Harvesting actuator that adapts to the growth posture of tomatoes

Abstract

This invention provides a harvesting actuator that adapts to the growth posture of tomatoes, comprising: a first driving component, a rear fixed frame, a sleeve frame, a front movable frame, a second driving component, and an image acquisition component; the image acquisition component is connected to the first driving component; the rear fixed frame and the sleeve frame are driven to rotate by the first driving component, which adjusts the angle at which the sleeve frame catches the tomato stem; the rear fixed frame is equipped with the second driving component, and the front movable frame is driven to move along the catching area close to the sleeve frame; the front movable frame is equipped with a cutting component, which can drive the cutting component to the location of the tomato stem. This invention has a simple structure and cuts the stem through a catching and retracting cutting method, reducing the requirements for visual recognition accuracy.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting equipment technology, specifically to a harvesting actuator that adapts to the tomato growth posture, and more particularly to a harvesting actuator that adapts to the tomato growth posture for tomato harvesting. Background Technology

[0002] In the production of fruits and vegetables, large-scale and modular planting is becoming increasingly common, creating an urgent need for automated harvesting solutions to replace manual labor, improve efficiency, and reduce costs. For tomatoes, due to their fragility, harvesting has historically been largely done manually, which is often inefficient, costly, and physically demanding for workers. Therefore, developing an automated harvesting technology to replace manual tomato harvesting is essential.

[0003] Current automated tomato harvesting technology requires cameras to obtain accurate tomato posture information. In the unstructured environment of actual harvesting, due to the variable lighting, foliage obstruction, and the variable growth position and space of tomatoes, it is difficult to obtain accurate tomato posture visually. Moreover, existing end-point harvesting devices cannot guarantee the harvesting success rate because their posture cannot be adjusted.

[0004] Patent document CN107214716A discloses a tomato fruit bunch harvesting end effector and its harvesting method. The tomato fruit bunch harvesting end effector includes a support, a clamping stepper motor, a fixed clamping arm, an ultrasonic ranging sensor, a cam-toothed blade, a cutting stepper motor, a movable clamping arm, a rack, gears, and a controller. The clamping mechanism, composed of the fixed and movable clamping arms, clamps the main stem of the tomato fruit bunch. The clamping force is controlled by measuring the distance and controlling the clamping gap using the ultrasonic ranging sensor. The rotating cam-toothed blade, mounted on the fixed clamping arm, cuts the main stem, separating the fruit bunch from the plant. However, this patent document still suffers from the drawback of difficulty in accurately obtaining the tomato's posture visually. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a harvesting actuator that adapts to the tomato growth posture.

[0006] A harvesting actuator that adapts to the growth posture of tomatoes according to the present invention includes: a first driving component, a rear fixed frame, a sleeve frame, a front movable frame, a second driving component, and an image acquisition component;

[0007] The image acquisition component is connected to the first driving component; the rear fixing frame and the sleeve frame are driven to be connected to the first driving component, and the first driving component is used to drive the rear fixing frame and the sleeve frame to rotate, and adjust the sleeve frame's angle of attachment to the tomato stem;

[0008] The rear fixed frame is provided with a second drive component, and the front movable frame is drivenly connected to the second drive component. The second drive component is used to drive the front movable frame to move along the direction close to the snatching area of ​​the snatching frame. The front movable frame is provided with a cutting component, which can drive the cutting component to the position of the tomato stem.

[0009] Preferably, the shearing assembly includes a third drive assembly, a left push plate, and a right push plate disposed on the front movable frame;

[0010] The left and right push plates are connected to the third drive assembly, which can drive the left and right push plates to move closer and further apart from each other.

[0011] The left push plate is equipped with a left push plate blade, and the right push plate is equipped with a right push plate blade. The left push plate blade and the right push plate blade can cut the tomato stem by bringing the left push plate and the right push plate closer together.

[0012] Preferably, the third drive component includes a servo motor and a front support member;

[0013] The servo and the front support are mounted on the front movable frame. The front support has a first sliding groove, and the drive end of the servo is located in the first sliding groove.

[0014] A first rack is provided on the left push plate, and a second rack is provided on the right push plate. The first rack and the second rack are arranged opposite to each other in the first sliding groove.

[0015] The drive end of the servo motor is connected to the first rack and the second rack via a gear, with the gear located between the first rack and the second rack.

[0016] Preferably, the third drive assembly further includes a front blade and a clamping plate;

[0017] The clamping plate is mounted on the front support member, the front blade is clamped between the clamping plate and the front movable frame, and the first rack and the second rack are clamped between the clamping plate and the front support member. The first rack and the second rack are movable on the front support member.

[0018] Preferably, the first drive assembly includes a drive motor and a swing structure;

[0019] The swing structure is connected to the drive motor, and the drive motor drives the swing structure to rotate.

[0020] The rear fixed frame is connected to the swing structure, and the swing structure drives the rear fixed frame to rotate.

[0021] Preferably, the second drive component includes a drive cylinder;

[0022] The piston end of the drive cylinder is connected to the rear fixed frame, and the cylinder body end of the drive cylinder is connected to the front movable frame.

[0023] Preferably, the image acquisition component is a camera.

[0024] Preferably, a second sliding groove is provided on the front movable frame;

[0025] The sidewall of the sleeve frame is located in the second sliding groove, and the front movable frame moves along the sidewall of the sleeve frame through the second sliding groove.

[0026] Preferably, the fitting end of the frame is V-shaped.

[0027] Preferably, the left push plate is provided with a left guide slope, the right push plate is provided with a right guide slope, and a gathering channel is provided between the left guide slope and the right guide slope;

[0028] The left push plate is provided with a left limiting plane, the right push plate is provided with a right limiting plane, and a shearing channel is provided between the left limiting plane and the right limiting plane;

[0029] The shearing ends of the left and right pusher blades are located within the shearing channel, and the tomato stems enter the shearing channel through the gathering channel.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. This invention is a harvesting robot that adapts to the growth posture of tomatoes. By adding an up-and-down swinging structure to the end effector, the swinging angle can be adaptively controlled based on the tomato posture information obtained by the camera, so as to adapt to the growth posture of tomatoes and ensure that the shearing blade and the tomato stem are relatively perpendicular during the harvesting process, thereby improving the harvesting success rate.

[0032] 2. This invention uses a method of picking and clamping fruit bunches by snatching and shrinking shearing, which reduces the requirements for visual accuracy. Only a visual camera is needed to obtain the approximate location information of the tomatoes to complete the positioning of the tomatoes.

[0033] 3. The snatching and shrinking shearing structure designed in this invention ensures the synchronization of shearing and clamping, improving the efficiency and stability of the picking action.

[0034] 4. The present invention adopts a method of locating tomato fruits, which only requires obtaining the approximate location of the tomato to achieve tomato positioning, thereby reducing the need for visual precision.

[0035] 5. The swing structure set in this invention can rotate the angle according to visual information, ensuring that the shearing blade and the tomato stem are relatively perpendicular during the picking process, which can improve the success rate of picking.

[0036] 6. The shearing and clamping structure provided in this invention enables the shearing and clamping of the fruit stalk during the harvesting process to be synchronized, thereby improving the efficiency and stability of the harvesting action. Attached Figure Description

[0037] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0038] Figure 1-3 This is a schematic diagram of a harvesting actuator designed for adaptive tomato growth posture.

[0039] Figure 4-5 This is a structural diagram illustrating the pre-shearing posture of a harvesting actuator designed for adaptive tomato growth.

[0040] Figure 6-7 This is a schematic diagram of the structure of the harvesting actuator under the shearing posture, designed for adaptive tomato growth posture.

[0041] Figure 8 and Figure 9 This is a schematic diagram of the connection structure of the front movable frame of the harvesting actuator designed for adaptive tomato growth posture.

[0042] The diagram shows:

[0043] Connecting frame 1, left push plate 12

[0044] Image acquisition component 2 First rack 1201

[0045] Drive motor 3, left guide slope 1202

[0046] Swinging structural component 4, left limiting plane 1203

[0047] Rear fixing bracket 5, right push plate 13

[0048] Frame 6, Second rack 1301

[0049] Frame sidewall 601, right guide bevel 1302

[0050] Loop end 602 Right limiting plane 1303

[0051] Front movable frame 7, front blade 14

[0052] Second sliding groove 701 Clamping piece 15

[0053] Cylinder piston end 8, left push plate blade 16

[0054] Cylinder body end 9, right push plate blade 17

[0055] Servo 10, Tomato main vine 18

[0056] Front support 11, tomato stem 19

[0057] First sliding groove 1101 Detailed Implementation

[0058] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0059] Example 1:

[0060] like Figure 1-9 As shown, this embodiment provides a harvesting actuator that adapts to the growth posture of tomatoes, including: a first driving component, a rear fixed frame 5, a sleeve frame 6, a front movable frame 7, a second driving component, and an image acquisition component 2; the image acquisition component 2 is connected to the first driving component; the rear fixed frame 5 and the sleeve frame 6 are drivenly connected to the first driving component, which drives the rear fixed frame 5 and the sleeve frame 6 to rotate, adjusting the angle at which the sleeve frame 6 captures the tomato stem 19; the rear fixed frame 5 is provided with the second driving component, and the front movable frame 7 is drivenly connected to the second driving component, which drives the front movable frame 7 to move along the direction close to the capture area of ​​the sleeve frame 6; the front movable frame 7 is provided with a cutting component, which can drive the cutting component to the position of the tomato stem 19. The image acquisition component 2 acquires image information of the tomato stem 19, analyzes the posture of the tomato stem 19, and adjusts the capture angle of the sleeve frame 6 according to the analyzed posture. The tomato stem 19 is on the main tomato vine 18.

[0061] The first drive assembly includes a drive motor 3 and a swing structure 4; the swing structure 4 is driven by the drive motor 3, and the drive motor 3 drives the swing structure 4 to rotate; the rear fixed frame 5 and the sleeve 6 are connected to the swing structure 4, and the swing structure 4 drives the rear fixed frame 5 and the sleeve 6 to rotate. The second drive assembly includes a drive cylinder; the piston end 8 of the drive cylinder is connected to the rear fixed frame 5, and the cylinder body end 9 of the drive cylinder is connected to the front movable frame 7.

[0062] The shearing assembly includes a third drive assembly, a left push plate 12, and a right push plate 13, all mounted on the front movable frame 7. The left push plate 12 and the right push plate 13 are driven to move closer to each other and further away from each other. The left push plate 12 is equipped with a left push plate blade 16, and the right push plate 13 is equipped with a right push plate blade 13. The left push plate blade 16 and the right push plate blade 13 can cut the tomato stem 19 by moving closer to each other. The third drive assembly includes a servo motor 10 and a front support member 11. The servo motor 10 and the front support member 11 are mounted on the front movable frame 7. The front support member 11 is provided with a first sliding groove 1101, and the drive end of the servo motor 10 is located in the first sliding groove 1101. A first rack 1201 is provided on the left push plate 12, and a second rack 1301 is provided on the right push plate 13. The first rack 1201 and the second rack 1301 are arranged opposite to each other in the first sliding groove 1101. The drive end of the servo motor 10 is meshed with the first rack 1201 and the second rack 1301 through a gear, and the gear is located between the first rack 1201 and the second rack 1301. The left push plate 12 is provided with a left guide slope 1202, and the right push plate 13 is provided with a right guide slope 1302. A gathering channel is provided between the left guide slope 1202 and the right guide slope 1302. The left push plate 12 is provided with a left limiting plane 1203, and the right push plate 13 is provided with a right limiting plane 1302. A shearing channel is provided between the left limiting plane 1203 and the right limiting plane 1302. The shearing ends of the left push plate blade 16 and the right push plate blade 17 are located in the shearing channel, and the tomato stem 19 enters the shearing channel through the gathering channel.

[0063] The third drive assembly also includes a front blade 14 and a clamping plate 15; the clamping plate 15 is disposed on the front support member 11, the front blade 14 is clamped between the clamping plate 15 and the front movable frame 7, the first rack 1201 and the second rack 1301 clamp the clamping plate 15 and the front support member 11, and the first rack 1201 and the second rack 1301 are movable on the front support member 11.

[0064] Image acquisition component 2 is a camera. A second sliding groove 701 is provided on the front movable frame 7; the sidewall 601 of the frame 6 is located within the second sliding groove 701, and the front movable frame 7 moves along the sidewall 601 of the frame 6 via the second sliding groove 701. The fitting end 602 of the frame 6 is V-shaped.

[0065] Example 2:

[0066] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0067] This embodiment provides a harvesting actuator for tomatoes that adapts to their growth posture, including a vision module, a connecting frame, a drive module, a vertical swing module, and a clamping and shearing module. The vision module is mounted on the connecting frame; the drive module controls the vertical swing module to perform vertical swinging motions based on the tomato posture information provided by the vision module; the clamping and shearing module is mounted on the vertical swing module.

[0068] The drive module includes a servo brushless motor, wherein: the servo brushless motor is fixed to the connecting frame; the swing module is disposed at the output end of the servo brushless motor, and is driven by the servo brushless motor to enable the swing module to rotate around the output shaft of the servo brushless motor.

[0069] The described snare and retractable shearing module includes: a rear fixed frame, a front movable frame, a cylinder, a servo motor, a front blade, a front support, a clamping plate, a left push plate, a left push plate blade, a right push plate, a right push plate blade, and a snare frame. The rear fixed frame is fastened to the swing module; the snare frame is fastened to the swing module; the front movable frame is mounted on the rear fixed frame; the front support is fastened to the front movable frame; the front blade and clamping plate are fastened to the front movable frame; the left and right push plates are mounted on the front movable frame; the left push plate blade is fastened to the left push plate; the right push plate blade is fastened to the right push plate; the cylinder is mounted on the front movable frame; and the servo motor is mounted on the front movable frame.

[0070] The cylinder piston rod is fixed to the rear fixed frame of the snatching and shrinking shearing picking module, and the cylinder body is fixed to the front movable frame of the snatching and shrinking shearing picking module. The cylinder drives the rear fixed frame and the front movable frame to produce relative linear motion.

[0071] The working stroke of the cylinder allows the front movable frame to move to the vicinity of the sleeve frame, and the front blade fastened to the front movable frame extends into the rectangular groove of the sleeve frame, causing the clamping piece fastened to the front movable frame and the sleeve frame to be squeezed to a certain extent.

[0072] The rear fixed frame is equipped with a limit switch, which restricts the range of movement of the front movable frame in the front-rear direction.

[0073] The clamping piece is fastened between the front blade and the left and right push plates, and the blade extension length is greater than the clamping piece extension length.

[0074] The servo motor is fastened to the front end of the front movable frame, and the output shaft extends vertically through the front movable frame into the interior of the front support member.

[0075] The servo motor output shaft engages with the left and right push plates via a gear and rack mechanism. The rotation of the servo motor output shaft drives the left and right push plates to perform relative linear motion in the left and right directions.

[0076] This embodiment provides a harvesting actuator that adapts to the tomato's growth posture, including a connecting frame, a drive module, a vision module, a swing module, a vertical swing module, and a snatching and retracting shearing harvesting module. The drive module and vision module are mounted on the connecting frame; the vision module identifies the tomato's growth posture; the drive module controls the vertical movement of the swing module; the harvesting clamping module is mounted on the swing module; when the vision module detects target information, the drive module drives the swing module to produce a corresponding swinging motion; the snatching and retracting shearing harvesting module completes the harvesting of the target.

[0077] This embodiment has a simple structure. By using a looping and contraction shearing method to cut the fruit stem, the requirements for visual recognition accuracy can be reduced. The swinging, looping, and contraction shearing structure set in this embodiment can generate a swinging motion based on the tomato's orientation information recognized by the camera, so that the blade is perpendicular to the tomato stem during the picking process, which can improve the accuracy of cutting the fruit stem.

[0078] Example 3:

[0079] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0080] This embodiment provides a harvester that adapts to the tomato growth posture for tomato picking.

[0081] According to this embodiment, an adaptive tomato growth posture harvester for tomato picking includes a connecting frame, a drive module, a vision module, a swing module, and a snatching and shrinking shearing harvesting module. The vision module is mounted on the connecting frame; the drive module is mounted on the connecting frame; the swing module is mounted on the drive module; the drive module drives the swing module to swing up and down via a servo brushless motor; the snatching and shrinking shearing harvesting module is mounted on the swing module; when harvesting, the snatching and shrinking shearing harvesting module is driven by a cylinder and a servo motor to cut and clamp the tomato stem.

[0082] The vision module is a depth camera, wherein the depth camera is fixedly connected to the front end of the connecting frame.

[0083] The drive module is a servo brushless motor, wherein the servo brushless motor is fixedly connected to the side of the connecting frame.

[0084] The swing module includes a swing structure, wherein: the swing structure is fixed to the output end of the servo brushless motor, and the swing structure is driven by the servo brushless motor to rotate around the output shaft of the servo brushless motor.

[0085] The snare and retractable shearing module includes: a rear fixed frame, a front movable frame, a cylinder, a servo motor, a front blade, a front support, a clamping plate, a left push plate, a left push plate blade, a right push plate, a right push plate blade, and a snare frame, wherein: the rear fixed frame is fastened to the swing structure; the snare frame is fastened to the swing structure; the front movable frame is disposed above the rear fixed frame and can move linearly in the front-back direction; the piston rod of the cylinder is fastened to the rear fixed frame, and the cylinder body is fastened to the front movable frame, and the cylinder drives the front movable frame to move linearly relative to the rear fixed frame in the front-back direction; the front blade is fixed to the front end of the front movable frame; the servo motor is fixed to the front end of the front movable frame; the front support frame is fixed to the front end of the front movable frame; the left push plate and the right push plate are fixed to the front end of the front movable frame; the left push plate blade and the right push plate blade are respectively fixed to the left push plate and the right push plate.

[0086] During the cutting process, the left and right push plates can push the tomato stems inside the frame to the middle area of ​​the frame, ensuring the cutting and clamping effect. The clamping plate is located between the front blade and the clamping plate. The left and right push plates are located between the clamping plate and the front support member.

[0087] This embodiment employs a method of hooking and releasing the tomato fruit, requiring only the approximate location of the tomato for accurate positioning, thus reducing the need for precise visual perception. The swinging structure in this embodiment rotates according to visual information, ensuring that the shearing blade and the tomato stem are relatively perpendicular during harvesting, improving the success rate. The shearing and clamping structure in this embodiment ensures synchronous shearing and clamping of the stem during harvesting, enhancing the efficiency and stability of the harvesting process.

[0088] Example 4:

[0089] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0090] like Figure 1-9 As shown, this embodiment provides a harvesting actuator that adapts to the growth posture of tomatoes. It uses a motor to add a swing degree of freedom, adjusts the pitch angle according to the tomato orientation information given by the camera, and uses cylinders and servo motors to drive the harvesting action.

[0091] Furthermore, such as Figure 1-3As shown, the harvesting actuator for adaptive tomato growth posture in this embodiment includes a connecting frame 1, an image acquisition component 2, a drive motor 3, a swinging structure 4, a rear fixed frame 5, a sleeve frame 6, a front movable frame 7, a cylinder piston end 8, a cylinder body end 9, a servo motor 10, a front support component 11, a left push plate 12, a right push plate 13, a front blade 14, a clamping plate 15, a left push plate blade 16, and a right push plate blade 17. The image acquisition component 2 is a camera, and the drive motor 3 is a servo brushless motor.

[0092] The camera and brushless servo motor are bolted to the connecting frame 1. The swing structure 4 is bolted to the output end of the brushless servo motor, and driven by the brushless servo motor, the swing structure 4 can rotate around the output shaft of the servo brushless motor 3. The rear fixed frame is bolted to the swing structure 4. The sleeve 6 is screwed to the swing structure 4. The servo motor 10 is bolted to the front end of the front movable frame 7. The front blade 14, clamping plate 15, left push plate 12, right push plate 13 and front support 11 are stacked from top to bottom under the front movable frame 7, and bolted to fix the front blade 14, clamping plate 15 and front support 11 to the front movable frame 7. The output shaft of the servo motor 10 extends downward into the front support 11, engaging with the left push plate 12 and the right push plate 13 via a rack and pinion mechanism. Driven by the servo motor 10, the left push plate 12 and the right push plate 13 can perform relative linear motion in the left-right direction and centering motion. The cylinder body end 9 is fastened to the front movable frame 7 by a nut, and the cylinder piston end 8 is fastened to the rear fixed frame 5 by a nut. The front movable frame 7 is positioned above the rear fixed frame 5 and the sleeve frame 6, so that driven by the cylinder, the cylinder piston rod end 8 and the cylinder body end 9 produce relative displacement in the front-back direction, causing the front movable frame 7 to produce relative displacement in the front-back direction relative to the rear fixed frame 5. The left push plate blade 16 is fastened to the left push plate 12 by screws, and the right push plate blade 17 is fastened to the right push plate 13 by screws. The movement of the left and right push plates causes the left push plate blade 16 and the right push plate blade 17 to move closer and further apart.

[0093] like Figure 4 and Figure 5 As shown, the picking actuator completes the adaptive swinging motion according to the tomato's posture. The servo brushless motor rotates clockwise by about 30 degrees, causing the swing body structure 4 to rotate clockwise by about 30 degrees. At this time, the cutting edge of the front blade 14 is perpendicular to the tomato stem 19.

[0094] like Figure 6 and Figure 7As shown, the harvesting actuator adjusts its posture according to visual information and harvests the tomato stem 19. Driven by a cylinder, the front movable frame 7 moves linearly relative to the rear fixed frame 5 in the front-rear direction. The front blade 14, clamping plate 15, left push plate 12, right push plate 13 and front support 11, which are fixedly connected to the front end of the front movable frame 7, also move forward. The front blade 14 enters the rectangular groove at the front end of the sleeve 6 to cut the tomato stem 19. At the same time, the servo motor 10 drives the left push plate 12 and right push plate 13 to move in a centered manner, so that the left push plate blade 16 and right push plate blade 17 come closer and cut the tomato stem 19 again. The clamping plate 15 and the front end of the sleeve 6 squeeze each other to complete the clamping of the tomato stem 19.

[0095] The tomato harvesting process is as follows: First, a camera locates the tomato bunches and obtains their positional information. A servo brushless motor 3 drives the oscillating structure 4 to rotate to a suitable angle, at which point the piston end 8 of the cylinder is not extended relative to the cylinder body end 9. Once the tomato bunch enters the frame, the stem is positioned correctly. The cylinder is then driven, causing a relative displacement between the piston end 8 and the cylinder body end 9. This displacement causes a relative forward-backward displacement between the front movable frame 7 and the rear fixed frame 5, moving the front blade 14 and the clamping plate 15 forward to the front end of the frame 6, completing clamping and initial cutting. A servo motor 10 drives the left push plate 12 and the right push plate 13 to center their movement, bringing the left push plate blade 16 and the right push plate blade 17 closer together to cut the stem again, completing the harvesting action. The stem is clamped by the squeezing action of the clamping plate 15 and the frame 6.

[0096] The swinging structure of this invention can adaptively adjust the swing angle according to the tomato's growth posture, ensuring that the blade and tomato stem are relatively perpendicular during the cutting process, thus guaranteeing cutting efficiency and success rate. This invention uses a frame to capture the tomato, reducing the visual requirements for tomato positioning accuracy. The cutting and clamping structure of this invention improves the synchronization of tomato stem cutting and clamping, ensuring the stability of tomato harvesting.

[0097] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0098] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A harvesting actuator that adapts to the growth posture of tomatoes, characterized in that, include: The first drive assembly, the rear fixed frame (5), the sleeve frame (6), the front movable frame (7), the second drive assembly, and the image acquisition assembly (2); The image acquisition component (2) is connected to the first driving component; the rear fixing frame (5) and the sleeve frame (6) are driven to be connected to the first driving component. The first driving component is used to drive the rear fixing frame (5) and the sleeve frame (6) to rotate and adjust the sleeve frame (6) to take the tomato stem (19) at the angle. The rear fixed frame (5) is provided with a second drive component, and the front movable frame (7) is driven to the second drive component. The second drive component is used to drive the front movable frame (7) to move along the direction close to the snatching area of ​​the sleeve frame (6). The front movable frame (7) is provided with a shearing component, and the front movable frame (7) can drive the shearing component to the location of the tomato stem (19). The shearing assembly includes a third drive assembly, a left push plate (12), and a right push plate (13) disposed on the front movable frame (7). The left push plate (12) and the right push plate (13) are driven to be connected to the third drive assembly, and the third drive assembly can drive the left push plate (12) and the right push plate (13) to move closer to each other and further away from each other; The left push plate (12) is provided with a left push plate blade (16), and the right push plate (13) is provided with a right push plate blade (17). The left push plate blade (16) and the right push plate blade (17) can cut the tomato stem (19) by the mutual proximity of the left push plate (12) and the right push plate (13). The third drive assembly includes a servo motor (10) and a front support (11). The servo motor (10) and the front support (11) are mounted on the front movable frame (7); The third drive assembly also includes a front blade (14) and a clamping plate (15). The clamping piece (15) is disposed on the front support (11), and the front blade (14) is clamped between the clamping piece (15) and the front movable frame (7); The left push plate (12) is provided with a left guide slope (1202), the right push plate (13) is provided with a right guide slope (1302), and a gathering channel is provided between the left guide slope (1202) and the right guide slope (1302).

2. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The front support member (11) is provided with a first sliding groove (1101), and the drive end of the servo motor (10) is located in the first sliding groove (1101); The left push plate (12) is provided with a first rack (1201), and the right push plate (13) is provided with a second rack (1301). The first rack (1201) and the second rack (1301) are arranged opposite to each other in the first sliding groove (1101). The drive end of the servo motor (10) is connected to the first rack (1201) and the second rack (1301) via a gear, which is located between the first rack (1201) and the second rack (1301).

3. The harvesting actuator for adaptive tomato growth posture according to claim 2, characterized in that, The first rack (1201) and the second rack (1301) are disposed between the clamping piece (15) and the front support (11), and the first rack (1201) and the second rack (1301) are movable on the front support (11).

4. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The first drive assembly includes a drive motor (3) and a swing structure (4); The swing structure (4) is driven to connect with the drive motor (3), and the drive motor (3) drives the swing structure (4) to rotate. The rear fixing frame (5) and the sleeve frame (6) are connected to the swing structure (4), and the swing structure (4) drives the rear fixing frame (5) and the sleeve frame (6) to rotate.

5. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The second drive assembly includes a drive cylinder; The piston end (8) of the drive cylinder is connected to the rear fixed frame (5), and the cylinder body end (9) of the drive cylinder is connected to the front movable frame (7).

6. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The image acquisition component (2) is a camera.

7. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The front movable frame (7) is provided with a second sliding groove (701); The sidewall (601) of the frame (6) is located in the second sliding groove (701), and the front movable frame (7) moves along the sidewall (601) of the frame (6) through the second sliding groove (701).

8. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The sleeve (6) has a V-shaped fitting end (602).

9. The harvesting actuator for adaptive tomato growth posture according to claim 1, characterized in that, The left push plate (12) is provided with a left limiting plane (1203), the right push plate (13) is provided with a right limiting plane (1303), and a shearing channel is provided between the left limiting plane (1203) and the right limiting plane (1303); The shearing ends of the left pusher blade (16) and the right pusher blade (17) are located within the shearing channel, and the tomato stem (19) enters the shearing channel through the gathering channel.

Images