A lotus seedpod harvesting robot end effector

Abstract

This invention relates to the field of agricultural fruit and vegetable harvesting, and aims to provide an end effector for a lotus pod harvesting robot. This end effector should have the characteristics of high harvesting efficiency and minimal damage to the fruit. The technical solution is an end effector for a lotus pod harvesting robot, characterized in that: the end effector includes an upper gear seat and a lower gear seat arranged coaxially and maintaining a gap between them, as well as a transmission mechanism, a cutting mechanism, and a covering mechanism disposed between the upper and lower gear seats and driven by a stepper motor.

Description

Technical Field

[0001] This invention relates to the field of agricultural fruit and vegetable harvesting, and in particular to an end effector for a lotus seedpod harvesting robot. Background Technology

[0002] Lotus pods grow in a unique environment, mostly in silt, making manual harvesting complex, time-consuming, labor-intensive, and inefficient. This significantly limits the yield and income per unit area, failing to meet market demands for seasonality and freshness. CN111543179A discloses an automatic lotus pod harvesting machine based on standardized lotus fields, including a fixed frame, a walking device, an identification module, a harvesting mechanism, and a conveying and collecting device. The walking device drives the entire fixed frame, including a steering motor, shock absorbers, and hub motors. The identification module includes an image acquisition module, an image processing module, and a lotus pod recognition module. Three harvesting mechanisms harvest lotus pods based on positioning data sent by the image processing and lotus pod recognition modules. The harvesting mechanism is fixed to the frame and includes an X-axis sliding group driven by a gear and rack mechanism, a Z-axis lifting group mounted on the X-axis sliding group via a ball screw drive, and a harvesting robotic arm fixed to the end of the Z-axis lifting group. The harvesting robotic arm includes a large arm, a small arm, and a clamping and shearing device. The conveying and collecting device includes a conveyor belt and a collection basket. This machine can improve upon the traditional method of manually harvesting lotus pods and reduce manual labor. However, its shortcomings are that its large size makes it difficult to cope with the complex growing environment of lotus pods, and the large harvesting device combined with the laid-out running track reduces the planting area of ​​farmland, thus failing to effectively improve work efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and to propose an end effector for a lotus seedpod harvesting robot. This end effector should have the characteristics of high harvesting efficiency and low risk of damaging the fruit.

[0004] The technical solution provided by this invention is:

[0005] A lotus pod harvesting robot end effector is characterized in that: the end effector includes an upper gear seat and a lower gear seat arranged coaxially and maintaining a gap between them, as well as a transmission mechanism, a cutting mechanism and a covering mechanism disposed between the upper and lower gear seats and driven by a stepper motor;

[0006] The inner ring edges of the upper gear seat and the lower gear seat are respectively connected to a cylindrical seat ring. The two seat rings protrude towards each other and maintain a distance. A driven large gear is rotatably fitted on each of the two seat rings. Crescent-shaped tracks are also provided on the circumferential surfaces of the two seat rings.

[0007] The transmission mechanism includes two driving pinions mounted on the inner end face of the upper gear seat and the inner end face of the lower gear seat, and two driven large gears meshing with the driving pinions;

[0008] The cutting mechanism includes a pair of crescent-shaped blade holders mounted between an upper gear seat and a lower gear seat, each bearing a blade, and two gear seat connectors driven by the pair of crescent-shaped blade holders; the pair of crescent-shaped blade holders are rotatably positioned in the gap between the upper and lower gear seats about a support rotation axis; each gear seat connector includes a stepped shaft inserted into and sliding along a crescent-shaped track, a slider fixed on the stepped shaft and slidingly engaging with the arc-shaped track of the crescent-shaped blade holder, and a gear connector sleeved on the stepped shaft and meshing with the driven large gear.

[0009] The driven large gear engages with the square teeth on the outer edge of the gear connector through a square tooth groove on its inner side to transmit power.

[0010] The center line of the crescent-shaped track is arranged coaxially with the seat ring.

[0011] One end of each of the two crescent-shaped blade holders is rotatably positioned on the holder's rotating shaft, which is arranged parallel to the axis of the upper and lower gear seats and is fixed to the upper and lower gear bases respectively.

[0012] The midpoint of the bracket's rotation axis and the crescent-shaped track is located on the same diameter line of the upper and lower gear seats, and is placed on both sides of the axis of the upper and lower gear seats.

[0013] The covering mechanism includes two arc-shaped baffles fixed to the outside of the two crescent-shaped blade supports.

[0014] The stepped shaft is arranged parallel to the axis of the upper and lower gear bases and is sequentially inserted into the crescent-shaped track of the gear base, a gear connector, a slider, and then fixed at the bottom with a nut.

[0015] The stepper motors are respectively mounted on the outer end faces of the upper gear seat and the lower gear seat.

[0016] The output shaft of the stepper motor extends from the outer end face of the gear seat into the inner end face and is then fixedly connected to the driving pinion.

[0017] The beneficial effects of this invention are as follows: This invention is small in size and utilizes two stepper motors to control the left and right crescent-shaped blade supports respectively, providing good flexibility in cutting lotus pod stems and adapting to working in complex environments, thus improving harvesting efficiency; the small gear in the transmission mechanism drives the large gear, which works in conjunction with the stepper motors, resulting in higher control precision during the cutting process; by controlling the curvature of the crescent-shaped blade supports and the covering mechanism, the direct contact and friction between rigid materials and the fruit during the cutting of lotus pod stems avoids damage to the fruit caused by friction and collision; the harvesting process does not involve contact with the lotus pod fruit, making it adaptable to lotus plants with different agronomic parameters and exhibiting good adaptability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the upper gear base mechanism in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the mechanism of the lower gear base in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the cutting mechanism in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the covering mechanism in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the transmission mechanism in an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of the gear seat connector in an embodiment of the present invention.

[0025] Among them: 1-Upper gear seat, 101-Crescent-shaped track, 2-Lower gear seat, 201-Seat ring, 3-Transmission mechanism, 301-Driving pinion, 302-Driven large gear, 4-Cutting mechanism, 401-Crescent-shaped blade holder, 402-Blade, 403-Arc-shaped track, 404-Bearing rotating shaft, 5-Covering mechanism, 6-Gear seat connector, 601-Slider, 602-Gear connector, 603-Stepped shaft, 604-Square tooth, 7-Stepper motor. Detailed Implementation

[0026] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0027] Figure 1 The end effector of the lotus pod harvesting robot shown includes an upper gear base 1, a lower gear base 2, a transmission mechanism 3, a cutting mechanism 4, a covering mechanism 5, and a gear seat connector 6.

[0028] Both the upper gear seat 1 and the lower gear seat 2 are annular, coaxially arranged and maintaining a distance between them (the distance is used to install the cutting mechanism). They are also fixedly connected as a whole by several hexagonal studs distributed parallel to the axis. A lifting eye screw is fixedly connected to the outer end face of the upper gear seat for threading a lifting rope to lift the end effector. The outer end faces of the upper gear seat and the lower gear seat are respectively fixedly connected to a stepper motor 7 by bolts. A cylindrical seat ring is welded to the inner ring edge of the upper gear seat and the lower gear seat, and the two seat rings protrude towards each other and maintain a certain distance. A driven large gear 302 is rotatably fitted on the seat ring of the upper gear seat 1 and the lower gear seat 2, and the driven large gear is axially positioned by an elastic retaining ring. Each driven large gear has a square tooth groove on its inner side to mesh with the square teeth 604 on the outer edge of the gear connector 602. In addition, crescent-shaped tracks 101 arranged along the circumference are welded and installed on the inner circumferential surfaces of the two seat rings respectively. The center line of the crescent-shaped track is arranged coaxially with the seat ring and is used for sliding fit of the stepped shaft 603.

[0029] The transmission mechanism 3 includes two driving pinions 301 mounted on the inner end faces of the upper and lower gear seats, and two driven large gears 302 respectively positioned on the seat rings of the upper and lower gear seats; the driving pinions 301 mesh with the driven large gears 302. The transmission relationship of the components on the upper gear seat is as follows: the output shaft of the stepper motor passes through the outer end face of the upper gear seat and extends into the inner end face, then passes through and fixes the driving pinion 301. The driving pinion 301 meshes with the driven large gear 302 positioned on the seat ring of the upper gear seat. The transmission ratio can be determined as needed (a recommended transmission ratio is 273:24). The transmission relationship of the components on the lower gear seat is the same and will not be described again.

[0030] The cutting mechanism 4 includes a pair of crescent-shaped blade supports 401 (each crescent-shaped blade support forming an arc-shaped track 403) installed between the upper gear seat 1 and the lower gear seat 2, and a gear seat connector 6 driven by the pair of crescent-shaped blade supports; a blade 402 is installed on the inner side (i.e., the concave side in the middle) of each crescent-shaped blade support 401; the blades are connected to the crescent-shaped blade supports by elastic cylindrical pins, and one end of each crescent-shaped blade support is rotatably positioned on the support rotation shaft 404. The support rotation shaft is arranged parallel to the axis of the upper and lower gear seats, and the upper and lower ends are respectively fixed to the lower gear base by elastic retaining rings; so that the two crescent-shaped blade supports are inserted between the spacing of the upper and lower gear seat rings, thereby achieving the positioning of the upper and lower gear seats along the axial direction. As shown in the figure, the midpoint of the axis of the support rotation shaft and the crescent-shaped track is located on the same diameter line of the upper and lower gear seats, and is placed on both sides of the axis of the upper and lower gear seats.

[0031] The rotating shaft of the bracket is also equipped with thrust ball bearings between the upper gear base and the lower gear base, respectively. The crescent-shaped blade bracket 401 is fixedly connected to the covering mechanism 5; the covering mechanism 5 includes two arc-shaped baffles, which are fixed to the outside of the crescent-shaped blade bracket (i.e., the side of the crescent-shaped blade bracket that protrudes outward in the middle part) by screws. Figure 5 The relative positions of the two curved baffles after they are fixed.

[0032] The gear seat connector 6 includes two stepped shafts 603 that can be simultaneously inserted into and slide along the crescent-shaped track 101, two sliders 601 that can slide in the arc-shaped track 403 of the crescent-shaped blade holder, and two gear connectors 602 that are slidably sleeved on the stepped shafts and mesh with two driven large gears. Figure 1 , Figure 7 It can be seen that: one of the stepped shafts 603 (the shaft end of which is connected to a round nut for one-way positioning) passes through the crescent-shaped track of the upper gear base, a gear connector, and a slider in sequence from top to bottom, and is then fixed to a nut at its bottom end. The square teeth 604 on the gear connector are exactly engaged with the square tooth groove of the driven large gear 302 on the upper gear base ring, while the slider is precisely inserted into the arc-shaped track of a crescent-shaped blade holder for sliding engagement. Similarly, the other stepped shaft 603 passes through the crescent-shaped track of the lower gear base, another gear connector, and another slider in sequence from bottom to top, and is then threaded to another nut at its bottom end. The square teeth on the outer edge of the gear connector are exactly engaged with the square tooth groove of the driven large gear 302 on the lower gear base ring, while the slider is precisely inserted into the arc-shaped track of another crescent-shaped blade holder for sliding engagement.

[0033] During operation, the robot's vision module identifies and locates the lotus pods, then releases the suspension rope to lower the end effector to an appropriate height, allowing the lotus pods to extend upwards from the center of the end effector. Next, two stepper motors are controlled, with two driving pinions 301 driving driven gears 302. These driven gears 302, through their inner square toothed grooves, drive two gear connectors 602 to move along crescent-shaped tracks on the upper gear seat 1 and lower gear seat 2, respectively. This causes the slider 601 to slide within the crescent-shaped blade holder 401. Ultimately, the two crescent-shaped blade holders 401 converge towards each other, and the blades 402 mounted on them cut the designated lotus pod stem. A covering mechanism 5, used to receive the lotus pods, is moved above the collecting device by other robot mechanisms. Then, the two stepper motors are controlled to open and reset the crescent-shaped blade holders, causing the lotus pods to fall, completing the harvesting of one lotus pod. This cycle repeats continuously.

Claims

1. An end effector for a lotus pod harvesting robot, characterized in that: The end effector includes an upper gear seat (1) and a lower gear seat (2) arranged coaxially and maintaining a gap between each other, as well as a transmission mechanism (3), a cutting mechanism (4) and a covering mechanism (5) disposed between the upper and lower gear seats and driven by a stepper motor. The inner ring edges of the upper gear seat and the lower gear seat are respectively connected to a cylindrical seat ring (201). The two seat rings protrude towards each other and maintain a distance. A driven large gear is rotatably fitted on each of the two seat rings. A crescent-shaped track (101) is also provided on the circumferential surface of the two seat rings. The transmission mechanism includes two driving pinions (301) installed on the inner end face of the upper gear seat and the inner end face of the lower gear seat, and two driven large gears (302) meshing with the driving pinions; The cutting mechanism includes a pair of crescent-shaped blade supports (401) mounted between the upper gear seat and the lower gear seat and each bearing a blade (402), and two gear seat connectors (6) driven by the pair of crescent-shaped blade supports; the pair of crescent-shaped blade supports are rotatably positioned in the gap between the upper and lower gear seats about the support rotation axis (404); each gear seat connector includes a stepped shaft (603) inserted in the crescent-shaped track (101) and sliding along the crescent-shaped track, a slider (601) fixed on the stepped shaft and slidingly engaged with the arc-shaped track (403) of the crescent-shaped blade support, and a gear connector (602) sleeved on the stepped shaft and meshing with the driven large gear.

2. The end effector of the lotus pod harvesting robot according to claim 1, characterized in that: The driven large gear engages with the square teeth (604) on the outer edge of the gear connector through a square tooth groove on its inner side to transmit power.

3. The end effector of the lotus pod harvesting robot according to claim 2, characterized in that: The center line of the crescent-shaped track is arranged coaxially with the seat ring.

4. The end effector of the lotus pod harvesting robot according to claim 3, characterized in that: One end of each of the two crescent-shaped blade holders is rotatably positioned on the holder's rotating shaft, which is arranged parallel to the axis of the upper and lower gear seats and is fixed to the upper and lower gear bases respectively.

5. The end effector of the lotus pod harvesting robot according to claim 4, characterized in that: The midpoint of the bracket's rotation axis and the crescent-shaped track is located on the same diameter line of the upper and lower gear seats, and is placed on both sides of the axis of the upper and lower gear seats.

6. The end effector of the lotus pod harvesting robot according to claim 5, characterized in that: The covering mechanism includes two arc-shaped baffles fixed to the outside of the two crescent-shaped blade supports.

7. The end effector of the lotus pod harvesting robot according to claim 6, characterized in that: The stepped shaft is arranged parallel to the axis of the upper and lower gear bases and is sequentially inserted into the crescent-shaped track of the gear base, a gear connector, a slider, and then fixed at the bottom with a nut.

8. The end effector of the lotus pod harvesting robot according to claim 7, characterized in that: The stepper motors are respectively mounted on the outer end faces of the upper gear seat and the lower gear seat.

9. The end effector of the lotus pod harvesting robot according to claim 8, characterized in that: The output shaft of the stepper motor extends from the outer end face of the gear seat into the inner end face and is then fixedly connected to the driving pinion.

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