Air suction electromagnetic type capsicum frutescens harvesting end effector

Abstract

The invention relates to an air suction electromagnetic capsicum frutescens harvesting end effector, and belongs to the field of picking equipment technicians. Comprising a stalk clamping jaw, the stalk clamping jaw comprises a clamping base and stalk claw fingers rotationally installed on the clamping base, a sliding rail extending in the length direction of the stalk claw fingers is arranged on one side of any stalk claw finger, and capsicum frutescens clamping blocks are installed on the sliding rails in a sliding mode and driven by impact type electromagnets installed on the stalk claw fingers to move; wherein one end, close to the roots of the stalk claw fingers, of the sliding rail is obliquely arranged in the direction away from the stalk claw fingers. The capsicum frutescens clamping block moves along the inclined guide rail, so that capsicum frutescens fruits and stalks are vertically staggered and separated, transverse separation force is achieved, the capsicum frutescens picking process is simulated, the stalks and the fruits of capsicum frutescens are separated more thoroughly, and meanwhile, the capsicum frutescens are separated more thoroughly through instantaneous impact force provided by the impact type electromagnet. Fruits and stalks of the capsicum frutescens are separated more easily, and the picking efficiency of the capsicum frutescens is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of picking equipment, and in particular to a pneumatic suction electromagnetic end effector for harvesting chili peppers. Background Art

[0002] In the technical field of agricultural machinery, the automation of fruit and vegetable picking is an important research direction for improving production efficiency and reducing labor costs. As a small fruit and vegetable with high economic value, chili peppers have the characteristics of simultaneous flowering and fruiting, dense fruits, and fragile fruit stalks. The picking process faces significant challenges, and traditional manual picking has a high labor intensity and high cost.

[0003] The existing picking equipment is inconvenient to use, mainly reflected in that when picking chili peppers, the separation of the chili pepper stalk and the fruit mainly depends on mechanical pulling. That is, the fruit clamping mechanism clamps the chili pepper stalk, and the stalk clamping mechanism clamps the chili pepper fruit, and then the fruit clamping mechanism and the stalk clamping mechanism move away from each other or move out of position, so as to separate the chili pepper stalk and the fruit.

[0004] For the equipment that realizes the picking of chili peppers by moving the fruit clamping mechanism and the stalk clamping mechanism away from each other, since the connection between the stalk and the fruit is relatively stable, the end of the chili pepper is often removed, or even the chili pepper is broken, resulting in poor appearance of the obtained chili peppers.

[0005] For the equipment that realizes the picking of chili peppers by moving the fruit clamping mechanism and the stalk clamping mechanism out of position, since the fruit stalk of the chili pepper is relatively fragile, part of the stalk will remain on the fruit of the chili pepper after picking, and manual cleaning is required again, which is inconvenient to use. Summary of the Invention

[0006] To solve or partially solve the problems existing in the related technologies, the present invention provides a pneumatic suction electromagnetic end effector for harvesting chili peppers, aiming to solve the technical problems that the existing picking equipment is likely to cause damage to the appearance of chili peppers or incomplete removal of the stalks.

[0007] The above-mentioned pneumatic suction electromagnetic end effector for harvesting chili peppers includes a stalk clamp, and the stalk clamp includes a clamping seat and stalk claw fingers rotatably installed on the clamping seat. A slide rail extending along the length direction of the stalk claw finger is provided on one side of any one of the stalk claw fingers, and a chili pepper clamping block is slidably installed on the slide rail. The chili pepper clamping block is driven to move by an impact electromagnet installed on the stalk claw finger;

[0008] Wherein, one end of the slide rail close to the root of the stalk claw finger is inclined away from the stalk claw finger.

[0009] In some solutions, the inclination angle of the slide rail is 4 degrees to 6 degrees.

[0010] In some embodiments, a flexible block is provided on the clamping surface of the chili clamping block, and the working surface of the flexible block is arc-shaped.

[0011] In some schemes, a slide groove is provided at the end of the stem claw finger, a stem clamping block is slidably installed in the slide groove, one end of the spring is connected to the inner bottom of the slide groove, and the other end is connected to the stem clamping block.

[0012] In some embodiments, the stem claw finger is connected to the clamping seat through a first connecting rod and a second connecting rod, and the stem claw finger, the first connecting rod, the second connecting rod, and the clamping seat form a parallelogram mechanism;

[0013] A driving motor is provided at the bottom of the clamping seat, a sliding block which can move up and down is provided above the driving motor, a screw rod is provided on the output shaft of the driving motor, and the screw rod is screwed with the sliding block;

[0014] The slider is hinged to one end of the third connecting rod, and the other end of the third connecting rod is hinged to the second connecting rod;

[0015] The driving motor drives the screw rod to rotate, drives the slider to move up and down, thereby pushing the second connecting rod to rotate through the third connecting rod, and further drives the two stem claws to move closer to or away from each other.

[0016] In some embodiments, a strain gauge is provided on one side of the second connecting rod, the strain gauge is connected to a signal input end of a controller, and a signal output end of the controller is connected to the driving motor.

[0017] In some schemes, a collecting cylinder is provided below the chili clamping block, the lower end of the collecting cylinder is connected to a chili collecting box via a bellows, and an exhaust fan is provided on the chili collecting box.

[0018] In some embodiments, a photoelectric switch is provided in the collecting tube, the photoelectric switch is connected to a signal input end of a controller, and a signal output end of the controller is connected to the exhaust fan.

[0019] In some solutions, a tubular screen is provided between the corrugated pipe and the pepper collection box, and a vibration motor is provided on the tubular screen;

[0020] The outer casing of the tubular screen is provided with a debris collection box.

[0021] In some schemes, the debris collection box and the chili collection box are also connected by a regulating pipe, and the regulating pipe is provided with a flow regulating valve.

[0022] The technical solution provided by the present invention may include the following beneficial effects:

[0023] The present application allows the chili pepper clamping block to move along an inclined guide rail so that the chili pepper fruits and stems are separated vertically and horizontally while having a force for separation, thereby simulating the process of picking peppers by hand. The separation of the chili pepper stems and fruits is more thorough. At the same time, the instantaneous impact force provided by the impact electromagnet makes it easier to separate the chili pepper fruits and stems, and effectively improves the picking efficiency of the chili pepper.

[0024] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0026] Figure 1 1 is a schematic diagram of the structure of a chili pepper harvesting end effector according to an embodiment of the present invention;

[0027] Figure 2 1 is another structural schematic diagram of a chili pepper harvesting end effector according to an embodiment of the present invention;

[0028] Figure 3 1 is a schematic diagram of the structure of the stem gripper of the chili pepper harvesting end effector shown in an embodiment of the present invention;

[0029] Figure 4 is another structural schematic diagram of a chili pepper harvesting end effector shown in an embodiment of the present invention;

[0030] Figure 5 1 is a schematic diagram of the installation of a collecting cylinder of a chili pepper harvesting end effector shown in an embodiment of the present invention;

[0031] Figure 6 1 is a schematic diagram of the installation of a tubular screen of a chili pepper harvesting end effector according to an embodiment of the present invention;

[0032] Reference numerals:

[0033] 1. Stem gripper; 101. Clamping seat; 102. Stem gripper finger; 1021. Slide groove; 1022. Stem clamping block; 1023. Spring; 103. First connecting rod; 104. Second connecting rod; 105. Driving motor; 106. Slide block; 107. Lead screw; 108. Third connecting rod; 109. Strain gauge; 2. Slide rail; 3. Chili pepper clamping block; 301. Flexible block; 4. Impact electromagnet; 5. Controller; 6. Collection cylinder; 7. Bellows; 8. Chili pepper collection box; 9. Exhaust fan; 10. Photoelectric switch; 11. Tubular screen; 12. Vibration motor; 13. Debris collection box; 14. Adjusting pipe; 15. Flow regulating valve;

[0034] A. Inclination angle of the slide groove. Specific implementation mode

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited to the content described.

[0036] Embodiment 1:

[0037] As Figure 1 and Figure 2 shown, the present application provides a pneumatic suction electromagnetic type chili pepper harvesting end effector, including a stem gripper 1. The stem gripper 1 includes a clamping seat 101 and stem gripper fingers 102 rotatably installed on the clamping seat 101. There are two stem gripper fingers 102. When harvesting chili peppers, the two stem gripper fingers 102 approach each other and clamp the stem position of the chili peppers.

[0038] On one side of any one of the stem gripper fingers 102, there is a slide rail 2 extending along the length direction of the stem gripper finger 102. A chili pepper clamping block 3 is slidably installed on the slide rail 2. An impact electromagnet 4 is provided at the root of the stem gripper finger 102. The telescopic rod of the impact electromagnet 4 is connected to the chili pepper clamping block 3. Thus, when the impact electromagnet 4 acts, it drives the chili pepper clamping block 3 to move along the slide rail 2. Among them, one end of the slide rail 2 close to the root of the stem gripper finger 102 is inclined away from the stem gripper finger 102.

[0039] When picking small chili peppers, the two stem gripper fingers 102 move closer to each other to grip the stem of the small chili pepper. At the same time, the small chili pepper clamping blocks 3 on the two stem gripper fingers 102 move along with the stem gripper fingers 102, move closer to each other, and grip the fruit of the small chili pepper. Subsequently, the impact electromagnet 4 operates, driving the small chili pepper clamping blocks 3 to move along the slide rail 2, causing the fruit of the small chili pepper to be vertically and horizontally misaligned and separated from the stem. When the small chili pepper clamping blocks 3 start to move, since the slide rail 2 is inclined, the lower side of the connection part between the fruit and the stem of the small chili pepper is subjected to a greater tearing force, so that the lower side of the connection part between the fruit and the stem is first torn to form a crack. As the small chili pepper clamping blocks 3 continue to move, the crack continues to increase until the fruit and the stem of the small chili pepper are completely separated. The picking process simulates the manual picking process, and the separation of the stem and fruit of the small chili pepper is more thorough. At the same time, the impact electromagnet 4 is used to drive the small chili pepper clamping blocks 3 to move. Compared with conventional linear drive devices such as crank connecting rod mechanisms, lead screw nut mechanisms, linear modules, and oil cylinders, the impact electromagnet 4 operates quickly and can provide an instantaneous impact force during picking, making it easier to separate the fruit and the stem of the small chili pepper, and effectively improving the picking efficiency of the small chili pepper.

[0040] Furthermore, during the chili pepper picking process, compared with directly breaking the stem vertically or horizontally (i.e., breaking it obliquely), the following advantages also exist:

[0041] 1.1 Reducing plant damage

[0042] Protecting the main stem and branches: When breaking obliquely, the fracture surface is smoother, which can reduce the risk of longitudinal tearing of the stem. Vertical or horizontal hard breaking may cause large-area peeling of the stem bark, and even damage the main stem or other branches, affecting the subsequent growth of the plant.

[0043] 1.2 Extending the fruit freshness preservation period

[0044] Retaining the complete fruit stalk: Breaking obliquely is more likely to retain the integrity of the chili pepper fruit stalk, reducing the exposure of the pulp, and delaying water loss and decay after picking. Reducing mechanical damage: If broken vertically, it may cause cracking at the fruit stalk, while oblique breaking can keep the end of the fruit stalk closed, reducing the infection risk during transportation or storage.

[0045] In this embodiment, the inclination angle A of the slide rail 2 is 4 degrees to 6 degrees, effectively avoiding the technical problem that the end of the small chili pepper is damaged due to the too fast horizontal separation speed between the fruit and the stem.

[0046] In some specific embodiments, a flexible block 301 is provided on the clamping surface of the small chili pepper clamping block 3 to achieve flexible clamping of the small chili pepper fruit, which is beneficial to reducing damage to the small chili pepper fruit. The working surface of the flexible block 301 is arc-shaped and matches the surface curvature of the small chili pepper, making the clamping of the small chili pepper by the small chili pepper clamping block 3 more firm.

[0047] Embodiment 2:

[0048] Based on Embodiment 1, in this embodiment, as Figure 3 shown, the stalk claw finger 102 is connected to the clamping seat 101 through the first link 103 and the second link 104, and the stalk claw finger 102, the first link 103, the second link 104, and the clamping seat 101 form a parallelogram mechanism; specifically, one end of the first link 103 is hinged to the clamping seat 101, and the other end is hinged to a position near the root of the stalk claw finger 102. The upper end of the second link 104 is hinged to the root of the stalk claw finger 102, and a position near the lower end of the second link 104 is hinged to the clamping seat 101.

[0049] A driving motor 105 is provided at the bottom of the clamping seat 101. A slidable block 106 that can move up and down is provided above the driving motor 105. A lead screw 107 is provided on the output shaft of the driving motor 105. The lead screw 107 extends vertically upward and passes through the slidable block 106 and is threadedly engaged with the slidable block 106; the slidable block 106 is hinged to one end of the third link 108, and the other end of the third link 108 is hinged to the lower end of the second link 104.

[0050] In this way, when the driving motor 105 is energized and rotates, it drives the lead screw 107 to rotate, thereby driving the slidable block 106 to move up and down; when the slidable block 106 moves upward, it pushes the second link 104 to rotate through the third link 108, and further drives the two stalk claw fingers 102 to approach each other to clamp the stalk of the chili pepper; when the slidable block 106 moves downward, it pulls the second link 104 to rotate through the third link 108, and further drives the two stalk claw fingers 102 to separate from each other to release the clamping of the stalk of the chili pepper.

[0051] In this embodiment, the stalk clamping claw 1 forms a parallelogram mechanism through the stalk claw finger 102, the first link 103, the second link 104, and the clamping seat 101. When the two stalk claw fingers 102 approach or separate from each other, they always remain parallel to each other. The effective clamping surface of the stalk clamping claw 1 is larger, and the clamping of the stalk is more stable.

[0052] In this embodiment, a strain gauge 109 is provided on one side of the second link 104. The strain gauge 109 is connected to the signal input end of the controller 5, and the signal output end of the controller 5 is connected to the driving motor 105; when the stalk claw finger 102 clamps the stalk, the strain gauge 109 detects the clamping force of the stalk claw finger 102 and transmits relevant data to the controller 5. The controller 5 controls the rotation of the driving motor 105 according to the input instruction, effectively avoiding the technical problems that the stalk of the chili pepper is clamped off or / and the chili pepper fruit is damaged.

[0053] In some specific embodiments, a chute 1021 is provided at the end of the stalk claw finger 102. A stalk clamping block 1022 is slidably installed in the chute 1021. One end of a spring 1023 is connected to the inner bottom of the chute 1021, and the other end is connected to the stalk clamping block 1022. When clamping the millet chili stalk, due to the elastic deformation of the spring 1023, the stalk claw finger 102 can stably clamp stalks of different thicknesses. At the same time, it can adapt to millet chilies of different diameters. Regardless of the size of the millet chili, the stalk can be fixed, so as to carry out the next step of separating the stalk and the fruit, improving the applicability of the stalk clamping claw 1.

[0054] Embodiment 3:

[0055] Based on Embodiment 1 or Embodiment 2, in this embodiment, as Figure 4 、 Figure 5 and Figure 6 shown, a collection cylinder 6 is provided below the millet chili clamping block 3. The lower end of the collection cylinder 6 is connected to a chili collection box 8 through a corrugated pipe 7. An exhaust fan 9 is provided on the chili collection box 8. When the fruit and stalk of the millet chili are separated, the fruit of the millet chili enters the collection cylinder 6 downward under the clamping of the millet chili clamping block 3. Subsequently, the stalk clamping claw 1 releases the clamping, and the millet chili clamping block 3 also releases the fruit of the millet chili. The millet chili fruit drops into the collection cylinder 6; then the exhaust fan 9 operates to suck the millet chili fruit in the collection cylinder 6 into the chili collection box 8 for collection.

[0056] At the same time, after picking, the chili moves above the collection cylinder 6. The millet chili plants are relatively dense and the occlusion is relatively serious. Therefore, such a design will not affect the normal picking in front of the chili, which is beneficial to the smooth progress of the picking process.

[0057] In this embodiment, a photoelectric switch 10 is provided in the collection cylinder 6. Specifically, a photoelectric emission unit is provided on one side of the collection cylinder 6, and a photoelectric reflection unit is provided on the other side. The photoelectric switch 10 is connected to the signal input end of the controller 5, and the signal output end of the controller 5 is connected to the exhaust fan 9; when the millet chili enters the collection cylinder 6, it is detected by the photoelectric switch 10 and the signal is transmitted to the controller 5. The controller 5 controls the exhaust fan 9 to start according to the relevant input signals. In this way, it is beneficial to reduce the power consumption of the exhaust fan 9.

[0058] In this embodiment, a tubular screen 11 is provided between the corrugated pipe 7 and the chili collection box 8. The tubular screen 11 is inclined at an angle of 5 degrees. A vibration motor 12 is provided on the tubular screen 11; a debris collection box 13 is sleeved outside the tubular screen 11.

[0059] When the materials entering the collection bin 6 move to the tubular screen 11 under the action of the suction pump, vibration screening combined with air flow is used to remove impurities such as chili leaves and stalks, so as to ensure that pure millet chili fruits are obtained in the chili collection box 8.

[0060] In this embodiment, the sundry collection bin 13 and the chili collection box 8 are also connected by an adjusting pipe 14, and a flow regulating valve 15 is provided on the adjusting pipe 14. During use, the opening degree of the flow regulating valve 15 can be adjusted, so as to adjust the air flow speed passing through the tubular screen 11, thereby effectively ensuring that all sundries can be screened out by the tubular screen 11.

[0061] The embodiments of the present invention have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications or improvements to the technologies in the market, or to enable other ordinary technical personnel in the technical field to understand the embodiments disclosed herein.

Claims

1. An air-suction electromagnetic type chili harvesting end effector, comprising a stem gripper (1), the stem gripper (1) including a clamping seat (101) and a stem gripper finger (102) rotatably mounted on the clamping seat (101), characterized in that: On one side of any one of the stem gripper fingers (102), there is a slide rail (2) extending along the length direction of the stem gripper finger (102), and a chili clamping block (3) is slidably mounted on the slide rail (2), and the chili clamping block (3) is driven to move by an impact electromagnet (4) mounted on the stem gripper finger (102); Wherein, one end of the slide rail (2) close to the root of the stem gripper finger (102) is inclined away from the stem gripper finger (102).

2. An air-suction electromagnetic type chili harvesting end effector according to claim 1, characterized in that: The inclination angle of the slide rail (2) is 4 degrees to 6 degrees.

3. An air-suction electromagnetic type chili harvesting end effector according to claim 1, characterized in that: On the clamping surface of the chili clamping block (3), there is a flexible block (301), and the working surface of the flexible block (301) is arc-shaped.

4. An air-suction electromagnetic type chili harvesting end effector according to claim 1, characterized in that: At the end of the stem gripper finger (102), there is a chute (1021), and a stem clamping block (1022) is slidably mounted in the chute (1021), and one end of a spring (1023) is connected to the inner bottom of the chute (1021), and the other end is connected to the stem clamping block (1022).

5. An air-suction electromagnetic type chili harvesting end effector according to claim 1, characterized in that: The stem gripper finger (102) is connected to the clamping seat (101) through a first connecting rod (103) and a second connecting rod (104), and the stem gripper finger (102), the first connecting rod (103), the second connecting rod (104), and the clamping seat (101) form a parallelogram mechanism; At the bottom of the clamping seat (101), there is a driving motor (105), above the driving motor (105), there is a slidable block (106), on the output shaft of the driving motor (105), there is a lead screw (107), and the lead screw (107) is threadedly engaged with the slidable block (106); The slidable block (106) is hinged to one end of a third connecting rod (108), and the other end of the third connecting rod (108) is hinged to the second connecting rod (104); Wherein, the driving motor (105) drives the lead screw (107) to rotate, driving the slidable block (106) to move up and down, thereby pushing the second connecting rod (104) to rotate through the third connecting rod (108), and further driving the two stem gripper fingers (102) to approach or separate from each other.

6. An air-suction electromagnetic type chili harvesting end effector according to claim 5, characterized in that: A strain gauge (109) is provided on one side of the second connecting rod (104), and the strain gauge (109) is connected to the signal input end of the controller (5), and the signal output end of the controller (5) is connected to the drive motor (105).

7. The air-suction electromagnetic type chili pepper harvesting end effector according to claim 1, characterized in that: A collection cylinder (6) is provided below the chili pepper clamping block (3), the lower end of the collection cylinder (6) is connected to the chili pepper collection box (8) through a corrugated pipe (7), and an exhaust fan (9) is provided on the chili pepper collection box (8).

8. The air-suction electromagnetic type chili pepper harvesting end effector according to claim 7, characterized in that: A photoelectric switch (10) is provided in the collection cylinder (6), the photoelectric switch (10) is connected to the signal input end of the controller (5), and the signal output end of the controller (5) is connected to the exhaust fan (9).

9. The air-suction electromagnetic type chili pepper harvesting end effector according to claim 7, characterized in that: A tubular screen (11) is provided between the corrugated pipe (7) and the chili pepper collection box (8), and a vibration motor (12) is provided on the tubular screen (11); A sundry collection box (13) is sleeved outside the tubular screen (11).

10. The air-suction electromagnetic type chili pepper harvesting end effector according to claim 9, characterized in that: The sundry collection box (13) and the chili pepper collection box (8) are further connected through an adjusting pipe (14), and a flow regulating valve (15) is provided on the adjusting pipe (14).

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