A fruit nondestructive picking end effector

Abstract

The application relates to the technical field of agricultural robots, in particular to a fruit non-damage 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 is used for providing a mounting base, the transmission mechanism is assembled in the loading mechanism and is used for providing power for the cutting mechanism, the cutting mechanism is rotatably assembled on the loading mechanism and is in transmission connection with the transmission mechanism, and is used for adaptively and passively cutting the fruit stem of a fruit in a way of rotating the fingers to realize fruit picking. The end effector is easy to stretch into the sheltered place of the branches and leaves of a fruit tree in a way of rotating the fingers, can hold fruits at different positions, and can adaptively and passively cut the fruit stem of the fruit after holding, so that fruit separation is realized, the fruit picking success rate is improved, the overall structure is compact and small, and the fruit stem of the picked fruit is short.

Description

Technical Field

[0001] The present 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 robotics technology has developed rapidly around the world. Many countries are increasing their efforts in the research, development, and application of agricultural robotics technology to improve agricultural production efficiency, reduce labor costs, and enhance the intelligence level of agricultural machinery and equipment.

[0003] Fruit is one of the most consumed agricultural products and one of the world's most important cash crops, cultivated on a vast scale worldwide. However, in some regions, particularly developed countries, agricultural labor shortages are severe. Even with sufficient labor, manual fruit harvesting is a time-consuming and labor-intensive task, requiring significant labor costs.

[0004] To make up for this labor gap, achieving continuous and efficient picking operations without being restricted by factors such as weather and time, reducing damage and loss of fruits during the picking process, and improving fruit production efficiency and quality is a hot research direction in existing agricultural robots. Chinese patent CN104663135A discloses an end effector for a fruit harvesting robot, comprising a fixed base, a wrist tilt mechanism, a pitch mechanism, and a cutting mechanism. The wrist tilt mechanism is coaxially sleeved on the fixed base, with a gear fixed to one side of the fixed base. A wrist tilt motor is mounted on the wrist tilt mechanism, driving a gear meshing with a gear on the fixed base. A side plate is fixed to the wrist tilt mechanism, supporting the pitch mechanism. The pitch motor is fixed to the side plate. The pitch mechanism comprises a planar connecting rod four-bar mechanism. The pitch motor drives one connecting rod to rotate, thereby driving the pitch plate fixed to the other connecting rod. The cutting mechanism is fixed to the pitch plate and comprises a saw blade drive motor and a saw blade shaft connected by a synchronous belt. The rotation of the saw blade drive motor is transmitted to the saw blade shaft via the synchronous belt, driving the rotation of a circular saw blade fixed to the end face of the saw blade shaft. This invention ensures optimal cutting results, has a compact structure, and is simple to control.

[0005] However, the above invention uses an active cutting method to separate the fruit, and the overall structural space volume is relatively large. Since the branches and leaves of the fruit trees grow in different directions and the positions and shapes of the fruits are different, it is not easy to reach deep into the branches and leaves of the fruit trees to pick the fruit. In addition, some existing fruit picking end effectors first fix the fruit and then cut the fruit stalks, 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, making it difficult to pick fruits at different positions deep in the branches and leaves of the fruit trees. On the other hand, it will also result in the fruit stalks of the picked fruits being longer, which is easy to damage the fruit during subsequent transportation. SUMMARY

[0006] Therefore, the present application aims to provide a fruit non-damage picking end effector, which can be easily extended into the sheltered part of the branches and leaves of the fruit tree by rotating the fingers, can hold the fruits in different positions, and can passively cut the fruit stem after holding the fruits, so as to separate the fruits, improve the fruit picking success rate, and have a compact and small overall structure and a short fruit stem after picking.

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

[0008] The fruit non-damage picking end effector comprises a connecting structure, a loading mechanism, a transmission mechanism and a cutting mechanism, the connecting structure is fixedly connected with the loading mechanism to provide a mounting base, the transmission mechanism is assembled in the loading mechanism to provide power for the cutting mechanism, and the cutting mechanism is rotatably assembled on the loading mechanism and is in transmission connection with the transmission mechanism to passively cut the fruit stem in a rotating manner of the fingers, so as to pick the fruits.

[0009] According to the above technical means, the whole effector is installed on the fruit picking device through the connecting structure, the loading mechanism is used to provide a mounting base for the transmission mechanism and the cutting mechanism, and on the other hand, the picked fruits are conveniently conveyed through the loading mechanism; and the transmission mechanism and the cutting mechanism are cooperated to passively cut the fruit stem of the fruits in different positions of the fruit tree and the fruits sheltered by the branches and leaves of the fruit tree, and pick the fruits, so as to improve the fruit picking success rate, and have a compact and small overall structure and a short fruit stem after picking.

[0010] Further, the connecting structure comprises a fixed seat and a flange plate, the fixed seat is fixedly connected on the loading mechanism, and the flange plate is fixedly connected on one end of the fixed seat to be connected with the fruit picking device.

[0011] According to the above technical means, the fixed seat and the flange plate are cooperated to facilitate the connection of the loading mechanism and the fruit picking device.

[0012] Further, the loading mechanism comprises a loading frame, a connecting seat and a base, the connecting seat is fixedly installed on one side of the loading frame to be connected with the connecting structure, and the base is fixedly arranged in the loading frame to be connected with the cutting mechanism.

[0013] The loading mechanism further comprises an extension tube, the bottom of the loading frame has a through hole, and one end of the extension tube is fixedly connected on the bottom of the loading frame and communicates 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. 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, one power source can synchronously drive two crank slider assemblies to work, thereby reducing 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, a primary connecting rod, a secondary connecting rod and a slider. The crank disc is installed on the power assembly, one end of the primary connecting rod is connected to the crank disc, 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 for driving 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] Furthermore, 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 part 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, the synchronous rotation of multiple fingers can be achieved by rotating the fingers and cooperating with the first bending part to achieve the cutting of the fruit stalk.

[0028] Furthermore, the second bending member is assembled on the connecting plate, and the blades are assembled on the second bending member, forming a V shape between the two blades.

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

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

[0031] 1. In this application, the entire actuator is mounted on the fruit picking device via a connecting structure. The loading mechanism, on the one hand, provides a mounting base for the transmission mechanism and the cutting mechanism, and on the other hand, facilitates the transport of the picked fruit through the loading mechanism. The transmission mechanism and the cutting mechanism cooperate with each other, and by driving the fingers to rotate, the end effector can easily reach into areas obscured by branches and leaves of the fruit trees, thereby supporting the fruit at different positions. After supporting, the fruit stalks can be adaptively and passively cut, achieving fruit separation and improving the success rate of fruit picking. Furthermore, the overall structure is compact and small, and the stalks of the picked fruit are short.

[0032] 2. In this application, by providing a loading mechanism, the loading frame, connecting seat, base, and telescopic hook cooperate with each other, which, on the one hand, can be used to assemble the transmission mechanism and the cutting mechanism, and on the other hand, facilitate the transportation of the cut fruit. In addition, the provision of an interception net can prevent residual fruit branches and leaves from contacting the transmission mechanism and affecting its operation.

[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, a single power source can synchronously drive the two crank slider assemblies to move, thereby making the two crank slider assemblies more stable when driving the cutting mechanism to move, thereby allowing the picked fruits to stably enter the loading mechanism;

[0034] 4. In this application, by configuring the cutting mechanism as a plurality of curved components that drive the fingers to rotate, the fruit can be supported. Furthermore, 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 and passively cut, thereby enabling smooth fruit picking, shortening the stalk, and reducing the damage rate of the fruit.

[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 the non-limiting examples given in the accompanying drawings;

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

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

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

[0040] Figure 4 This 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 diagram of the loading frame in the embodiment of the application;

[0042] Figure 6 This 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 This is a schematic diagram of a portion of the internal assembly structure of the cutting mechanism in the embodiment of the application;

[0045] Figure 9 This 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, connecting structure; 110, fixing seat; 120, flange; 200, loading mechanism; 210, side panel; 211, weight-reducing hole; 212, sliding groove; 220, back panel; 230, connecting seat; 240, base; 250, bottom plate; 251, through hole; 260, telescopic tube; 270, intercepting 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 pulley; 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 embodiments of the present invention through specific embodiments. 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 for illustrative purposes only and are only schematic diagrams, not actual drawings. They should not be understood as limiting 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 dimensions of the actual product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the figures.

[0051] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components, and in the description of the present application, it should be understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", etc. are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration and cannot be understood as a limitation on the present application, and for those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0052] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and in the diagrams, only the components related to the present application are shown, not the number, shape and size of the components when actually implemented, and the actual implementation of each component may be a random change in shape, number and proportion, and the layout pattern of the components may also be more complex.

[0053] As shown in Figure 1-2 The embodiment of the present application discloses a fruit non-destructive picking end effector, which comprises a connecting structure 100, a loading mechanism 200, a transmission mechanism 300 and a cutting mechanism 400. The connecting structure 100 is fixedly connected with 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 in transmission connection with the transmission mechanism 300, and is used to passively cut the fruit stem of the fruit by driving the fingers to rotate, so as to realize fruit picking.

[0054] In the embodiment, the whole effector is installed on the fruit picking device through the connecting structure 100. The loading mechanism 200 is used to provide a mounting base for the transmission mechanism 300 and the cutting mechanism 400, and on the other hand, facilitates the transportation of the picked fruit through the loading mechanism 200. Through the cooperation of the transmission mechanism 300 and the cutting mechanism 400, the fruit stem of the fruit at different positions of the fruit tree and the fruit blocked by the branches and leaves of the fruit tree can be passively cut adaptively, fruit picking is realized, the success rate of fruit picking is improved, the overall structure can form a structure similar to a palm, the overall structure is compact and small, and the fruit stem of the picked fruit is short.

[0055] In some embodiments, as Figure 1-2As shown, the connecting structure 100 includes a fixed seat 110 and a flange plate 120. The fixed seat 110 is fixedly connected to the loading mechanism 200, and the flange plate 120 is fixedly connected to one end of the fixed seat 110 by screws, so as to be connected to the fruit picking device while being fixedly installed. In actual cases, the connecting structure 100 can also be provided as a connecting column, a connecting disc or the like, and any structure capable of fixedly connecting the loading mechanism 200 and the fruit picking device can be used.

[0056] In this embodiment, the fruit picking device can be a mechanical arm with six spatial degrees of freedom, and a stereovision sensor is further installed on the mechanical arm, which can identify the position of the fruit, so as to effectively identify the fruit, cooperate with the similar palm-structure end effector of the present application, and then enter different positions of the fruit tree and different leaf-sheltered places, and effectively pick the fruit. In actual cases, the fruit picking device can be an apple, pear or citrus picking device, and the stereovision sensor can be a camera or the like. The fruit picking device, the mechanical arm and the stereovision sensor are all prior art, and thus will not be described herein.

[0057] In some embodiments, as shown in Figure 1-3 and Figure 5 , 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, and is used to connect with the fixed seat 110. The base 240 is fixedly arranged on the left side of the loading frame, and is used to connect with the cutting mechanism 400.

[0058] In this embodiment, when the connecting seat 230 is connected with the fixed seat 110, the connecting seat 230 can be fixedly connected by bolts or can be threadedly connected.

[0059] In this embodiment, as shown in Figure 5 , 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 side 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, and is used to form a fruit storage space.

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

[0061] In this embodiment, as shown in Figure 3 and Figure 5As shown, an installation space 301 is formed between the back panel 220 and the bottom panel 250 for mounting a portion of the transmission mechanism 300. To prevent fruit residues and branches from entering the transmission mechanism 300 within 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 panel 250. To prevent other debris from affecting the transmission mechanism 300 within the installation space 301, a cover plate can also be installed above the installation space 301.

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

[0063] In some embodiments, as Figure 1-4 and Figure 6 As shown, the transmission mechanism 300 includes a power assembly 310 and a slider-crank assembly. The power assembly 310 is mounted within the mounting space 301 and is used to drive the slider-crank assembly. The slider-crank assembly is mounted on both sides of the loading frame and is used to drive the cutting mechanism 400, thereby achieving adaptive passive cutting of the fruit stems, thereby enabling the fruit to be harvested.

[0064] In this embodiment, if Figure 4 As shown, power assembly 310 includes a power source 311, a transmission wheel 313, a transmission belt 312, and a transmission shaft 314. Power source 311 is fixedly mounted within mounting space 301 via bolts. Transmission shaft 314 is rotatably mounted on both sides of back plate 220 and extends outward from both sides of back plate 220 for transmission connection with the slider-crank assembly. Transmission wheel 313 is fixedly mounted on transmission shaft 314, and transmission belt 312 is tensioned between the output shaft of power source 311 and transmission wheel 313. When power source 311 is operating, transmission belt 312 drives transmission wheel 313 to rotate, thereby driving transmission shaft 314.

[0065] In actual situations, a sprocket can be provided on the transmission shaft 314, a sprocket can also be provided 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 provided that the gears rotate to transmit the power.

[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. The output shaft of the power source 311 is also provided with a transmission wheel 313, 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 for synchronously driving the cutting mechanism 400 to move. When the transmission shaft 314 rotates, it can synchronously drive the two crank slider assemblies to work, thereby reducing the cost of use.

[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 used as an example for description below: The first crank slider assembly 320 includes a crank disk 321, a primary connecting rod 322, a secondary connecting rod 324, and a slider 323. The crank disk 321 is fixedly mounted on the transmission shaft 314. One end of the primary connecting rod 322 is connected to the crank disk 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 to drive the cutting mechanism 400.

[0069] In this embodiment, the crank wheel 321 has a first boss, and the slider 323 has a second boss at both ends. 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. A sliding groove 212 is defined in the side panel 210. The slider 323 slides through the sliding groove 212, so that the two ends of the slider 323 are located outside and inside the side panel 210, respectively. One end of the secondary connecting rod 324 is sleeved on the second boss of the slider 323 located inside the side panel 210, and the other end is sleeved on the cutting mechanism 400. When the crank wheel 321 rotates, the primary connecting rod 322 drives the slider 323 to perform linear motion within the sliding groove 212, thereby driving the secondary connecting rod 324 to move, and further driving the cutting mechanism 400 to move, thereby enabling the cutting mechanism 400 to perform rotational motion, thereby supporting the fruit and cutting the fruit stem.

[0070] In some embodiments, as 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 in transmission connection with the secondary connecting rod 324 for driving 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 relative 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 delivered to the loading frame.

[0071] In this embodiment, one side of the base 240 is inclined. This not only facilitates the entry of the fruit into the telescopic tube 260, but also prevents the base 240 from damaging the fruit when the stem is cut. To minimize damage to the fruit, the base, bottom plate, and side plates can be wrapped with elastic materials, such as sponge, elastic plastic, or cloth.

[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, it can also be set to two, four, five, etc., depending on the actual situation.

[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 illustration. The bending assembly includes a mounting base 411, a pendulum 413, a connecting plate, and a finger guard 415. Mounting base 411 is fixedly mounted to base 240 via bolts. Pendulum 413 is rotatably mounted on mounting base 411. A first bending member 440 is connected to pendulum 413 to connect two adjacent pendulums 413. A connecting plate is mounted on pendulum 413, and a finger guard 415 is mounted on the connecting plate to minimize damage to the fruit.

[0075] In this embodiment, the pendulum 413 is trapezoidal in shape, with lugs 4131 symmetrically mounted on the bottom of the pendulum 413. The two lugs 4131 are rotatably connected to the mounting base 411 via a rotating column 412, allowing the pendulum 413 to rotate relative to the mounting base 411. The pendulums 413 of the first and second bending assemblies 410 and 420 have identical structures. Both have a trapezoidal swing plate 414 fixedly mounted on the lugs 4131 near the secondary connecting rod 324. The swing plate 414 is trapezoidal in shape, with a cylinder fixedly mounted on its top. A gap is provided between the cylinder and the side plate 210 to prevent interference with 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 moved 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 part 440, they can drive the second bending component 420 to bend synchronously, so that the three bending components bend 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 413 by bolts. There is a certain angle between the symmetry line of the first connecting plate 416 and the pendulum 413, which can reach a maximum of 170°. The second connecting plate 417 is fixedly connected to the end of the first connecting plate 416 by bolts. There is also a certain angle between the symmetry line of the second connecting plate 417 and the first connecting plate 416, which can reach a maximum of 165°. Through the angle between the first connecting plate 416 and the pendulum 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 conducive to the fruit entering 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 via bolts. The second bending member 460 is V-shaped or trapezoidal. The blade 450 is fixedly mounted on the outer side of the V-shaped or trapezoidal shape of the second bending member 460 via bolts, so that the blade 450 is inclined. In this embodiment, the blade 450 is fixedly mounted on both sides of the first connecting plate 416 of the second bending assembly 420, while the blade 450 is fixedly mounted on only one side of the first connecting plate 416 of the first bending assembly 410 and the third bending assembly 430, thereby forming a V-shape between the two opposing blades 450.

[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, which can support the fruit, 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. The fruit stalk can also 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 shorter, thereby avoiding damage to the fruit caused by the fruit stalk in subsequent processes.

[0081] In this embodiment, the first bending part 440 is set to a U-shaped thin plate, or can be set to a V-shaped thin plate, which is a rigid plastic material, or a steel plate, etc.; the second bending part 460 can also be set to 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, finger guard 415 comprises a left half finger guard 4151 and a right half finger guard 4152. Finger guard 415 has a notch on one side of blade 450 to allow blade 450 to be exposed. Alternatively, notches on both sides can be provided to facilitate production and use of finger guard 415. Finger guard 415 covers the upper end of blade 450 on one side to prevent it from scratching the fruit. The lower portions of the two blades 450 meet to form a V-shape.

[0083] In this embodiment, both the left and right half finger cuffs 4151 and 4152 are thin-walled conical shells connected by a mortise and tenon structure. The structure of the finger cuffs 415 further minimizes damage to the fruit. Alternatively, a layer of elastic film could be glued to the left and right half finger cuffs 4151 and 4152 to further minimize damage to the fruit during picking, thereby minimizing damage.

[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 stalks are short.

[0085] The above is a detailed introduction to the non-destructive fruit harvesting end effector provided by the present invention. The description of the specific embodiments is only intended to facilitate understanding of the method and core concept of the present invention. It should be noted that those skilled in the art may make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0086] It should be noted that phrases such as "one embodiment," "an embodiment," "some optional embodiments," "exemplary embodiments," and "some embodiments" mentioned in this specification indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[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 them. 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 make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions 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 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) and is used to provide an installation 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 in transmission connection with the transmission mechanism (300) and is used to drive the fingers to rotate in a manner to perform adaptive passive cutting on the fruit stem, thereby achieving fruit picking; The transmission mechanism (300) includes 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. The crank slider assembly comprises a first crank slider assembly (320) and a second crank slider assembly (330), wherein 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; 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 mounted 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 mounted 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. 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 mount the blade (450) for cutting the fruit stalk; 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 assembled on the pendulum body (413); and the finger sleeve (415) is assembled on the connecting plate; The second bending member (460) is assembled on the connecting plate, and the blades (450) are assembled on the second bending member (460), forming a V shape between the two blades (450).

2. The fruit non-destructive picking end effector according to claim 1, 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 connect with the connecting structure (100), and the base (240) is fixedly arranged in the loading frame and is used to connect with 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 any one of claims 1 to 3, 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).

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