141), and a spring I (146) is provided between the L-shaped push plate (144) and the rotating plate (141), and the top plate (145) is arranged on the support plate (11), and the side surface of the L-shaped push plate (144) contacts the end of the top plate (145); The circulating conveying mechanism (15) is arranged on the supporting plate (11), and a hopper (16) is arranged on the execution component of the circulating conveying mechanism (15), wherein the hopper (16) is used to receive the fruits picked by the picking mechanism (14); The circulating conveying mechanism (15) comprises a pulley (151), a belt (152) and a motor (153); the two pulleys (151) are rotatably mounted on the support plate (11); the belt (152) is sleeved on the pulleys (151); and the motor (153) is power-connected to one of the pulleys (151); The picking actuator (1) further comprises a friction plate (17) and a friction wheel (18), the outer side surface of the belt (152) is provided with a flexible support frame, and the hopper (16) is rotatably mounted on the flexible support frame via a rotating shaft, the friction wheel (18) is fixedly sleeved on the rotating shaft on the side surface of the hopper (16), and the two friction plates (17) are arranged on both sides of the support plate (11), wherein the upper end surface of the friction plate (17) and the lowest end of the outer cylindrical surface of the friction wheel (18) are at the same height, so that when the friction wheel (18) moves to the side of the friction plate (17), it can come into friction contact with the friction plate (17); The flexible connection assembly (13) comprises a ball head base (131), a double-headed ball rod (132), a rotating disk (133), a slider (134) and a spring II (135). A ball head base (131) is provided on the lower side of the support plate (11) and the upper side of the bottom plate (12). Two ends of the double-headed ball rod (132) are respectively fitted in two ball head bases (131). A rotating disk (133) is provided on the lower side of the support plate (11) and the upper side of the bottom plate (12). The rotating disk (133) is fitted with a slider (134). Two ends of the spring II (135) are connected to the sliders (134) on the two rotating disks (133).

2. The aquatic fruit picking end-actuator according to claim 1, characterized in that: A handle (111) is provided at the end of the support plate (11).

3. The aquatic fruit picking end-actuator according to claim 2, characterized in that: The picking execution mechanism (1) further comprises a counterweight balancing assembly (19), wherein the counterweight balancing assembly (19) is arranged on the handle (111) and is located on the opposite side to the picking mechanism (14).

4. The aquatic fruit picking end-actuator according to claim 3, characterized in that: The counterweight balancing assembly (19) comprises a sliding frame (191), a limiting bolt (192), a weight frame (193) and a weight (194); the sliding frame (191) is movably mounted on the handle (111); a limiting bolt (192) is provided in a threaded hole on the sliding frame (191); an end of the limiting bolt (192) contacts the handle (111); the weight frame (193) is arranged on the sliding frame (191); and a weight (194) is provided on the weight frame (193).

5. A picking device, comprising a hull (2), characterized in that: It also comprises an aquatic fruit picking end-actuator as claimed in any one of claims 1 to 4, wherein the bottom plate (12) is connected to the hull (2).

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