Fruit and vegetable picking grabbing structure and fruit and vegetable picking robot

Abstract

The invention discloses a fruit and vegetable picking and grabbing structure and a fruit and vegetable picking robot, and belongs to the technical field of agricultural picking machine.The fruit and vegetable picking and grabbing structure comprises a base, a fruit grabbing assembly and a fruit stem fixing assembly; the fruit stem fixing assembly adopts double clamping arms to clamp fruit stems from two sides; when the supporting body moves downwards, the clamping jaw drags the fruits, and fruit and stem separation is achieved. By designing the fruit grabbing assembly and the fruit stem fixing assembly, fruits and fruit stems are separated, and the fruit and vegetable picking device can be used for picking operation of fruits and vegetables; by combining structures such as a multi-joint manipulator and a movable chassis, full-process agricultural mechanization of picking and collecting fruits and vegetables can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural picking machinery, and in particular to a fruit and vegetable picking grasping structure and a fruit and vegetable picking robot. Background Art

[0002] Fruit and vegetable picking is a key link in agricultural production. When fruits and vegetables are ripe, they need to be picked and collected, and then enter the agricultural product market. For fruits and vegetables such as tomatoes and eggplants, their fruits are connected to the main body of the plant through the fruit stalks. When picking, the fruit needs to be picked from the stalks. The current picking method is basically manual picking, which has problems such as low efficiency, high labor costs, and seasonal labor shortages. Since the position of each fruit on the main body of the plant is very random, it is difficult to perform mechanized picking with existing equipment. Therefore, it is necessary to design a new picking and grasping structure and carry out targeted robot design to achieve automated picking. Summary of the invention

[0003] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a fruit and vegetable picking and grasping structure and a fruit and vegetable picking robot, which can achieve fruit and stalk separation by designing a fruit grasping component and a fruit stalk fixing component.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: The present invention provides a fruit and vegetable picking and grasping structure, comprising:

[0005] A base, used to connect a multi-joint robotic arm;

[0006] A fruit grabbing assembly is arranged on the base and used for grabbing fruits, comprising a support body arranged on the base for lifting and lowering and a plurality of clamping claws evenly hinged at the end of the support body in the circumferential direction, and a fruit-wrapping cavity is formed when the plurality of clamping claws are gathered;

[0007] A fruit stem fixing assembly is arranged on the base and used to fix the fruit stem, and comprises two clamping arms, and ends of the two clamping arms away from the base press against the fruit stem from both sides of the fruit stem;

[0008] When the plurality of clamping claws cover the fruit in the fruit enclosing cavity and the two clamping arms clamp the fruit stalk, the supporting body moves toward the base to separate the fruit from the fruit stalk.

[0009] Preferably, a guide cylinder is fixed on the base, the support body is movably sleeved on the guide cylinder, and a first push rod is fixed on the base, and the first push rod is used to drive the support body to move on the guide cylinder.

[0010] Preferably, the support body comprises a rotating sleeve and a column, the column is rotatably mounted on the rotating sleeve, the rotating sleeve is sleeved on the guide cylinder, and the clamping claw is hinged at the end of the column.

[0011] Preferably, a slip ring is sleeved on the column, a plurality of connecting rods are hinged on the slip ring, one end of the connecting rod away from the slip ring is hinged on the clamping claw, and a second push rod for driving the slip ring to move on the column is fixed on the column.

[0012] Preferably, a motor is fixed on the side wall of the rotating sleeve, a gear ring is fixed on the column, and the output shaft of the motor is transmission-connected to the gear ring through a reduction box.

[0013] Preferably, a guide groove is provided on the rotating sleeve, and a guide key which is slidably matched with the guide groove is provided on the guide cylinder.

[0014] Preferably, the interior of the column is hollow, and a discharge port is provided at the bottom of the base. The picked fruits pass through the column, the rotating sleeve and the guide cylinder in sequence and are discharged from the discharge port.

[0015] Preferably, the two clamping arms are hinged on the base, a third push rod is fixed on the base, a hinge seat is fixed at the end of the third push rod, connecting rods 2 are hinged on both sides of the hinge seat, and the ends of the two connecting rods 2 away from the hinge seat are respectively hinged to the two clamping arms.

[0016] Preferably, a V-shaped notch is provided at one end of the clamping arm away from the base, and a tooth pattern is provided on the inner wall of the V-shaped notch.

[0017] A fruit and vegetable picking robot comprises the above-mentioned fruit and vegetable picking and grasping structure, and also comprises a crawler-type mobile chassis, a collecting bin is arranged on the mobile chassis, a multi-joint mechanical arm is installed on the mobile chassis, and a material receiving hose connected to a base is arranged above the collecting bin.

[0018] The beneficial effects of the present invention are:

[0019] The present invention designs a fruit grabbing component and a fruit stalk fixing component, two clamping arms can cooperate to clamp the fruit stalk, and multiple clamping claws can cooperate to gather to cover the fruit in a fruit covering cavity, and then the clamping claw moves to drag the fruit, and pulls the fruit off the fruit stalk to complete the fruit picking, and the picked fruit is located in the fruit covering cavity. In conjunction with a multi-joint mechanical arm, the robot can be used for the design of an intelligent agricultural product picking robot to promote the agricultural mechanization of fruit and vegetable picking; the present invention further designs a rotating sleeve and a column, the column can rotate on the rotating sleeve, and the rotating sleeve can move on a guide cylinder, so as to achieve the effect of the clamping claw rotating when dragging the fruit, simulate the way of picking the fruit by hand, more effectively disconnect the connection between the fruit stalk and the fruit, and reduce the damage to the fruit by the clamping claw; the fruit and vegetable picking robot designed by the present invention can use a multi-joint mechanical arm to move the base, so that the clamping claw can move to the front of the fruit, and the picked fruit can fall into the material receiving hose from the discharge port in the base and be guided to the collection bin to complete the picking and collection of the fruit, and realize the special robot operation of fruit and vegetable picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A front-view stereoscopic diagram of a fruit and vegetable picking and grabbing structure provided in an embodiment of the present invention.

[0022] Figure 2 A rear-view stereoscopic diagram of a fruit and vegetable picking and grabbing structure provided in an embodiment of the present invention.

[0023] Figure 3 A schematic diagram of the open state of the clamping claws and clamping arms in a fruit and vegetable picking and grasping structure provided by an embodiment of the present invention.

[0024] Figure 4 A top view of a fruit and vegetable picking and grasping structure provided in an embodiment of the present invention.

[0025] Figure 5 for Figure 4 A partial enlarged view of point B in the middle.

[0026] Figure 6 for Figure 4 Cross-sectional view at AA in the middle.

[0027] Figure 7 A schematic diagram of the structure of a fruit and vegetable picking robot provided in an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Base, 2. Multi-joint robotic arm, 3. Support body, 4. Clamping claw, 5. Fruit wrapping chamber, 6. Clamping arm, 7. Guide cylinder, 8. First push rod, 9. Rotating sleeve, 10. Column, 11. Slip ring, 12. Connecting rod one, 13. Second push rod, 14. Motor, 15. Gear ring, 16. Reducer, 17. Guide groove, 18. Guide key, 19. Discharge port, 20. Third push rod, 21. Articulated seat, 22. Connecting rod two, 23. Tooth pattern, 24. Mobile chassis, 25. Collection bin, 26. Material receiving hose. 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] Embodiment 1:

[0032] like Figures 1 to 6 As shown, Embodiment 1 of the present invention provides a fruit and vegetable picking and grasping structure for grasping tomato fruits, including a plate-shaped base 1 with a plurality of bolt holes, which is connected to a multi-joint mechanical arm 2 by bolts. A guide cylinder 7 is fixed in the center of the base 1, and four axial guide keys 18 are provided on the inner wall of the guide cylinder 7. A support body 3 is arranged in the guide cylinder 7, and the support body 3 is composed of a rotating sleeve 9 and a column 10. The rotating sleeve 9 is stepped, and a guide groove 17 that slides with the guide key 18 is provided on the outer wall of the lower end of the rotating sleeve 9 to achieve axial sliding limiting. The column 10 is rotatably mounted on the upper end of the rotating sleeve 9 through a bearing. A first push rod 8 is fixedly mounted on the base 1, and the movable end of the first push rod 8 is fixedly connected to the rotating sleeve 9, so that the first push rod 8 can control the rotating sleeve 9 to rise and fall on the guide cylinder 7.

[0033] Twelve arc-shaped clamping jaws 4 are evenly hinged circumferentially at one end of the column 10 away from the base plate. A flexible pad is provided on the inner side of the clamping jaw 4 for increasing the contact area with the fruit, which is not shown in the attached figure. The flexible pad can make the pressure distribution on the surface of the fruit more even during the clamping process to avoid local extrusion damage. A slip ring 11 is provided on the outer movable sleeve of the column 10, and twelve connecting rods 12 corresponding to the clamping jaws 4 are evenly hinged on the slip ring 11. The connecting rod 12 is hinged to the corresponding clamping jaw 4 at one end away from the slip ring 11. When the slip ring 11 moves on the column 10, the clamping jaw 4 can be driven to swing through the connecting rod 12 to achieve the gathering and opening of multiple clamping jaws 4. A second push rod 13 is fixed on the side wall of the column 10, and the movable end of the second push rod 13 is fixedly connected to the slip ring 11. The second push rod 13 can control the movement of the slip ring 11 on the column 10.

[0034] Two clamping arms 6 are hinged on the base 1, and the end of the clamping arm 6 away from the base 1 is arc-shaped and has a V-shaped notch. A third push rod 20 is fixed on the base 1 between the two clamping arms 6, and two connecting rods 22 are symmetrically hinged on the hinge seat 21 fixed on the top of the third push rod 20, and the ends of the two connecting rods 22 away from the hinge seat 21 are respectively hinged to the two clamping arms 6. The two clamping arms 6 can be driven to open and close by extending and retracting the third push rod 20.

[0035] Figure 3 The clamp arm 6 and the clamp jaw 4 are in the open state, and Figure 1The clamp arm 6 and the clamp jaw 4 are gathered together. When working, the clamp arm 6 and the clamp jaw 4 are first in an open state, and the multi-joint mechanical arm 2 moves the clamp jaw 4 to the front of the tomato fruit. The second push rod 13 extends, driving the clamp jaw 4 to gather to form a fruit wrapping cavity 5 to cover the tomato fruit. At this time, the fruit stalk of the fruit passes through the top of the fruit wrapping cavity 5. Then the third push rod 20 extends, so that the two clamp arms 6 are close, and the two clamp arms 6 are closed so that the V-shaped notch clamps the fruit stalk. In order to further enhance the clamping effect, anti-slip tooth patterns 23 are also provided on the inner wall of the V-shaped notch. After that, the first push rod 8 drives the support body 3 to move downward to move the clamp jaw 4 toward the base 1, thereby dragging the fruit and moving the fruit away from the fruit stalk until the fruit is separated from the fruit stalk.

[0036] Through the above-mentioned setting, the clamp arm 6 cooperates with the clamp claw 4, the clamp arm 6 fixes the fruit stalk, the clamp claw 4 wraps around the fruit and drags the fruit, separates the fruit from the fruit stalk, and completes the picking and grasping of the fruit. In conjunction with the multi-joint robotic arm 2, it can be used for the design of an intelligent picking robot for agricultural products to realize the intelligent machine picking operation of agricultural products.

[0037] Embodiment 2:

[0038] On the basis of the first embodiment, the present invention proposes a second embodiment, in which a rotary drive assembly is additionally provided. First, a servo motor 14 is fixed on the side wall of the rotating sleeve 9, and its output shaft is connected to a gear ring 15 fixed on the outer periphery of the column 10 through a reduction box 16. How to realize the transmission connection between the output shaft and the gear ring 15 is a conventional technical means in the prior art, and the present invention will not repeat it. During picking, after the clamping claw 4 completes the fruit wrapping and the clamping arm 6 completes the fruit stalk clamping, while the clamping claw 4 drags the fruit toward the base 1, the motor 14 drives the column 10 to rotate at a low speed, so that a torsional load is generated at the connection between the fruit and the fruit stalk, making the connection easier to break, thereby completing the separation of the fruit and the fruit stalk with minimal damage to the fruit. The cooperation between the guide key 18 and the guide groove 17 can prevent the torsional load from being transmitted to the first push rod 8, thereby preventing the first push rod 8 from being damaged.

[0039] Through the above arrangement, the rotary shearing and axial stretching work together to significantly reduce the force required for separating the fruit stalks and reduce damage to the tomato fruit.

[0040] Embodiment three:

[0041] On the basis of Example 1 and Example 2, the present invention can separate the fruit stalk from the fruit. After separation, the fruit is in the fruit enclosing cavity 5. The multi-joint robotic arm 2 can be used to transfer the fruit to the storage place, and the clamping claws 4 can be controlled to open to put the fruit down.

[0042] In order to improve the collection speed, the present invention designs the column 10 to be hollow and connected with the inner cavity of the rotating sleeve 9, and a corresponding discharge port 19 is also opened on the base 1, so that the picked tomato fruits can fall from the column 10, pass through the rotating sleeve 9 and the guide cylinder 7, and be discharged from the discharge port 19, thereby realizing direct diversion of the picked fruits and improving the collection speed.

[0043] Embodiment 4:

[0044] like Figure 7 As shown, based on the above embodiment, the present invention proposes a design of a fruit and vegetable picking robot, which uses the above fruit and vegetable picking grasping structure as the execution end, and is provided with a mobile chassis 24. The grasping structure is mounted on the crawler-type mobile chassis 24, and the multi-joint mechanical arm 2 and the collection bin are installed on the mobile chassis 24 to form a complete picking robot. The discharge port 19 of the base 1 is connected to the upper end of the collection bin 25 through the material receiving hose 26, and the material receiving hose 26 can be a corrugated hose. In this way, the picked fruits can directly roll into the collection bin 25 through the material receiving hose 26 to complete the collection.

[0045] The fruit and vegetable picking robot may be further equipped with a visual recognition system for identifying the position of the fruit, so as to control the multi-joint mechanical arm 2 to move the fruit and vegetable picking grasping structure for picking. The visual recognition system may adopt an existing design.

[0046] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A fruit and vegetable picking and grabbing structure, characterized in that: include: A base (1) for connecting a multi-joint robotic arm (2); A fruit grabbing assembly is arranged on a base (1) and is used for grabbing fruits, comprising a support body (3) arranged on the base (1) and being lifted and lowered, and a plurality of clamping claws (4) evenly hinged to the end of the support body (3) in the circumferential direction, wherein a fruit-enclosing cavity (5) is formed when the plurality of clamping claws (4) are gathered together; A fruit stem fixing assembly is arranged on the base (1) and is used to fix the fruit stem, comprising two clamping arms (6), the ends of the two clamping arms (6) away from the base (1) pressing against the fruit stem from both sides; When the plurality of clamping claws (4) cover the fruit in the fruit enclosing cavity (5) and the two clamping arms (6) clamp the fruit stalk, the support body (3) moves toward the base (1) to separate the fruit from the fruit stalk.

2. A fruit and vegetable picking and grasping structure as claimed in claim 1, characterized in that: A guide cylinder (7) is fixed on the base (1), the support body (3) is movably sleeved on the guide cylinder (7), and a first push rod (8) is fixed on the base (1), the first push rod (8) is used to drive the support body (3) to move on the guide cylinder (7).

3. A fruit and vegetable picking and grasping structure as claimed in claim 2, characterized in that: The support body (3) comprises a rotating sleeve (9) and a column (10). The column (10) is rotatably mounted on the rotating sleeve (9). The rotating sleeve (9) is sleeved on the guide cylinder (7). The clamping claw (4) is hinged at the end of the column (10).

4. A fruit and vegetable picking and grasping structure as claimed in claim 3, characterized in that: A slip ring (11) is sleeved on the column (10), a plurality of connecting rods (12) are hinged on the slip ring (11), one end of the connecting rod (12) away from the slip ring (11) is hinged on the clamping claw (4), and a second push rod (13) for driving the slip ring (11) to move on the column (10) is fixed on the column (10).

5. The fruit and vegetable picking and grasping structure according to claim 3, characterized in that: A motor (14) is fixed on the side wall of the rotating sleeve (9), a gear ring (15) is fixed on the column (10), and an output shaft of the motor (14) is transmission-connected to the gear ring (15) via a reduction box (16).

6. A fruit and vegetable picking and grasping structure as claimed in claim 3, characterized in that: A guide groove (17) is provided on the rotating sleeve (9), and a guide key (18) which is slidably matched with the guide groove (17) is provided on the guide cylinder (7).

7. The fruit and vegetable picking and grasping structure according to claim 3, characterized in that: The column (10) is hollow inside, and a discharge port (19) is provided at the bottom of the base (1). The picked fruits pass through the column (10), the rotating sleeve (9) and the guide cylinder (7) in sequence and are discharged from the discharge port (19).

8. The fruit and vegetable picking and grasping structure according to claim 1, characterized in that: The two clamping arms (6) are hinged on the base (1), a third push rod (20) is fixed on the base (1), an articulated seat (21) is fixed at the end of the third push rod (20), two connecting rods (22) are hinged on both sides of the articulated seat (21), and the ends of the two connecting rods (22) away from the articulated seat (21) are respectively hinged to the two clamping arms (6).

9. The fruit and vegetable picking and grasping structure according to claim 1, characterized in that: A V-shaped notch is provided at one end of the clamping arm (6) away from the base (1), and a tooth pattern (23) is provided on the inner wall of the V-shaped notch.

10. A fruit and vegetable picking robot, comprising the fruit and vegetable picking and grasping structure according to any one of claims 1 to 9, characterized in that: It also includes a crawler-type mobile chassis (24), a collection bin (25) is arranged on the mobile chassis (24), a multi-joint mechanical arm (2) is mounted on the mobile chassis (24), and a material receiving hose (26) connected to the base (1) is arranged above the collection bin (25).

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