Swallowing type apple picking end effector

Abstract

The invention relates to the technical field of fruit picking machinery, and discloses a swallowing type apple picking end effector which comprises a base, a sliding support is movably arranged at the inner bottom of the base, a supporting frame is fixedly arranged at the inner top of the base, a telescopic air bag is installed between the sliding support and the supporting frame, and the telescopic air bag is used for enabling the sliding support to be away from the supporting frame during expansion; the flexible suction cup is communicated with the suction cup support and used for guiding air in the flexible suction cup to flow out to form negative pressure when making contact with the fruits; one side of the annular air bag is fixedly connected with the base, the other side of the annular air bag is fixedly connected with the sliding support, and the annular air bag is used for expanding after the fruits intrude into the base and then shrinking the inner diameter to wrap the fruits. The flexible suction cup makes contact with an apple and is pressed to enable the apple to enter the base, then air in the flexible suction cup is pumped out to form negative pressure to adsorb the apple, then the annular air bag is inflated and expands to wrap the outer wall of the apple, the inner diameter of the annular air bag shrinks to clamp the apple, and therefore flexible contact is achieved, apple damage is avoided, and high-quality and complete picking is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking machinery, and in particular to a swallowing type apple picking end effector. Background Art

[0002] Apple picking robots have attracted much attention in the field of agricultural automation in recent years. As a key component that directly contacts the target fruit, the end effector is one of the core technologies in the entire picking system. At present, mainstream apple picking machine end effectors usually adopt a rigid mechanical grasping method. This design uses rigid grippers to directly apply force to fix and pick the fruit. It is relatively simple in structural design and execution efficiency, so it is widely used in traditional picking machines.

[0003] However, the existing rigid mechanical grasping technology also has significant shortcomings. First, the pressure distribution of the rigid gripper on the fruit skin during the grasping process is uneven, which can easily cause damage to the fruit skin or even internal squeezing and damage, seriously affecting the fruit quality and commercial value. Secondly, the size and shape of different fruits vary greatly, and the rigid mechanical grasping method has poor adaptability to the target and is difficult to cope with the complex changes in shape and size of apples during the actual picking process. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a swallowing-type apple picking end effector, which solves the problems in the prior art of the rigid grasping method, which easily causes damage to the fruit skin, and has poor adaptability to the target.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a swallowing apple picking end effector, comprising:

[0006] A base, wherein a sliding bracket is movably arranged at the bottom thereof, a supporting frame is fixedly arranged at the top thereof, a telescopic airbag is installed between the sliding bracket and the supporting frame, and the telescopic airbag is used to move the sliding bracket away from the supporting frame when inflated;

[0007] A flexible suction cup is connected to the suction cup support and is used to guide the air in the flexible suction cup to flow out to form a negative pressure when contacting the fruit. The suction cup support is movably connected to the support frame, and a spring is provided on the outer wall of the suction cup support to guide the flexible suction cup to invade the interior of the base when contacting the fruit.

[0008] The annular air bag is fixedly connected to the base on one side and to the sliding bracket on the other side. It is used to expand after the fruit invades the base and then shrink the inner diameter to wrap the fruit.

[0009] Preferably, the outer wall of the sliding bracket is provided with a protrusion, and the protrusion is rod-shaped, and the side wall of the base is provided with a guide groove, and the protrusion of the outer wall of the sliding bracket is slidably connected in the guide groove to guide the sliding bracket to move linearly, thereby approaching or moving away from the support frame.

[0010] Preferably, an air nozzle is provided in the middle of the suction cup bracket, and the air nozzle is connected to a vacuum pump through a pipeline, so as to extract the air in the flexible suction cup and form a negative pressure.

[0011] Preferably, the annular airbag is connected to an air pump, which is used to inflate the annular airbag to make it expand, and the sliding bracket moves along with the expansion of the annular airbag and approaches the support frame.

[0012] Preferably, the telescopic airbag is connected to an air pump for injecting gas into the telescopic airbag to expand it.

[0013] Preferably, a sliding hole is opened in the middle of the support frame, and the suction cup bracket is slidably connected in the sliding hole.

[0014] Preferably, the annular airbag is made of elastic silicone material.

[0015] The present invention provides a swallowing apple picking end effector, which has the following beneficial effects:

[0016] 1. The present invention moves the base to the bottom of the apple so that the flexible suction cup contacts and lightly presses the surface of the fruit. At the same time, the suction cup bracket and the apple are guided into the base. By extracting the air inside the flexible suction cup, negative pressure is formed to firmly adsorb the apple. Subsequently, the annular airbag is inflated to expand it, and the sliding bracket is driven to move upward. The annular airbag then wraps the apple. The inner diameter of the annular airbag gradually shrinks during the expansion process, thereby completing the stable swallowing and fixing operation of the apple. The whole process relies on the flexible contact design of the flexible suction cup and the annular airbag, which effectively avoids the damage to the fruit skin caused by rigid mechanical grasping, and ensures the high quality and integrity of fruit picking.

[0017] 2. The present invention connects the support frame and the sliding bracket through an annular airbag, and is connected to an air pump. The annular airbag is made of elastic silicone material, so that it can flexibly expand and adapt to apple fruits of different sizes, achieving precise wrapping and fixing operations, which not only improves the adaptability and versatility of the equipment, but also ensures flexible protection of the fruit, further reducing damage to the fruit skin during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a front half-section view of the present invention;

[0020] Figure 3 It is a schematic diagram of an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of the base structure in the present invention;

[0022] Figure 5 This is a schematic diagram of the suction cup bracket structure in the present invention;

[0023] Figure 6 It is a schematic diagram of the support frame structure in the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the sliding bracket in the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the inflatable airbag in the present invention;

[0026] Fig. 9 Based Figure 2 Schematic diagram of the inflation of the annular airbag.

[0027] Among them, 1. flexible suction cup; 2. suction cup bracket; 3. spring; 4. support frame; 5. annular airbag; 6. sliding bracket; 7. base; 8. telescopic airbag. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the specification 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.

[0029] In order to better understand the present invention, the above contents are described in detail below in conjunction with specific embodiments.

[0030] Please see attached Figure 1 -Attached Fig. 9 , an embodiment of the present invention provides a swallowing type apple picking end effector, comprising:

[0031] A base 7, wherein a sliding bracket 6 is movably arranged at the bottom thereof, a support frame 4 is fixedly arranged at the top thereof, and a telescopic airbag 8 is installed between the sliding bracket 6 and the support frame 4, and the telescopic airbag 8 is used to move the sliding bracket 6 away from the support frame 4 when inflated;

[0032] The flexible suction cup 1 is connected to the suction cup support 2 and is used to guide the air in the flexible suction cup 1 to flow out to form a negative pressure when contacting the fruit. The suction cup support 2 is movably connected to the support frame 4, and the outer wall of the suction cup support 2 is provided with a spring 3, which is used to guide the flexible suction cup 1 to invade the inside of the base 7 when contacting the fruit;

[0033] The annular air bag 5 is fixedly connected to the base 7 on one side and to the sliding bracket 6 on the other side, and is used to expand after the fruit penetrates into the base 7, and then shrink the inner diameter to wrap the fruit.

[0034] In the present invention, the base 7 serves as a supporting component of the overall structure, and the sliding bracket 6 arranged at the bottom thereof can realize up and down movement under the action of the telescopic airbag 8. The telescopic airbag 8 pushes the sliding bracket 6 away from the supporting frame 4 by expansion. The flexible suction cup 1 is connected to the supporting frame 4 through the suction cup bracket 2. It is designed to form a negative pressure by discharging the internal air when contacting the fruit, and firmly adsorb the fruit. At the same time, the spring 3 is compressed when the flexible suction cup 1 contacts the fruit, and guides the flexible suction cup 1 and the fruit to enter the base 7. After the fruit is discharged, the spring 3 stretches to reset the flexible suction cup 1, and the annular airbag 5 is located between the base 7 and the sliding bracket 6, one side is fixed to the base 7, and the other side is connected to the sliding bracket 6. When the fruit invades the base 7, the annular airbag 5 wraps the fruit by expansion, and the inner diameter is reduced after the expansion is completed, and finally the fruit is firmly fixed, ensuring the smooth completion of the picking process, and the flexible suction cup 1 and the annular airbag 5 clamp the fruit by negative pressure and expansion respectively, which can realize their flexible contact with the fruit, thereby avoiding damage to the surface of the fruit, thereby ensuring the integrity of the fruit picking.

[0035] The outer wall of the sliding bracket 6 is provided with a protrusion, and the protrusion is rod-shaped. The side wall of the base 7 is provided with a guide groove. The protrusion on the outer wall of the sliding bracket 6 is slidably connected in the guide groove to guide the sliding bracket 6 to move linearly, thereby approaching or moving away from the support frame 4.

[0036] In the present invention, the outer wall of the sliding bracket 6 is designed with a rod-shaped protrusion, which is slidably connected to the guide groove of the side wall of the base 7, effectively guiding the sliding bracket 6 to move along a straight line trajectory, ensuring that it can smoothly approach or move away from the support frame 4 under the action of the expanding or contracting airbag, thereby realizing precise operation of the device, thereby improving the stability and movement accuracy of the sliding bracket 6, and providing a guarantee for the efficient operation of the equipment.

[0037] An air nozzle is provided in the middle of the suction cup bracket 2, and the air nozzle is connected to the vacuum pump through a pipeline, so as to extract the air in the flexible suction cup 1 and form a negative pressure.

[0038] In the present invention, an air nozzle is provided in the middle of the suction cup bracket 2, and the air nozzle is connected to an external vacuum pump through a pipeline. Through the action of the vacuum pump, the air in the flexible suction cup 1 can be efficiently extracted, and negative pressure can be quickly formed, so as to firmly adsorb the fruit, thereby ensuring that the flexible suction cup 1 can grasp the fruit reliably and quickly, which helps to improve the picking efficiency and reduce the risk of fruit slipping.

[0039] The annular airbag 5 is connected to an air pump, which is used to inflate the annular airbag 5 to expand it, and the sliding bracket 6 moves along with the expansion of the annular airbag 5 and approaches the support frame 4.

[0040] In the present invention, the annular airbag 5 is connected to the air pump through a pipeline, and the air pump inflates the annular airbag 5 to expand it. During the expansion process, the annular airbag 5 not only wraps the fruit, but also drives the sliding bracket 6 fixedly connected to its end to move along the guide groove, thereby gradually approaching the support frame 4.

[0041] The telescopic airbag 8 is connected to an air pump for injecting gas into the telescopic airbag 8 to expand it.

[0042] In the present invention, the telescopic airbag 8 is connected to the air pump through a pipeline. When the air pump fills gas into the telescopic airbag 8, the telescopic airbag 8 will expand, and the expansion will push the sliding bracket 6 away from the supporting frame 4, completing the process of releasing the fruit from the device.

[0043] A sliding hole is provided in the middle of the support frame 4, and the suction cup bracket 2 is slidably connected in the sliding hole.

[0044] In the present invention, a sliding hole is provided in the middle of the support frame 4, and the suction cup bracket 2 is embedded in the sliding hole by means of a sliding connection, so that the suction cup bracket 2 can move flexibly during the picking process, and further enter the base 7 as the flexible suction cup 1 is pressed. The setting of the sliding hole is used to limit the movement trajectory of the suction cup bracket 2.

[0045] The annular airbag 5 is made of elastic silicone material.

[0046] In the present invention, the annular airbag 5 is made of elastic silicone material. Because of its excellent flexibility and elasticity, it can wrap fruits of different sizes when inflated, and the inner diameter gradually decreases during the expansion process to firmly fix the fruit. The use of elastic silicone material not only improves the adaptability and durability of the airbag, but also effectively avoids damage to the fruit skin, further ensuring the high quality of the picking process and the integrity of the fruit. At the same time, the surface of the annular airbag 5 can also be provided with a sticky material, so that the friction between it and the apple can be effectively increased. During the expansion process, the wrapping stability of the annular airbag 5 on the fruit can be improved, and the fruit can be prevented from sliding or falling off during the picking or moving process, thereby improving the picking efficiency and the reliability of the operation. The sticky material includes:

[0047] Silicone coating: By increasing the friction coefficient, it enhances the adhesion with the fruit surface, and the material is soft and will not damage the fruit;

[0048] Polyurethane (PU) coating: has high adhesion and durability, can provide stronger friction, and has excellent wear resistance;

[0049] Rubber coating: has good elasticity and anti-slip properties, and can stably grasp fruits of different sizes;

[0050] Polymer adsorption film: A special polymer coating that combines adhesion and softness to further reduce the possibility of damage to the fruit surface.

[0051] Working principle: When in use, install the device on the robotic arm, then move the robotic arm to drive the swallowing apple picking end effector to extend toward the picking target. When it reaches the bottom position of the target, the flexible suction cup 1 will contact the target. At this time, move the robotic arm to make the device continue to approach the target. At this time, the flexible suction cup 1 is subjected to pressure. When this pressure is transmitted to the suction cup bracket 2, the suction cup bracket 2 will slide along the sliding hole on the support frame 4. At this time, the spring 3 is compressed, and the target and the flexible suction cup 1 and the suction cup bracket 2 will enter the base 7. At this time, under the action of the external vacuum pump, the air in the suction cup bracket 2 and the flexible suction cup 1 is extracted, so that negative pressure is generated inside the suction cup bracket 2, thereby sucking the bottom of the picking target. At the same time, the annular airbag 5 is inflated and expanded under the action of the external air pump, and after the annular airbag 5 expands , it will drive the sliding bracket 6 fixed with it to slide along the guide groove and approach the support frame 4. At this time, the telescopic airbag 8 is compressed, so the annular airbag 5 will approach the picking target, and then wrap the outer wall of the picking target, and then move the mechanical arm to drive the swallowing apple picking end effector to complete the picking action, and then move the mechanical arm to continue to drive the swallowing apple picking end effector to the fruit release point. At this time, the external vacuum pump and the external air pump stop working, and then the flexible suction cup 1 loses negative pressure, the annular airbag 5 stops working, and the external air pump of the telescopic airbag 8 is driven to expand. When the telescopic airbag 8 expands, it will push the sliding bracket 6 away from the support frame 4, and then drive the annular airbag 5 to return to its original position, and then the spring 3 stretches to reset the suction cup bracket 2. At this time, the fruit falls to the fruit release point, and the placement of the picking target is completed.

[0052] 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 swallowing apple picking end effector, characterized in that: include: A base (7) having a sliding bracket (6) movably arranged at the bottom thereof and a support frame (4) fixedly arranged at the top thereof, a telescopic airbag (8) being installed between the sliding bracket (6) and the support frame (4), the telescopic airbag (8) being used to move the sliding bracket (6) away from the support frame (4) when inflated; A flexible suction cup (1) is connected to a suction cup support (2) and is used to guide the air in the flexible suction cup (1) to flow out to form negative pressure when contacting the fruit. The suction cup support (2) is movably connected to a support frame (4), and a spring (3) is sleeved on the outer wall of the suction cup support (2) to guide the flexible suction cup (1) to invade the interior of the base (7) when contacting the fruit. The annular air bag (5) is fixedly connected to the base (7) on one side and to the sliding bracket (6) on the other side, and is used to expand after the fruit enters the base (7), and then shrink the inner diameter to wrap the fruit.

2. The swallowing apple picking end effector according to claim 1, characterized in that: The outer wall of the sliding bracket (6) is provided with a protrusion, and the protrusion is in the shape of a rod. The side wall of the base (7) is provided with a guide groove. The protrusion on the outer wall of the sliding bracket (6) is slidably connected in the guide groove, and is used to guide the sliding bracket (6) to move linearly, thereby approaching or moving away from the support frame (4).

3. The swallowing apple picking end effector according to claim 1, characterized in that: An air nozzle is provided in the middle of the suction cup bracket (2), and the air nozzle is connected to a vacuum pump via a pipeline, and is used to extract the air in the flexible suction cup (1) and form a negative pressure.

4. The swallowing apple picking end effector according to claim 1, characterized in that: The annular airbag (5) is connected to an air pump, which is used to inflate the annular airbag (5) to expand it, and the sliding bracket (6) moves along with the expansion of the annular airbag (5) and approaches the support frame (4).

5. The swallowing apple picking end effector according to claim 1, characterized in that: The telescopic airbag (8) is connected to an air pump and is used to inject gas into the telescopic airbag (8) to expand it.

6. The swallowing apple picking end effector according to claim 1, characterized in that: A sliding hole is provided in the middle of the support frame (4), and the suction cup bracket (2) is slidably connected in the sliding hole.

7. The swallowing apple picking end effector according to claim 1, characterized in that: The annular airbag (5) is made of elastic silicone material.

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