Pineapple self-adaptive picking actuator and pineapple picking equipment thereof

Abstract

The invention relates to the technical field of pineapple harvesting devices, in particular to a pineapple self-adaptive picking actuator and pineapple picking equipment with the pineapple self-adaptive picking actuator. The moving assembly is used for driving the actuator main frame to move; a detection assembly; the clamping assembly is used for clamping the pineapples; the cutting assembly is used for cutting stems of the pineapples after the pineapples are clamped by the clamping assembly; the self-adaptive assembly comprises an attaching mechanism and a vibration absorbing mechanism; when the clamping assembly is used for clamping, the attaching mechanism can fit the outer surface of a pineapple to enhance the clamping stability; and after the clamping assembly completes clamping, when the cutting assembly cuts the pineapple stems, the vibration absorption mechanism can absorb vibration generated during cutting and adjust air pressure and hydraulic pressure in the attaching push rod through vibration, so that the damping performance of the whole device is enhanced, and the practicability is very high.

Description

Technical Field

[0001] The invention relates to the technical field of pineapple harvesting devices, in particular to a pineapple self-adaptive picking actuator and a pineapple picking device thereof. Background Art

[0002] As an important economic crop in my country, in recent years, the pineapple planting model has transformed into an industrial cluster integrating planting production, storage and transportation, and product processing. Faced with the sudden increase in the picking workload during the ripening period of pineapple products, frequent labor shortages during the picking season, and the inconvenience caused by heavy picking equipment, there is an urgent need for automated and intelligent picking equipment to solve the problems of high labor intensity and lack of labor.

[0003] The existing intelligent pineapple picking device generally grasps the pineapple by a clamping claw and then reverses it to directly twist off the pineapple stem. However, when twisting off the stem, a greater force is often applied to the pineapple skin, causing damage to the pineapple skin, thereby affecting the picking efficiency. Summary of the invention

[0004] The object of the present invention is to provide a pineapple adaptive picking actuator and a pineapple picking device thereof to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] On the one hand, a pineapple adaptive picking actuator is provided, comprising:

[0007] Actuator main frame;

[0008] A moving component, the moving component is used to drive the actuator main frame to move;

[0009] A detection component, the detection component is arranged on the actuator main frame, and the detection component is used to detect the position of the pineapple;

[0010] A clamping assembly, the clamping assembly is arranged on the actuator main frame, and the clamping assembly is used to clamp the pineapple according to the detection result of the detection assembly;

[0011] a cutting assembly, the cutting assembly being configured to cut the stem of the pineapple after the clamping assembly clamps the pineapple; and

[0012] The adaptive component includes a fitting mechanism and a vibration absorbing mechanism. The fitting mechanism is used to fit to the outer surface of the pineapple when the clamping assembly clamps the pineapple, and the vibration absorbing mechanism is used to absorb the vibration generated by the cutting assembly on the pineapple when cutting and enhance the stability of the fitting mechanism on the pineapple.

[0013] Preferably, the moving assembly includes a rotating motor, a rotating disk, a servo one, a rotating arm one, a servo two, a rotating arm two, a servo three, a rotating arm three and a servo four, the rotating motor is used to drive the rotating disk to rotate, the servo one is arranged on the rotating disk and is used to drive the rotating arm one to rotate, the servo two is connected to the rotating arm two, the output end of the servo two is connected to the rotating arm one and is used to drive the rotating arm two to rotate, the servo three is arranged on the rotating arm two and is used to drive the rotating arm three to rotate, and the servo four is arranged on the rotating arm three and is used to drive the actuator main frame to rotate.

[0014] Preferably, the detection component includes a recognition camera, which is arranged on the actuator main frame and is used to detect the position of the pineapple.

[0015] Preferably, the clamping assembly includes a clamping motor, a transmission rod 1, a transmission rod 2, a clamping rod and a connecting rod. The clamping motor is used to drive the transmission rod 1 to rotate. The transmission rod 1 and the transmission rod 2 are provided with transmission gears, and the two transmission gears are meshed with each other. The transmission rod 1 and the transmission rod 2 are both connected to the clamping rod. The connecting rod is symmetrically arranged on both sides of the actuator main frame, and the two ends of the connecting rod are respectively connected to the actuator main frame and different clamping rods.

[0016] Preferably, the cutting assembly includes a mounting plate, a cutting push rod and a cutting knife, the mounting plate is connected to the actuator main frame, the cutting push rod is symmetrically arranged on the mounting plate, both ends of the cutting knife are respectively connected to different cutting push rods, and the cutting push rod is used to drive the cutting knife to move.

[0017] Preferably, the fitting mechanism includes a fitting push rod, a fitting spring and a fitting block, a plurality of the fitting push rods are arranged along the clamping block, the fitting spring is arranged inside the fitting push rod, and both ends of the fitting push rod are respectively connected to the clamping block and the fitting block.

[0018] Preferably, the fitting push rod includes an inner rod and an outer rod, the inner rod is movably inserted in the outer rod, the vibration absorbing mechanism includes a movable piston, a piston cylinder, a hydraulic cylinder, a one-way air valve and a pressure relief valve, the movable piston is connected to the inner rod, the piston cylinder is arranged on the outer rod, the movable piston is movably connected to the piston cylinder, the hydraulic cylinder and each of the piston cylinders are interconnected, an air cavity is arranged between the inner rod and the outer rod, and the one-way air valve and the pressure relief valve are arranged on the side wall of the air cavity.

[0019] On the other hand, a pineapple picking device is provided, comprising the above-mentioned adaptive pineapple picking actuator.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: when the present invention is in use, the moving component drives the clamping component and the cutting component to move with multiple degrees of freedom. When the clamping component clamps, the fitting mechanism fits into the outer surface of the pineapple to enhance the stability of the clamping. After the clamping component completes the clamping, when the pineapple stem is cut by the cutting component, the vibration absorbing mechanism absorbs the vibration generated during the cutting and adjusts the air pressure and hydraulic pressure inside the fitting push rod through the vibration, thereby enhancing the damping of the entire device. The present invention is very practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The axial structure of the present invention is schematically shown Figure 1 ;

[0022] Figure 2 The axial structure of the present invention is schematically shown Figure 2 ;

[0023] Figure 3 This is a schematic diagram of the installation structure of the actuator main frame and the clamping assembly of the present invention;

[0024] Figure 4 This is a schematic diagram of the installation structure of the actuator main frame and cutting assembly of the present invention;

[0025] Figure 5 It is a schematic diagram of the connection structure of the transmission rod 1, the transmission rod 2 and the clamping rod of the present invention;

[0026] Figure 6 This is a schematic diagram of the axial structure of the cutting assembly of the present invention;

[0027] Figure 7 This is a schematic diagram of the internal structure of the present invention in the connection state of the fitting push rod and the hydraulic rod;

[0028] Figure 8 The figure is a schematic diagram of the internal structure of the fitting push rod of the present invention.

[0029] In the figure: 1 actuator main frame, 2 rotating motor, 3 rotating disk, 4 steering gear 1, 5 rotating arm 1, 6 steering gear 2, 7 rotating arm 2, 8 steering gear 3, 9 rotating arm 3, 10 steering gear 4, 11 recognition camera, 12 clamping motor, 13 transmission rod 1, 14 transmission rod 2, 15 clamping rod, 16 connecting rod, 17 mounting plate, 18 cutting push rod, 19 cutting knife, 20 fitting spring, 21 fitting block, 22 inner rod, 23 outer rod, 24 moving piston, 25 piston cylinder, 26 hydraulic cylinder, 27 one-way air valve, 28 pressure relief valve, 29 air cavity. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1-8 , the present invention provides a technical solution:

[0032] A pineapple adaptive picking actuator, as shown in the attached manual Figure 1 As shown, including:

[0033] Actuator main frame 1, the actuator main frame 1 is used to install the clamping component, the cutting component and the adaptive component;

[0034] A moving component, the moving component is used to drive the actuator main frame 1 to move;

[0035] A detection component is arranged on the actuator main frame 1, and is used to detect the position of the pineapple;

[0036] A clamping assembly, the clamping assembly is arranged on the actuator main frame 1, and the clamping assembly is used to clamp the pineapple according to the detection result of the detection assembly;

[0037] a cutting assembly, the cutting assembly being configured to cut the stem of the pineapple after the clamping assembly clamps the pineapple; and

[0038] The adaptive component includes a fitting mechanism and a vibration absorbing mechanism. The fitting mechanism is used to fit to the outer surface of the pineapple when the clamping component clamps the pineapple. The vibration absorbing mechanism is used to absorb the vibration generated by the cutting component when cutting the pineapple and enhance the stability of the fitting mechanism on the pineapple.

[0039] The mobile assembly includes a rotating motor 2, a rotating disk 3, a steering gear 1 4, a rotating arm 1 5, a steering gear 2 6, a rotating arm 2 7, a steering gear 3 8, a rotating arm 3 9 and a steering gear 4 10. When actually used, the rotating motor 2 is arranged on the mobile platform of the pineapple picking equipment, the output end of the rotating motor 2 is connected to the rotating disk 3, the rotating motor 2 is used to drive the rotating disk 3 to rotate, the steering gear 1 4 is fixedly connected to the rotating disk 3, the output end of the steering gear 1 4 is connected to the rotating arm 1 5, the steering gear 1 4 is used to drive the rotating arm 1 5 to rotate, the steering gear 2 6 is fixedly connected to the rotating arm 2 7, and the output gear of the steering gear 2 6 is fixedly connected to the rotating arm 1 5. When the servo 2 6 rotates, it will drive the rotating arm 2 7 to rotate. The servo 3 8 is arranged on the rotating arm 2 7 and is used to drive the rotating arm 3 9 to rotate. The servo 4 10 is arranged on the rotating arm 3 9 and is used to drive the actuator main frame 1 to rotate. By arranging the rotating motor 2, the servo 1 4, the servo 2 6, the servo 3 8 and the servo 4 10, more degrees of freedom can be provided, so that the mobile component can perform more complex movements and posture adjustments. Each servo is responsible for the rotation of one or more joints, thereby increasing the flexibility and operating range of the actuator body. The coordinated work of multiple servos can also disperse the load and improve the load capacity of the entire device.

[0040] The detection component includes a recognition camera 11, which is arranged on the actuator main frame 1. The recognition camera 11 is used to detect the position of the pineapple. In this embodiment, the recognition camera 11 is a KinectV2 depth camera. The recognition camera 11 is used to identify the maturity and position of the pineapple fruit, thereby ensuring that the clamping component clamps the ripe pineapple and the cutting plane of the cutting knife 19 is located at the stem of the pineapple when clamping.

[0041] The clamping assembly includes a clamping motor 12, a transmission rod 13, a transmission rod 14, a clamping rod 15 and a connecting rod 16. The clamping motor 12 is an AKM series DC servo motor. In the present embodiment, the clamping motor 12 is an AKM2G2x DC servo motor. The output end of the clamping motor 12 is connected to the transmission rod 13. Therefore, when the clamping motor 12 rotates, the transmission rod 13 is driven to rotate. The transmission rod 13 and the transmission rod 2 14 are provided with transmission gears. The two transmission gears are meshed with each other for transmission. The transmission rod 13 and the transmission rod 2 14 are both connected with the clamping rod 15. The clamping rod 15 is used to install the fitting assembly. The connecting rod 16 is symmetrically arranged on both sides of the actuator main frame 1. The two ends of the connecting rod 16 are respectively connected to the actuator main frame 1 and different clamping rods 15. The connecting rod 16 is used to prevent the clamping block from tilting or displacing due to external force or mechanical vibration, thereby ensuring the accuracy and stability of the clamping process.

[0042] The cutting assembly includes a mounting plate 17, a cutting push rod 18 and a cutting knife 19. The mounting plate 17 is fixedly connected to the actuator main frame 1. The mounting plate 17 is used to install the cutting push rod 18. The cutting push rod 18 is a DC hydraulic push rod. The cutting push rod 18 is symmetrically arranged on the mounting plate 17. Both ends of the cutting knife 19 are respectively connected to different cutting push rods 18 arranged on both sides of the mounting plate 17. The cutting push rod 18 is used to drive the cutting knife 19 to move so as to cut the pineapple stem.

[0043] The fitting mechanism includes a fitting push rod, a fitting spring 20 and a fitting block 21. Several fitting push rods are arranged along the clamping block. The fitting push rod is used to install the fitting spring 20 and the vibration absorbing mechanism. The fitting spring 20 is arranged inside the fitting push rod. The fitting spring 20 is a compression spring. The fitting spring 20 is used to keep the fitting push rod in an extended state of a fixed length at all times in the absence of external force. The two ends of the fitting push rod are respectively fixedly connected to the clamping block and the fitting block 21. The fitting push rod is connected to the fitting block 21 by bolts, and a sealing ring is arranged between the two.

[0044] The fitting push rod includes an inner rod 22 and an outer rod 23, the inner rod 22 is movably inserted in the outer rod 23, and a dynamic seal is achieved between the inner rod 22 and the outer rod 23 through a sealing rubber ring. The vibration absorption mechanism includes a moving piston 24, a piston cylinder 25, a hydraulic cylinder 26, a one-way air valve 27 and a pressure relief valve 28. One end of the moving piston 24 is fixedly connected to the inner rod 22, the piston cylinder 25 is arranged inside the outer rod 23, the moving piston 24 is movably connected to the piston cylinder 25, the hydraulic cylinder 26 and each piston cylinder 25 are interconnected, an air cavity 29 is arranged between the inner rod 22 and the outer rod 23, the air cavity 29 is arranged in the overlapping area between the inner rod 22 and the outer rod 23, the one-way air valve 27 and the pressure relief valve 28 are connected to the inner rod 22 and the outer rod 23. Valves 28 are all arranged on the side walls of the air cavity 29. The one-way air valve 27 is used to allow air to flow into the air cavity 29 in one direction only. The pressure relief valve 28 is an electromagnetic pressure relief valve. By controlling the opening and closing state of the pressure relief valve 28, the pressure in the air cavity 29 is adjusted and released. When cutting generates vibration, when the pressure generated by the vibration is small, the impact on the inside of the hydraulic cylinder 26 is small. The inner rod 22 and the outer rod 23 will move relative to each other to allow air to enter the air cavity 29. The air pressure will further improve the stability of the fitting push rod. When the pressure generated by the vibration is large, the hydraulic oil inside the hydraulic cylinder 26 will flow, thereby converting the vibration into liquid flow and enhancing the fitting stability of the fitting block 21 on the pineapple.

[0045] Working principle: When in use, the position and maturity of the pineapple are identified by the identification camera 11, and then the actuator main frame 1 is driven to move by the moving assembly, and then the transmission rod 13 and the transmission rod 2 14 are driven to rotate by the clamping motor 12, thereby driving the clamping rod 15 to clamp the pineapple. After the clamping is completed, the cutting push rod 18 will drive the cutting knife 19 to cut the stem of the pineapple; when clamping, one end of the bonding block 21 will first be bonded to the side wall of the pineapple, and at this time, the inner rod 22 of the bonding push rod set at the bonding end of the bonding block 21 will move along the outer rod 23 and then push the hydraulic oil to flow along the hydraulic cylinder 26 through the piston, and the piston in the other piston cylinder 25 will be driven to move through the transfer of the fluid, so that the corresponding inner rod 22 is extended and drives the bonding block 21 on this side to bond the pineapple, and when the cutting generates vibration, the impact on the inside of the hydraulic cylinder 26 is small, and the air cavity 29 will be expanded and contracted so that air enters the air cavity 29, and the stability of the bonding push rod will be further improved by the air pressure.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pineapple adaptive picking actuator, characterized in that: include: Actuator main frame; A moving component, the moving component is used to drive the actuator main frame to move; A detection component, the detection component is arranged on the actuator main frame, and the detection component is used to detect the position of the pineapple; A clamping assembly, the clamping assembly is arranged on the actuator main frame, and the clamping assembly is used to clamp the pineapple according to the detection result of the detection assembly; A cutting assembly, wherein the cutting assembly is configured to cut the stem of the pineapple after the clamping assembly clamps the pineapple; as well as The adaptive component includes a fitting mechanism and a vibration absorbing mechanism. The fitting mechanism is used to fit to the outer surface of the pineapple when the clamping assembly clamps the pineapple, and the vibration absorbing mechanism is used to absorb the vibration generated by the cutting assembly on the pineapple when cutting and enhance the stability of the fitting mechanism on the pineapple.

2. The pineapple adaptive picking actuator according to claim 1, characterized in that: The moving assembly includes a rotating motor, a rotating disk, a servo motor 1, a rotating arm 1, a servo motor 2, a rotating arm 2, a servo motor 3, a rotating arm 3 and a servo motor 4. The rotating motor is used to drive the rotating disk to rotate. The servo motor 1 is arranged on the rotating disk and is used to drive the rotating arm 1 to rotate. The servo motor 2 is connected to the rotating arm 2. The output end of the servo motor 2 is connected to the rotating arm 1 and is used to drive the rotating arm 2 to rotate. The servo motor 3 is arranged on the rotating arm 2 and is used to drive the rotating arm 3 to rotate. The servo motor 4 is arranged on the rotating arm 3 and is used to drive the actuator main frame to rotate.

3. The pineapple adaptive picking actuator according to claim 1, characterized in that: The detection component includes a recognition camera, which is arranged on the actuator main frame and is used to detect the position of the pineapple.

4. The pineapple adaptive picking actuator according to claim 1, characterized in that: The clamping assembly includes a clamping motor, a transmission rod 1, a transmission rod 2, a clamping rod and a connecting rod. The clamping motor is used to drive the transmission rod 1 to rotate. The transmission rod 1 and the transmission rod 2 are provided with transmission gears. The two transmission gears are meshed with each other. The transmission rod 1 and the transmission rod 2 are both connected to the clamping rod. The connecting rod is symmetrically arranged on both sides of the actuator main frame, and the two ends of the connecting rod are respectively connected to the actuator main frame and different clamping rods.

5. The pineapple adaptive picking actuator according to claim 1, characterized in that: The cutting assembly includes a mounting plate, a cutting push rod and a cutting knife. The mounting plate is connected to the actuator main frame, the cutting push rod is symmetrically arranged on the mounting plate, and the two ends of the cutting knife are respectively connected to different cutting push rods. The cutting push rod is used to drive the cutting knife to move.

6. The pineapple adaptive picking actuator according to claim 4, characterized in that: The bonding mechanism includes a bonding push rod, a bonding spring and a bonding block. A plurality of the bonding push rods are arranged along the clamping block. The bonding spring is arranged inside the bonding push rod. Both ends of the bonding push rod are respectively connected to the clamping block and the bonding block.

7. The pineapple adaptive picking actuator according to claim 6, characterized in that: The fitting push rod includes an inner rod and an outer rod, the inner rod is movably inserted in the outer rod, the vibration absorbing mechanism includes a movable piston, a piston cylinder, a hydraulic cylinder, a one-way air valve and a pressure relief valve, the movable piston is connected to the inner rod, the piston cylinder is arranged on the outer rod, the movable piston is movably connected to the piston cylinder, the hydraulic cylinder and each of the piston cylinders are interconnected, an air cavity is arranged between the inner rod and the outer rod, and the one-way air valve and the pressure relief valve are arranged on the side wall of the air cavity.

8. A pineapple picking device, characterized in that: A pineapple adaptive picking actuator comprising the device described in any one of claims 1 to 7.

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