Fruit lossless picking end effector

Abstract

The invention relates to the technical field of agricultural robots, in particular to a fruit lossless picking end effector which comprises a connecting structure, a loading mechanism, a transmission mechanism and a cutting mechanism, the connecting structure is fixedly connected with the loading mechanism and used for providing a mounting foundation, and the transmission mechanism is assembled in the loading mechanism and used for providing power for the cutting mechanism. And the cutting mechanism is rotatably assembled on the loading mechanism, is in transmission connection with the transmission mechanism and is used for driving fingers to rotate to passively cut fruit stems of fruits in a self-adaptive manner, so that fruit picking is realized. The invention aims to enable an end effector to easily extend into a position shielded by branches and leaves of a fruit tree in a mode of driving fingers to rotate so as to support fruits at different positions, enable fruit stems of the supported fruits to be passively cut in a self-adaptive manner, realize fruit separation and improve the fruit picking success rate, and the whole structure is compact and small, and the fruit stems of the picked fruits are short.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural robots, and in particular to an end effector for non-destructive fruit picking. Background Art

[0002] In recent years, agricultural robot technology has developed rapidly around the world. Many countries are increasing their efforts in the research and development and application of agricultural robot technology to improve agricultural production efficiency, reduce labor costs and improve the intelligence level of agricultural machinery and equipment.

[0003] Fruit is one of the most consumed agricultural products in the world and one of the most important cash crops in the world. It is widely planted in the world. However, in some regions, especially in some developed countries, there is a serious shortage of agricultural labor. Even if there is sufficient labor, manual fruit picking is a time-consuming and laborious task that requires a lot of manpower costs.

[0004] To make up for this labor gap, achieving continuous and efficient picking operations without being restricted by weather, time and other factors, reducing damage and loss of fruits during the picking process, and improving fruit production efficiency and quality is a hot research direction for existing agricultural robots. Chinese patent: CN104663135A, which discloses an end effector for a fruit picking robot, including a fixed base, a wrist flip mechanism, a pitch mechanism, and a cutting mechanism. The wrist flip mechanism is coaxially sleeved on the fixed base, a gear is fixed on one side of the fixed base, a wrist flip motor is installed on the wrist flip mechanism, and a gear meshing with the gear on the fixed base is driven to rotate. A side plate is fixedly connected to the wrist flip mechanism for supporting the pitch mechanism, and a pitch motor is fixed on the side plate. The pitch mechanism includes a plane connecting rod four-bar mechanism, and the pitch motor drives one of the connecting rods to rotate, driving the pitch plate fixed to the other connecting rod to rotate. The cutting mechanism is fixed on the pitch plate, and the cutting mechanism includes a saw blade drive motor and a saw blade rotating shaft connected by a synchronous belt. The rotation of the saw blade drive motor is transmitted to the saw blade rotating shaft through the synchronous belt, driving the circular saw blade fixed on the end face of the saw blade rotating shaft to rotate. The invention ensures the best cutting effect, and has a compact structure and simple control.

[0005] However, in the above invention, the fruit is separated by active cutting, and the overall structure space volume is relatively large. Since the growth directions of the branches and leaves of the fruit tree are different, and the positions and shapes of the fruits are different, it is not easy to reach into the deep branches and leaves of the fruit tree to pick the fruit. In addition, some existing fruit picking end effectors first fix the fruit and then cut the fruit stalk, which requires the use of fruit fixing equipment and fruit stalk cutting equipment. On the one hand, the use of fruit fixing equipment and fruit stalk cutting equipment will make the overall equipment space volume larger, and it is not easy to pick fruits at different positions deep in the branches and leaves of the fruit tree. On the other hand, it will also cause the fruit stalks on the picked fruits to be longer, which is easy to damage the fruits during subsequent transportation. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide an end effector for non-destructive fruit picking. By driving the fingers to rotate, the end effector can be easily extended into the area blocked by branches and leaves of fruit trees, and can support fruits in different positions. After supporting, the fruit stalks can be adaptively and passively cut to achieve fruit separation and improve the success rate of fruit picking. The overall structure is compact and small, and the fruit stalks are short after picking.

[0007] The present invention solves the above technical problems by the following technical means:

[0008] A fruit non-destructive picking end effector comprises a connecting structure, a loading mechanism, a transmission mechanism and a cutting mechanism. The connecting structure is fixedly connected to the loading mechanism to provide a mounting base. The transmission mechanism is assembled in the loading mechanism to provide power for the cutting mechanism. The cutting mechanism is rotatably assembled on the loading mechanism and is connected to the transmission mechanism for driving the fingers to rotate to perform adaptive passive cutting on the fruit stalks, thereby achieving fruit picking.

[0009] According to the above technical means, the entire actuator is installed on the fruit picking equipment through the connecting structure. The loading mechanism is used to provide an installation basis for the transmission mechanism and the cutting mechanism on the one hand, and on the other hand, it is convenient for the picked fruits to be transported through the loading mechanism. Through the mutual cooperation of the transmission mechanism and the cutting mechanism, the fruits at different positions of the fruit trees and the fruit stalks of the fruits blocked by the branches and leaves of the fruit trees can be adaptively passively cut, and the fruits can be picked, thereby improving the success rate of fruit picking. The overall structure is compact and small, and the fruit stalks of the fruits after picking are short.

[0010] Furthermore, the connection structure includes a fixing seat and a flange, wherein the fixing seat is fixedly connected to the loading mechanism, and the flange is fixedly connected to one end of the fixing seat for connection with the fruit picking equipment.

[0011] According to the above technical means, the connection between the loading mechanism and the fruit picking equipment is facilitated by the mutual cooperation between the fixing seat and the flange.

[0012] Further, the loading mechanism comprises a loading frame, a connecting seat and a base, wherein the connecting seat is fixedly mounted on one side of the loading frame for connecting with the connecting structure, and the base is fixedly arranged in the loading frame for connecting with the cutting mechanism;

[0013] The loading mechanism further comprises a telescopic tube, the bottom of the loading frame is provided with a through hole, one end of the telescopic tube is fixedly connected to the bottom of the loading frame and communicated with the through hole.

[0014] According to the above technical means, through the mutual cooperation of the loading frame, the connecting seat and the base, on the one hand, it is used to assemble the transmission mechanism and the cutting mechanism, and on the other hand, it is convenient to transport the cut fruits. Through the setting of the telescopic tube, it is convenient to transport the picked fruits.

[0015] Furthermore, the transmission mechanism includes a power assembly and a crank slider assembly. The power assembly is assembled in the loading mechanism to drive the crank slider assembly to move. The crank slider assembly is assembled on both sides of the loading mechanism to drive the cutting mechanism to move.

[0016] According to the above technical means, through the cooperation between the power assembly and the crank slider assembly, the cutting mechanism can be driven to cut and pick the fruits.

[0017] Furthermore, the power assembly includes a power source, a transmission wheel, a transmission belt and a transmission shaft. The power source is fixedly installed in the loading mechanism, the transmission shaft is rotatably installed in the loading mechanism, the transmission wheel is fixedly installed on the transmission shaft, and the transmission belt is tensioned between the output shaft of the power source and the transmission wheel.

[0018] According to the above technical means, when the power source is working, the transmission shaft can be driven to rotate through the transmission wheel and the transmission belt, thereby driving the crank slider assembly to move, with a simple structure and strong practicality.

[0019] Furthermore, the crank slider assembly includes a first crank slider assembly and a second crank slider assembly, and the first crank slider assembly and the second crank slider assembly are respectively arranged on both sides of the loading mechanism and are both connected to the power assembly for synchronously driving the cutting mechanism to move.

[0020] According to the above technical means, two crank slider assemblies can be driven to work synchronously by one power source, which can reduce the cost of use.

[0021] Furthermore, the first crank slider assembly and the second crank slider assembly have the same structure. The first crank slider assembly includes a crank disc wheel, a primary connecting rod, a secondary connecting rod and a slider. The crank disc wheel is installed on the power assembly, one end of the primary connecting rod is connected to the crank disc wheel, and the other end is connected to the slider. The slider is slidably installed on the loading mechanism, one end of the secondary connecting rod is connected to the slider, and the other end is connected to the cutting mechanism, which is used to drive the cutting mechanism to move.

[0022] According to the above technical means, by adopting a crank-connecting rod structure, rotational motion can be converted into bending motion.

[0023] Furthermore, the cutting mechanism includes a bending structure, a first bending part, a second bending part and a blade. The bending structure is assembled at the loading mechanism and is connected to the transmission mechanism. The first bending part and the second bending part are both arranged on the bending structure. The first bending part is used to link the bending structure, and the second bending part is used to install the blade for cutting the fruit stalk.

[0024] According to the above technical means, by cooperating with the first bending part and the second bending part through the bending structure, on the one hand, the blade can cut the fruit stalk, and on the other hand, the picked fruit can be sent to the loading mechanism.

[0025] Further, the bending structure includes a plurality of bending components, and the plurality of bending components are arranged at intervals at the loading mechanism for picking fruits;

[0026] The multiple bending components have the same structure, and the bending components include a mounting seat, a pendulum body, a connecting plate and a finger sleeve. The mounting seat is fixedly mounted on the loading mechanism, the pendulum body is rotatably mounted on the mounting seat, the first bending piece is connected to the pendulum body, the connecting plate is assembled on the pendulum body, and the finger sleeve is assembled on the connecting plate.

[0027] According to the above technical means, through the mutual cooperation of multiple bending components, it is possible to achieve synchronous rotation of multiple fingers through the rotation of fingers and cooperation with the first bending member to achieve the cutting of the fruit stalk.

[0028] Furthermore, the second bending member is mounted on the connecting plate, and the blades are mounted on the second bending member, so that a V shape is formed between the two blades.

[0029] According to the above technical means, a V-shape is formed by two opposite blades, which facilitates adaptive cutting of the fruit stalk.

[0030] The present application using the above technical solution has the following beneficial effects:

[0031] 1. In the present application, the entire actuator is installed on the fruit picking device through a connecting structure. The loading mechanism is used to provide an installation foundation for the transmission mechanism and the cutting mechanism on the one hand, and facilitates the transportation of the picked fruits through the loading mechanism on the other hand; and through the cooperation between the transmission mechanism and the cutting mechanism, the end actuator can easily extend into the place where the branches and leaves of the fruit tree are blocked by driving the fingers to rotate, so that the fruits at different positions can be supported. After supporting, the fruit stalks can be adaptively passively cut to achieve fruit separation and improve the success rate of fruit picking. The overall structure is compact and small, and the fruit stalks of the picked fruits are short.

[0032] 2. In the present application, by setting up a loading mechanism, the loading frame, the connecting seat, the base, and the telescopic hook cooperate with each other, which can be used for assembling the transmission mechanism and the cutting mechanism on the one hand, and facilitate the transportation of the cut fruits on the other hand; and by setting up an interception net, it can prevent the residual branches and leaves of the fruits from contacting the transmission mechanism and affecting the operation of the transmission mechanism;

[0033] 3. In the present application, by configuring the transmission mechanism as a power assembly, a first crank slider assembly and a second crank slider assembly to cooperate with each other, one power source can synchronously drive the two crank slider assemblies to move, so that the two crank slider assemblies can be more stable when driving the cutting mechanism to move, so that the picked fruits can stably enter the loading mechanism;

[0034] 4. In the present application, by configuring the cutting mechanism as a plurality of curved components that drive the fingers to rotate, the fruit can be supported, and by configuring V-shaped blades on the curved components, the fruit stalk can be embedded between the V-shaped blades, and the fruit stalk can be adaptively passively cut, so that the fruit can be picked smoothly, the fruit stalk can be shortened, and the damage rate of the fruit can be reduced;

[0035] 5. By connecting the actuator of the present application to the picking equipment, it can adapt to different picking equipment with mechanical arms and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present application may be further illustrated by non-limiting examples given in the accompanying drawings;

[0037] Figure 1 This is one of the structural schematic diagrams of the end effector for non-destructive fruit picking in the application embodiment;

[0038] Figure 2 This is the second structural schematic diagram of the fruit non-destructive picking end effector in the application embodiment;

[0039] Figure 3 It is a schematic diagram of a partial assembly structure of a power assembly in an embodiment of the application;

[0040] Figure 4 It is a schematic diagram of the partial assembly structure of the power assembly and the crank slider assembly in the embodiment of the application;

[0041] Figure 5 It is a structural schematic diagram of a loading frame in an embodiment of the application;

[0042] Figure 6 It is one of the schematic diagrams of the partial assembly structure of the cutting mechanism in the embodiment of the application;

[0043] Figure 7 This is the second schematic diagram of the partial assembly structure of the cutting mechanism in the embodiment of the application;

[0044] Figure 8 It is a schematic diagram of a part of the internal assembly structure of the cutting mechanism in the embodiment of the application;

[0045] Fig. 9 It is a schematic diagram of the initial state structure of the fruit non-destructive picking end effector in the embodiment of the application;

[0046] Description of main symbols and components:

[0047] 100, connection structure; 110, fixing seat; 120, flange; 200, loading mechanism; 210, side plate; 211, weight reduction hole; 212, sliding groove; 220, back plate; 230, connection seat; 240, base; 250, bottom plate; 251, through hole; 260, telescopic tube; 270, interception net;

[0048] 300, transmission mechanism; 310, power assembly; 311, power source; 312, transmission belt; 313, transmission wheel; 314, transmission shaft; 320, first crank slider assembly; 321, crank plate wheel; 322, primary connecting rod; 323, slider; 324, secondary connecting rod; 330, second crank slider assembly; 301, installation space;

[0049] 400, cutting mechanism; 410, first bending component; 411, mounting seat; 412, rotating column; 413, pendulum; 4131, ear plate; 414, swing plate; 415, finger sleeve; 4151, left half finger sleeve; 4152, right half finger sleeve; 4153, notch; 416, first connecting plate; 417, second connecting plate; 420, second bending component; 430, third bending component; 440, first bending part; 450, blade; 460, second bending part. DETAILED DESCRIPTION

[0050] The following describes the implementation of the present invention through specific specific embodiments, and those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are only for exemplary descriptions, and only schematic diagrams are shown, not physical diagrams, and cannot be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts in the figures may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the figures.

[0051] The same or similar reference numerals in the figures of the embodiments of the present invention correspond to the same or similar components. In the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the figure, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the figures are only used for exemplary description and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances:

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0053] like Figure 1-2 As shown, the embodiment of the present application discloses a fruit non-destructive picking end effector, including a connecting structure 100, a loading mechanism 200, a transmission mechanism 300 and a cutting mechanism 400. The connecting structure 100 is fixedly connected to the loading mechanism 200 to provide a mounting base. The transmission mechanism 300 is assembled in the loading mechanism 200 to provide power for the cutting mechanism 400. The cutting mechanism 400 is rotatably assembled on the loading mechanism 200 and is transmission-connected to the transmission mechanism 300 to perform adaptive passive cutting of the fruit stalk by driving the fingers to rotate, thereby achieving fruit picking.

[0054] In this embodiment, the entire actuator is installed on the fruit picking device through the connecting structure 100. The loading mechanism 200 is used to provide an installation basis for the transmission mechanism 300 and the cutting mechanism 400 on the one hand, and on the other hand, it is convenient for the picked fruits to be transported through the loading mechanism 200. Through the mutual cooperation of the transmission mechanism 300 and the cutting mechanism 400, the fruits at different positions of the fruit tree and the fruit stalks of the fruits blocked by the branches and leaves of the fruit tree can be adaptively passively cut, so as to realize fruit picking and improve the success rate of fruit picking. The overall structure can form a palm-like structure, and the overall structure is compact and small, and the fruit stalks of the picked fruits are short.

[0055] In some embodiments, Figure 1-2As shown, the connection structure 100 includes a fixing seat 110 and a flange 120. The fixing seat 110 is fixedly connected to the loading mechanism 200, and the flange 120 is fixedly connected to one end of the fixing seat 110 by screws. When the flange 120 is fixedly installed, it can be connected to the fruit picking device. In actual situations, the connection structure 100 can also be set as a connecting column, a connecting plate, etc., and any structure that can fix the loading mechanism 200 to the fruit picking device is acceptable.

[0056] In this embodiment, the fruit picking device can be a robotic arm with six degrees of freedom in space. The robotic arm is also equipped with a stereoscopic vision sensor, which can identify the position of the fruit, so that the fruit can be effectively identified. In conjunction with the end effector of the palm-like structure of the present application, it can enter different positions of the fruit tree and different branches and leaves to effectively pick the fruit. In actual situations, the fruit picking device can be a picking device for apples, pears, citrus, etc., and the stereoscopic vision sensor can be a camera, etc. The fruit picking device, the robotic arm and the stereoscopic vision sensor are all existing technologies, so they are not described in detail.

[0057] In some embodiments, Figure 1-3 and Figure 5 As shown, the loading mechanism 200 includes a loading frame, a connecting seat 230 and a base 240. The connecting seat 230 is fixedly installed on one side of the loading frame by bolts for connecting with the fixing seat 110. The base 240 is fixedly arranged on the left side of the loading frame for connecting with the cutting mechanism 400.

[0058] In this embodiment, when the connecting seat 230 is connected to the fixing seat 110, it can be fixedly connected by bolts or by threads.

[0059] In this embodiment, if Figure 5 As shown, the loading frame includes a back plate 220, two side plates 210 and a bottom plate 250, the back plate 220 is fixedly connected to the rear sides of the two side plates 210, and the connecting seat 230 is fixedly welded to the outer side of the back plate 220. The bottom plate 250 is fixedly connected to the bottom of the two side plates 210 to form a space for accommodating the picked fruits.

[0060] In this embodiment, a through hole 251 is provided in the middle of the bottom plate 250, and a telescopic tube 260 is fixedly connected to the bottom plate 250. The telescopic tube 260 is connected to the through hole 251, so that the picked fruits can be transported to the fruit collection frame along the telescopic tube 260. In order to make the fruits enter the telescopic tube 260 more smoothly, the through hole 251 is set in an arc shape at the edge of the bottom plate 250.

[0061] In this embodiment, if Figure 3 and Figure 5As shown, an installation space 301 is formed between the back plate 220 and the bottom plate 250 for installing part of the transmission mechanism 300. In order to prevent the residual branches and leaves of the fruit from entering the transmission mechanism 300 located in the installation space 301 during the fruit picking process, an interception net 270 is fixedly installed at the junction of the installation space 301 and the bottom plate 250. In order to prevent other debris from affecting the transmission mechanism 300 in the installation space 301, a cover plate can also be installed on the upper part of the installation space 301.

[0062] In this embodiment, a plurality of weight-reducing holes 211 are provided on the two side plates 210 to reduce the weight of the side plates 210. Weight-reducing holes 211 may also be provided on the back plate 220.

[0063] In some embodiments, Figure 1-4 and Figure 6 As shown, the transmission mechanism 300 includes a power assembly 310 and a crank slider assembly. The power assembly 310 is assembled in the installation space 301, and is used to drive the crank slider assembly to move. The crank slider assembly is assembled on both sides of the loading frame, and is used to drive the cutting mechanism 400 to move, thereby realizing adaptive passive cutting of the fruit stalk, thereby realizing the picking of the fruit.

[0064] In this embodiment, if Figure 4 As shown, the power assembly 310 includes a power source 311, a transmission wheel 313, a transmission belt 312 and a transmission shaft 314. The power source 311 is fixedly installed in the installation space 301 by bolts, and the transmission shaft 314 is rotatably installed on both sides of the back plate 220 and passes through both sides of the back plate 220 for transmission connection with the crank slider assembly. The transmission wheel 313 is fixedly installed on the transmission shaft 314, and the transmission belt 312 is tightened between the output shaft of the power source 311 and the transmission wheel 313. When the power source 311 is working, the transmission belt 312 can drive the transmission wheel 313 to rotate, thereby driving the transmission shaft 314 to rotate.

[0065] In actual situations, a sprocket can be arranged on the transmission shaft 314, a sprocket can also be arranged on the output shaft of the power source 311, and a chain can be stretched between the two sprockets to transmit the power. It can also be arranged to be transmitted by gear rotation.

[0066] In this embodiment, the power source 311 can be a servo motor, a reduction motor, etc., and a suitable power device can be selected according to actual conditions. A transmission wheel 313 is also arranged on the output shaft of the power source 311, and the transmission belt 312 is tensioned on the two transmission wheels 313.

[0067] In this embodiment, if Figure 4 and Figure 6As shown, the crank slider assembly includes a first crank slider assembly 320 and a second crank slider assembly 330. The first crank slider assembly 320 and the second crank slider assembly 330 are respectively arranged on the outer sides of the two side plates 210, and are both connected to the transmission shaft 314, and are used to synchronously drive the cutting mechanism 400 to move, so that when the transmission shaft 314 rotates, it can synchronously drive the two crank slider assemblies to work, thereby reducing the use cost.

[0068] In this embodiment, the first crank slider assembly 320 and the second crank slider assembly 330 have the same structure. The first crank slider assembly 320 is taken as an example for description as follows: the first crank slider assembly 320 includes a crank disk wheel 321, a primary connecting rod 322, a secondary connecting rod 324 and a slider 323. The crank disk wheel 321 is fixedly mounted on the transmission shaft 314, one end of the primary connecting rod 322 is connected to the crank disk wheel 321, and the other end is sleeved on the slider 323. The slider 323 is slidably mounted on the side plate 210, one end of the secondary connecting rod 324 is sleeved on the slider 323, and the other end is connected to the cutting mechanism 400, which is used to drive the cutting mechanism 400 to move.

[0069] In this embodiment, the crank disk wheel 321 has a first boss, and both ends of the slider 323 have second bosses; one end of the primary connecting rod 322 is sleeved on the first boss, and the other end is sleeved on the second boss of the slider 323. The side plate 210 is provided with a sliding groove 212, and the slider 323 slides through the sliding groove 212, so that the two ends of the slider 323 are respectively located outside the side plate 210 and inside the side plate 210, and one end of the secondary connecting rod 324 is sleeved on the second boss of the slider 323 located inside the side plate 210, and the other end is sleeved on the cutting mechanism 400, so that when the crank disk wheel 321 rotates, the slider 323 can be driven to perform linear motion in the sliding groove 212 through the primary connecting rod 322, thereby driving the secondary connecting rod 324 to move, and then driving the cutting mechanism 400 to move, so that the cutting mechanism 400 can perform rotary motion to support the fruit and cut the fruit stalk.

[0070] In some embodiments, Figure 2 , Figure 4 and Figure 6-9As shown, the cutting mechanism 400 includes a bending structure, a first bending member 440, a second bending member 460 and a blade 450. The bending structure is assembled on the base 240 and is transmission-connected to the secondary connecting rod 324 to drive the bending structure to move. The first bending member 440 and the second bending member 460 are both arranged on the bending structure, and the first bending member 440 is used to link the bending structure so that the bending structure can move synchronously. The second bending member is used to install the blade 450 so that the two opposite blades 450 on the bending structure can be used for adaptive cutting of the fruit stalk. By coordinating the bending structure with the first bending member 440 and the second bending member 460, on the one hand, the blade 450 can cut the fruit stalk, and on the other hand, the picked fruit can be sent into the loading frame.

[0071] In this embodiment, one side of the base 240 is inclined, which is beneficial for the fruit to enter the telescopic tube 260, and can prevent the base 240 from damaging the fruit when the fruit stalk is cut. To reduce the damage to the fruit, the base, bottom plate and side plate can be wrapped with elastic materials, such as sponge, elastic plastic, cloth, etc.

[0072] In this embodiment, if Figure 2 As shown, the bending structure includes a plurality of bending components, preferably three, which are arranged at intervals on the base 240 for picking fruits. In other embodiments, two, four, five, etc. can also be set, which can be selected according to actual conditions.

[0073] In this embodiment, the three bending components have the same structure. The first bending component 410 is connected to the secondary connecting rod 324 of the first crank slider component 320, and the third bending component 430 is connected to the secondary connecting rod 324 of the second crank slider component 330. The second bending component 420 is connected to the first bending component 410 and the third bending component 430 through the first bending part 440, so that when the first bending component 410 and the third bending component 430 move, they can synchronously drive the second bending component 420 to move.

[0074] In this embodiment, if Figure 4 and Figure 6-7 As shown, one of the bending assemblies is used as an example for explanation, and the bending assembly includes a mounting seat 411, a pendulum body 413, a connecting plate and a finger sleeve 415. The mounting seat 411 is fixedly mounted on the base 240 by bolts, the pendulum body 413 is rotatably mounted on the mounting seat 411, and the first bending member 440 is connected to the pendulum body 413 to connect two adjacent pendulum bodies 413. The connecting plate is assembled on the pendulum body 413, and the finger sleeve 415 is assembled on the connecting plate to reduce damage to the fruit.

[0075] In this embodiment, the pendulum body 413 is trapezoidal, and ear plates 4131 are symmetrically installed at the bottom of the pendulum body 413. The two ear plates 4131 are rotatably connected to the mounting seat 411 through the rotating column 412, so that the pendulum body 413 can rotate relative to the mounting seat 411. The pendulum bodies 413 of the first bending assembly 410 and the second bending assembly 420 have the same structure, and a swing plate 414 is fixedly installed on the ear plate 4131 close to the secondary connecting rod 324. The swing plate 414 is trapezoidal, and a cylinder is fixedly installed on the top of the swing plate 414. There is a gap between the cylinder and the side plate 210 to avoid affecting the movement of the secondary connecting rod 324.

[0076] The free end of the secondary connecting rod 324 is fixedly connected to the cylinder, so that when the secondary connecting rod 324 is driven to move by the slider 323, it can drive the cylinder to rotate, thereby driving the pendulum body 413 to rotate around the rotating column 412 as the axis, and then driving the connecting plate and the finger sleeve 415 to bend.

[0077] In this embodiment, when the two secondary connecting rods 324 move, they can drive the first bending component 410 and the third bending component 430 to bend synchronously, and then through the first bending member 440, they can drive the second bending component 420 to bend synchronously, so that the three bending components are bent synchronously.

[0078] In this embodiment, if Figure 8 As shown, the connecting plate includes a first connecting plate 416 and a second connecting plate 417. The first connecting plate 416 is fixedly connected to the pendulum body 413 by bolts. The first connecting plate 416 and the symmetry line of the pendulum body 413 have a certain angle, which can be up to 170°. The second connecting plate 417 is fixedly connected to the end of the first connecting plate 416 by bolts. The second connecting plate 417 and the symmetry line of the first connecting plate 416 also have a certain angle, which can be up to 165°. Through the angle between the first connecting plate 416 and the pendulum body 413 and the angle between the second connecting plate 417 and the first connecting plate 416, a certain bending angle can be formed, so that the bending component can bend or bend to the upper front of the loading frame during movement, which is beneficial for the fruit to enter the loading frame and the cutting of the fruit stalk.

[0079] In this embodiment, the second bending member 460 is fixedly mounted on the first connecting plate 416 by bolts, and the second bending member 460 is V-shaped or trapezoidal, and the blade 450 is fixedly mounted on the outer side of the V-shaped or trapezoidal shape of the second bending member 460 by bolts, so that the blade 450 is inclined. In this embodiment, the blades 450 are fixedly mounted on both sides of the first connecting plate 416 of the second bending assembly 420, and the blades 450 are fixedly mounted on only one side of the first connecting plate 416 of the first bending assembly 410 and the third bending assembly 430, so that the two opposing blades 450 form a V shape.

[0080] In this embodiment, when the first bending component 410, the second bending component 420 and the third bending component 430 are connected to the fruit, the fruit is located between the loading frame and the three bending components, so that the fruit can be supported, and the fruit stalk can be passively embedded in the V-shaped blade between the first bending component 410 and the second bending component 420 or the V-shaped blade between the second bending component 420 and the third bending component 430, so that the fruit stalk can be adaptively and passively cut, or the fruit stalk can be located at the bottom of the V-shaped blade through the bending and swinging of the first bending component 410, the second bending component 420 and the third bending component 430, and the fruit stalk is cut, so that the remaining fruit stalk on the fruit can be made shorter, thereby avoiding damage to the fruit caused by the fruit stalk in subsequent processes.

[0081] In this embodiment, the first bending member 440 is configured as a U-shaped thin plate, or can be configured as a V-shaped thin plate, which is a rigid plastic material, or a steel plate, etc.; the second bending member 460 can also be configured as a rigid plastic material, or a steel plate, etc., and the appropriate material and shape can be selected according to actual conditions.

[0082] In this embodiment, if Figure 7-8 As shown, the finger sleeve 415 includes a left half finger sleeve 4151 and a right half finger sleeve 4152. The finger sleeve 415 has a notch on one side of the blade 450 for leaking the blade 450. It can also have notches on both sides to facilitate the production and use of the finger sleeve 415. The finger sleeve 415 is on one side of the blade 450, covering the upper end of the blade 450 to prevent the blade 450 from scratching the fruit. The lower parts of the two blades 450 are connected to form a V shape.

[0083] In this embodiment, the left half finger sleeve 4151 and the right half finger sleeve 4152 are both thin-walled conical shells connected by a mortise and tenon structure, and the finger sleeve 415 structure is set to further reduce damage to the fruit. Of course, a layer of elastic film can also be glued on the left half finger sleeve 4151 and the right half finger sleeve 4152 to further reduce damage to the fruit during the picking process, so as to achieve as little damage as possible.

[0084] The present application also discloses a fruit picking device, including the fruit non-destructive picking end effector of the above embodiment. The fruit picking device using the above fruit non-destructive picking end effector can improve the success rate of fruit picking, and the fruit stalk is short.

[0085] The above is a detailed introduction to a fruit non-destructive picking end effector provided by the present invention. The description of the specific embodiment is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0086] It should be noted that the phrases "one embodiment", "embodiment", "some optional embodiments", "exemplary embodiments", "some embodiments", etc. mentioned in the specification indicate that the described embodiment may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing specific features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fruit non-destructive picking end effector, characterized in that: The invention comprises a connection structure (100), a loading mechanism (200), a transmission mechanism (300) and a cutting mechanism (400); the connection structure (100) is fixedly connected to the loading mechanism (200) and is used to provide a mounting base; the transmission mechanism (300) is assembled in the loading mechanism (200) and is used to provide power for the cutting mechanism (400); the cutting mechanism (400) is rotatably assembled on the loading mechanism (200) and is transmission-connected to the transmission mechanism (300) and is used to drive fingers to rotate to perform adaptive passive cutting on the fruit stalk, thereby achieving fruit picking.

2. The fruit non-destructive picking end effector according to claim 1 is characterized in that: The connection structure (100) comprises a fixing seat (110) and a flange (120), wherein the fixing seat (110) is fixedly connected to the loading mechanism (200), and the flange (120) is fixedly connected to one end of the fixing seat (110) and is used for connecting to a fruit picking device.

3. The fruit non-destructive picking end effector according to claim 1, characterized in that: The loading mechanism (200) comprises a loading frame, a connecting seat (230) and a base (240), wherein the connecting seat (230) is fixedly mounted on one side of the loading frame and is used to be connected to the connecting structure (100), and the base (240) is fixedly arranged in the loading frame and is used to be connected to the cutting mechanism (400); The loading mechanism (200) further comprises a telescopic tube (260), the bottom of the loading frame has a through hole (251), and one end of the telescopic tube (260) is fixedly connected to the bottom of the loading frame and communicates with the through hole (251).

4. The fruit non-destructive picking end effector according to claim 1, 2 or 3, characterized in that: The transmission mechanism (300) comprises a power assembly (310) and a crank slider assembly. The power assembly (310) is assembled in the loading mechanism (200) and is used to drive the crank slider assembly to move. The crank slider assembly is assembled on both sides of the loading mechanism (200) and is used to drive the cutting mechanism (400) to move.

5. The fruit non-destructive picking end effector according to claim 4, characterized in that: The power assembly (310) comprises a power source (311), a transmission wheel (313), a transmission belt (312) and a transmission shaft (314); the power source (311) is fixedly installed in the loading mechanism (200); the transmission shaft (314) is rotatably installed in the loading mechanism (200); the transmission wheel (313) is fixedly installed on the transmission shaft (314); and the transmission belt (312) is tensioned between the output shaft of the power source (311) and the transmission wheel (313).

6. The fruit non-destructive picking end effector according to claim 4, characterized in that: The crank slider assembly comprises a first crank slider assembly (320) and a second crank slider assembly (330). The first crank slider assembly (320) and the second crank slider assembly (330) are respectively arranged on both sides of the loading mechanism (200) and are both connected to the power assembly (310) for synchronously driving the cutting mechanism (400) to move.

7. The fruit non-destructive picking end effector according to claim 6, characterized in that: The first crank slider assembly (320) and the second crank slider assembly (330) have the same structure. The first crank slider assembly (320) comprises a crank disk wheel (321), a primary connecting rod (322), a secondary connecting rod (324) and a slider (323). The crank disk wheel (321) is installed on the power assembly (310). One end of the primary connecting rod (322) is connected to the crank disk wheel (321), and the other end is connected to the slider (323). The slider (323) is slidably installed on the loading mechanism (200). One end of the secondary connecting rod (324) is connected to the slider (323), and the other end is connected to the cutting mechanism (400) for driving the cutting mechanism (400) to move.

8. The fruit non-destructive picking end effector according to claim 1, characterized in that: The cutting mechanism (400) comprises a bending structure, a first bending member (440), a second bending member (460) and a blade (450); the bending structure is assembled at the loading mechanism (200) and is in transmission connection with the transmission mechanism (300); the first bending member (440) and the second bending member (460) are both arranged on the bending structure; the first bending member (440) is used to link the bending structure; the second bending member is used to install the blade (450) for cutting the fruit stalk.

9. The fruit non-destructive picking end effector according to claim 8, characterized in that: The bending structure comprises a plurality of bending components, and the plurality of bending components are arranged at intervals at the loading mechanism (200) for picking fruits; The plurality of bending assemblies have the same structure, and the bending assemblies include a mounting seat (411), a pendulum body (413), a connecting plate and a finger sleeve (415); the mounting seat (411) is fixedly mounted on the loading mechanism (200); the pendulum body (413) is rotatably mounted on the mounting seat (411); the first bending member (440) is connected to the pendulum body (413); the connecting plate is mounted on the pendulum body (413); and the finger sleeve (415) is mounted on the connecting plate.

10. The fruit non-destructive picking end effector according to claim 9, characterized in that: The second bending member (460) is mounted on the connecting plate, and the blades (450) are mounted on the second bending member (460), so that a V shape is formed between the two blades (450).

Images