A citrus end picking hand by spherical envelope and bite-off stem

Abstract

The present application relates to a kind of agricultural and forestry machinery, and the purpose is to provide a kind of citrus end picking hand by spherical envelope and occlusion broken handle;The picking hand should have the characteristics of convenient to use, high work efficiency, compact structure and low manufacturing cost;Technical scheme is a kind of citrus picking hand by spherical envelope and occlusion broken handle, including blade;Its characterized in that: the citrus picking hand further includes two hemispherical shells installed on support and can be spherical envelope rotation, two blades are respectively installed in the side of two hemispherical shells by blade adjusting piece to carry out corresponding shearing fit, and electric push rod is installed on support and is driven two hemispherical shells to carry out shearing motion by two arc-shaped connecting rods respectively.

Description

TECHNICAL FIELD

[0001] The present application relates to an agricultural and forestry machinery, in particular to a citrus end picking hand through spherical envelope and occlusion broken handle. BACKGROUND

[0002] Generally, fruit and vegetable picking relies on the method of clamping fruit rotation, breaking and folding. However, due to the characteristics of the wooden handle of citrus, it cannot be picked by the above method, so it has become one of the difficulties in automatic picking. And the citrus branches are more, the existing citrus picking hand is mostly scissors placed on the upper end of the clamping mechanism. This structure disturbs greatly in the picking process, which is easy to cause damage to the citrus, and has high requirements for visual servo positioning. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the background art, and provide a citrus end picking hand through spherical envelope and occlusion broken handle. The picking hand should have the characteristics of convenient use, high working efficiency, compact structure and low manufacturing cost.

[0004] The technical scheme provided by the present application is:

[0005] A citrus picking hand through spherical envelope and occlusion broken handle, comprising a blade; characterized in that: the citrus picking hand further comprises two hemispherical shells installed on the bracket and capable of spherical envelope rotation, two blades respectively installed on the side edges of the two hemispherical shells through the blade adjusting piece to perform corresponding shearing cooperation, and an electric push rod installed on the bracket and driving the two hemispherical shells to perform shearing motion through two arc-shaped connecting rods.

[0006] The two hemispherical shells are rotatably positioned on the two side brackets through two hinge shafts coaxially arranged through the respective centers of the spheres.

[0007] The two hemispherical shells are an inner hemispherical shell and an outer hemispherical shell with different radii to avoid motion interference; the equatorial parts of the one side edges of the two hemispherical shells are respectively provided with connecting rod joints protruding from the spherical surface and provided with hinge holes, and the other side edges of the two hemispherical shells are respectively provided with blade seats protruding from the spherical surface for installing the blades.

[0008] A through groove suitable for the connecting rod joint is formed on the outer hemispherical shell, and the through groove is arranged along the equator of the outer hemispherical shell but maintains a distance from the edge of the outer hemispherical shell; the inner hemispherical shell connecting rod joint on the inner hemispherical shell is movably inserted into the through groove, and the distance from the hinge hole on the inner hemispherical shell connecting rod joint to the center of the inner hemispherical shell is equal to the distance from the hinge hole on the outer hemispherical shell connecting rod joint to the center of the outer hemispherical shell.

[0009] One end of the two arc-shaped connecting rods is hingedly connected to the telescopic rod on the electric push rod, and the other end of the two arc-shaped connecting rods is respectively hingedly connected to the inner hemispherical shell connecting rod joint and the outer hemispherical shell connecting rod joint.

[0010] The blade adjustment component is a blade holder that fixes the blade to the blade mounting base.

[0011] The outer hemisphere has notches on both sides near the connector that correspond to the connecting rod joint of the inner hemisphere, to prevent interference between the inner hemisphere blade mounting seat and the outer hemisphere during operation.

[0012] The beneficial effects of this invention are:

[0013] (1) This invention achieves spherical envelopment by rotating and closing the inner and outer hemispherical shells. During the grasping operation, the inner and outer hemispherical shells close, forming a spherical cavity inside. This cavity can perfectly envelop the citrus fruit, which not only increases the contact area between the fruit and the citrus but also ensures the gripping effect, guarantees the success rate of grasping, and has good tolerance for irregular objects. At the same time, during the harvesting process, the citrus is in the cavity, isolating it from external branches and preventing damage to the citrus.

[0014] (2) The blade of this invention is mounted on the inner and outer hemispherical shells, mimicking the biting motion of animal teeth to sever the citrus stem, making the structure more compact. Furthermore, since the citrus fruit is inside the spherical cavity during biting, the stem position is roughly determined near the blade, greatly improving the success rate of stem severance and reducing the precision requirements for visual positioning of the stem. In addition, adjustment holes for the blade and blade holder are designed to improve cutting accuracy and facilitate the harvesting task by addressing the cutting requirements of stems of different diameters.

[0015] (3) This invention achieves the closing of the harvesting hand through the extension and retraction of the electric actuator, providing the load required for shearing. Simultaneously, it uses only one power source, making control convenient. Installed at the end of the harvesting robot's robotic arm, this invention not only ensures a high success rate in grasping fruit but also reduces the damage rate during fruit harvesting and guarantees the safety of the end effector. Furthermore, it features a clever structure, compact overall size, low manufacturing cost, stable operation, high work efficiency, and good economic benefits, making it widely applicable in fields such as intelligent agricultural harvesting robots. Attached Figure Description

[0016] Figure 1 This is one of the three-dimensional structural schematic diagrams of an embodiment of the present invention (two hemispherical shells not closed).

[0017] Figure 2 This is the second three-dimensional structural schematic diagram of an embodiment of the present invention (two hemispherical shells in the closed state).

[0018] Figure 3 This is a schematic diagram of the cutting engagement state of the two blades when the inner and outer hemispherical shells are closed in an embodiment of the present invention.

[0019] Figure 4It is a perspective view of the outer hemisphere shell in the embodiment of the present application.

[0020] Figure 5 It is a perspective view of the inner hemisphere shell in the embodiment of the present application.

[0021] Figure 6 It is a perspective view of the installation structure of the arc-shaped connecting rod in the embodiment of the present application (the side plate of the bracket is hidden for clarity).

[0022] Figure 7 It is a perspective view of the blade holder in the embodiment of the present application.

[0023] Figure 8 It is a perspective view of the blade in the embodiment of the present application.

[0024] Figure 9 It is a perspective view of the position of each component when two blades are cutting in the embodiment of the present application (the side plate of the bracket is hidden for clarity).

[0025] Reference signs:

[0026] 1, outer hemisphere shell; 1.1, blade mounting seat of outer hemisphere shell; 1.2, waist round hole of outer hemisphere shell; 1.3, connecting rod joint of outer hemisphere shell; 1.4, through slot; 1.5, bearing hole; 1.6, notch; 2, inner hemisphere shell; 2.1, blade mounting seat of inner hemisphere shell; 2.2, waist round hole of inner hemisphere shell; 2.3, connecting rod joint of inner hemisphere shell; 3, blade holder of outer hemisphere shell; 3.1, blade slot; 4, blade holder of inner hemisphere shell; 5, blade; 5.1, slot hole; 6, hinge shaft; 7, electric push rod; 7.1, lifting rod; 7.2, joint; 8, bracket; 9, bracket side plate; 10, pin shaft; 11, arc-shaped connecting rod; 11.1, hinge pin; 12, bracket bottom plate; 13, mechanical arm connecting piece. DETAILED DESCRIPTION

[0027] The embodiments shown in the accompanying drawings are further described below.

[0028] The citrus picking hand shown in the accompanying drawings by spherical envelope and occlusion broken handle includes two rotatable hemisphere shells (i.e. outer hemisphere shell 1 and inner hemisphere shell 2) mounted on the bracket and two blades 5 mounted on the two sides of the hemisphere shells through blade adjusting pieces; the citrus picking hand further includes an electric push rod mounted on the bracket and located below the two hemisphere shells, which transmits motion by applying force to the two hemisphere shells through two arc-shaped connecting rods.

[0029] Two hemispherical shells are inner hemispherical shell 2 and outer hemispherical shell 1 with different radii, and the two hemispherical shells are rotatably positioned on the two sides of the support side plate 9 through two hinge shafts 6 arranged coaxially through the respective centers, so as to realize fixed-axis rotation and avoid motion interference. Further, bearing hole positions 1.5 are provided in the hinge holes of the two hemispherical shells, and bearings are installed to cooperate with the hinge shafts, so as to reduce friction and improve rotation accuracy. As shown in the figure, the support side plate is located at the upper part of the support, the upper part of the support side plate is arc-shaped and suitable for the hemispherical shell, and the top end of the support side plate is provided with a through hole which can cooperate with the hinge shaft.

[0030] The equatorial part of the side edge of the inner hemispherical shell is provided with an inner hemispherical shell connecting rod joint 2.3 which protrudes from the spherical surface and is provided with a hinge hole, and the equatorial part of the side edge of the outer hemispherical shell is provided with an outer hemispherical shell connecting rod joint 1.3 which protrudes from the spherical surface and is provided with a hinge hole; the other side edge of the inner hemispherical shell is provided with an inner hemispherical shell blade mounting seat 2.1 for mounting the blade, and the other side edge of the outer hemispherical shell is provided with an outer hemispherical shell blade mounting seat 1.1 for mounting the blade (the inner hemispherical shell blade mounting seat and the outer hemispherical shell blade mounting seat each include two connecting ears which protrude from the spherical surface and are arranged at a distance apart); a notch 1.6 is provided on the outer hemispherical shell near the two sides of the connecting head, and the two connecting ears of the inner hemispherical shell blade mounting seat can be embedded in the notch during work, so as to prevent the inner hemispherical shell blade mounting seat from interfering with the outer hemispherical shell during work. A through slot 1.4 is provided in the middle of the outer hemispherical shell 1, which is arranged along the equatorial part of the outer hemispherical shell but maintains a distance from the edge of the outer hemispherical shell (to maintain the rigidity of the component); the inner hemispherical shell connecting rod joint 2.3 extends to the outside through the through slot and is hinged with one end of an arc-shaped connecting rod 11 by a hinge pin 11.1, and the outer hemispherical shell connecting rod joint is also hinged with one end of another arc-shaped connecting rod by a hinge pin, and the other ends of the two arc-shaped connecting rods are hinged with an electric push rod by a pin shaft 10.

[0031] Two blades 5 are each provided with two slot holes 5.1, which can be installed in the grooves 3.1 of two blade holders by bolts and screws, and the slot holes are used to adjust the installation distance of the blades. The two blade holders (outer hemispherical shell blade holder 3 and inner hemispherical shell blade holder 4) are the same in structure and are respectively installed at the inner hemispherical shell blade holder mounting seat 2.1 and the outer hemispherical shell blade holder mounting seat 1.1 (by being fixed by bolts between the two connecting ears of each blade holder mounting seat), and the outer hemispherical shell waist round hole 1.2 and the inner hemispherical shell waist round hole 2.2 are respectively used to adjust the installation angle of the blade holder.

[0032] The electric push rod 7 is installed on the support bottom plate 12 and is fixed by bolts; the joint 7.2 connected to the top end of the telescopic rod 7.1 of the electric push rod is hinged with the two arc-shaped connecting rods by the pin shaft 10. The support 8 is installed on the support bottom plate together with the mechanical arm connecting piece 13 and is fixed by bolts.

[0033] Before work, the application is installed on the mechanical arm of the agricultural picking robot, and the installation position of the blade and the blade holder is adjusted in advance to ensure cutting accuracy and maximum cutting stroke.

[0034] In operation, the picking robot carrying the citrus picking manipulator first identifies the pose of the fruit and vegetable in real time through a camera, and then the citrus picking hand approaches the citrus in an upward and unfolded pose. When the citrus completely enters the inner hemispherical shell, only the electric push rod needs to be energized, the telescopic rod retracts, the arc link is pulled downward, and the inner and outer hemispherical shells are driven to rotate upward to realize spherical enveloping. When the angle of rotation reaches a certain degree, the citrus is basically in the spherical cavity at this time, and the fruit stem is located between the two blades, so the two blades can shear the fruit stem (as shown in Figure 9 When the two blades shear, the inner hemispherical shell link joint and the outer hemispherical shell link joint are still separated by a distance to ensure that the rotation directions of the inner and outer hemispherical shells are opposite when the electric push rod is pushed upward, so that they can return to the pre-enveloping pose, thus the control is simple. The pulling force of the electric push rod serves as the source of the cutting force of the citrus stem, and the large load of the electric push rod realizes the breaking of the wooden stem. After the fruit stem is cut off, the citrus is located in the spherical cavity and is protected by the two hemispherical shells, so it will not be damaged by collision with branches and the like. After the picking hand is moved to above the collection basket by the mechanical arm, the lifting rod of the electric push rod is elongated, the arc link is pushed upward, the inner and outer hemispherical shells are driven to rotate downward, the picking hand is slowly opened, and when the rotation reaches the limited position, the citrus can be separated from the picking hand and enter the collection basket, thereby completing the picking.

Claims

1. A citrus harvesting hand that uses a spherical envelopment and biting action to break off the stalk, comprising a blade (5); characterized in that: The citrus harvester also includes two hemispherical shells mounted on the support (8) and capable of spherical enveloping rotation, two blades respectively mounted on the sides of the two hemispherical shells by blade adjustment components for corresponding shearing engagement, and an electric push rod (7) mounted on the support and driven by two arc-shaped connecting rods (11) to perform shearing motion on the two hemispherical shells respectively. The two hemispherical shells are rotatably positioned on the side supports by two hinge shafts (6) that pass through their respective centers and are arranged coaxially. The two hemispherical shells are an inner hemispherical shell (2) and an outer hemispherical shell (1) with different radii to avoid motion interference; a connecting rod joint protruding from the spherical surface and having a hinge hole is made at the equatorial part of one side edge of each of the two hemispherical shells, and a blade holder protruding from the spherical surface for mounting the blade is made at the other side edge of each of the two hemispherical shells. The outer hemisphere has a through slot (1.4) that is compatible with the connecting rod joint. The through slot is arranged along the equator of the outer hemisphere but is kept at a distance from the edge of the outer hemisphere. The inner hemisphere connecting rod joint (2.3) on the inner hemisphere is movably inserted into the through slot, and the distance from the hinge hole on it to the center of the inner hemisphere is equal to the distance from the hinge hole on the outer hemisphere connecting rod joint (1.3) to the center of the outer hemisphere. One end of each of the two arc-shaped connecting rods is hinged to the telescopic rod (7.1) on the electric actuator, and the other end of each of the two arc-shaped connecting rods is hinged to the inner hemispherical shell connecting rod joint and the outer hemispherical shell connecting rod joint, respectively.

2. The citrus picking hand that uses spherical envelopment and biting to break the stalk as described in claim 1, characterized in that: The blade adjustment component is a blade holder that fixes the blade to the blade mounting base.

3. The citrus picking hand that uses spherical envelopment and biting to break the stalk as described in claim 2, characterized in that: The outer hemisphere has notches (1.6) on both sides near the connector to match the connecting rod joint of the inner hemisphere, so as to prevent interference between the inner hemisphere blade mounting seat and the outer hemisphere during operation.

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