A lonicera japonica picking end effector

Abstract

The application relates to a lonicera confusa picking end effector and belongs to the technical field of lonicera confusa picking equipment. The end effector comprises a gas suction collecting bin, open-close shells and a vibrating bin. The bottom of the gas suction collecting bin is provided with two open-close shells. A picking roller is rotatably arranged in the open-close shell, and a spiral roller strip is arranged on the outer circumferential surface of the picking roller. The bottom of the open-close shell is provided with a clamping plate. The vibrating bin is provided with a sliding rail. The top of the gas suction collecting bin is provided with a first sliding block, and the first sliding block is slidably arranged on the sliding rail. One end of the first sliding block is provided with a first electromagnet, and the vibrating bin is provided with a second electromagnet. A first spring is arranged between the first sliding block and the vibrating bin. The application clamps the root of the flower through two clamping plates, clamps the end of the flower through two picking rollers, rotates the picking roller, cooperates with the vibration along the radial direction of the picking roller, and thus picks the flower, realizes the mechanized picking of the lonicera confusa, improves the working efficiency of the lonicera confusa picking, and reduces the labor intensity of the related staff.

Description

Technical Field

[0001] This invention relates to the field of honeysuckle harvesting equipment technology, and in particular to a honeysuckle harvesting end effector. Background Technology

[0002] As a high-value-added traditional Chinese medicine, the quality of honeysuckle bud harvesting directly affects the quality of the medicinal material and its economic benefits. Traditional harvesting mainly relies on manual labor, which suffers from high labor intensity, low efficiency, and high harvesting costs. This limitation is particularly pronounced in complex growing environments such as high-altitude mountainous areas. In recent years, agricultural automation equipment has made some progress in fruit harvesting, but suitable harvesting equipment is still lacking for specialty crops like honeysuckle, which grow in clusters, have fragile flower stems, and irregular shapes. Summary of the Invention

[0003] To solve or partially solve the problems existing in related technologies, the present invention provides a Yunnan honeysuckle harvesting end effector, aiming to provide a Yunnan honeysuckle harvesting end effector.

[0004] The above-mentioned Yunnan honeysuckle harvesting end actuator includes an air absorption collection chamber 1, an opening and closing shell 2, a harvesting roller 3, and a vibrating chamber 4; The bottom of the gas absorption collection chamber 1 is symmetrically provided with two opening and closing shells 2; the top of the opening and closing shell 2 is hinged to the gas absorption collection chamber 1 and is driven to rotate by the opening and closing drive motor 201 installed on the gas absorption collection chamber 1. A picking roller 3 is rotatably installed inside the opening and closing housing 2. The outer circumferential surface of the picking roller 3 is provided with a spiral roller strip 301; a clamping plate 202 is provided at the bottom of the opening and closing housing 2. The vibrating chamber 4 is provided with a slide rail 401, which extends along the axial direction of the harvesting roller 3; the top of the gas absorption collection chamber 1 is provided with a first slider 101, which is slidably mounted on the slide rail 401; one end of the first slider 101 is provided with a first electromagnet 102, and the vibrating chamber 4 is provided with a second electromagnet 402 opposite to the first electromagnet 102; a first spring 103 is provided between the first slider 101 and the vibrating chamber 4. When the first electromagnet 102 and the second electromagnet 402 generate magnetism, they attract each other and move closer together. When they lose magnetism, they move away from each other under the action of the first spring 103.

[0005] In some designs, the power input end of the harvesting roller 3 is equipped with a torque sensor, which is connected to the signal input end of the controller. The first electromagnet 102 and the second electromagnet 402 are powered by an adjustable frequency AC power supply, which is connected in sequence to a half-wave rectifier circuit, the first electromagnet 102 and / or the second electromagnet 402; the signal output terminal of the controller is connected to the adjustable frequency AC power supply.

[0006] In some embodiments, a sliding groove 203 is provided at each end of the opening and closing housing 2, and a second slider 302 is slidably installed in each of the two sliding grooves 203; The two ends of the picking roller 3 are rotatably connected to the two second sliders 302, thereby realizing the rotatable connection between the picking roller 3 and the opening and closing housing 2; A second spring 204 is provided between the second slider 302 and the side wall of the slide groove 203; The second slider 302 is equipped with a picking drive motor 303 for driving the picking roller 3 to rotate; When the two opening and closing shells 2 are closed, the two picking rollers 3 clamp the flower from both sides. Under the action of the flower, the two picking rollers 3 move away from each other, driving the second slider 302 to move along the slide groove 203 and compressing the second spring 204.

[0007] In some embodiments, a thin-film pressure sensor is provided on the clamping plate 202, the thin-film pressure sensor is connected to the signal input terminal of the controller, and the signal output terminal of the controller is connected to the opening and closing drive motor 201.

[0008] In some embodiments, the clamping plate 202 is slidably connected to the opening and closing housing 2, and an adjusting screw 205 is rotatably mounted on the opening and closing housing 2. One end of the adjusting screw 205 is threadedly connected to the clamping plate 202, and the other end is connected to the output shaft of the adjusting motor 206 mounted on the opening and closing housing 2.

[0009] In some designs, the bottom of the opening and closing housing 2 is provided with comb teeth 207, which are evenly spaced along the length of the clamping plate 202.

[0010] In some designs, the comb teeth 207 on the two opening and closing housings 2 are staggered vertically.

[0011] In some designs, the surface of the picking roller 3 is provided with a silicone layer.

[0012] In some designs, the gas absorption collection chamber 1 is provided with a discharge port 104, which is connected to a negative pressure fan via a pipe.

[0013] In some designs, a robotic arm 5 is also included, the end of which is fixedly connected to the vibrating chamber 4, and a vision camera is also provided on the robotic arm 5.

[0014] The technical solution provided by this invention may include the following beneficial effects: This application uses two clamping plates to hold the base of the flower and two picking rollers to hold the end of the flower. By rotating the picking rollers and vibrating them radially, the flower is picked, thus realizing the mechanized picking of honeysuckle, improving the efficiency of honeysuckle picking and reducing the labor intensity of related personnel.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0016] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts in the exemplary embodiments of the invention.

[0017] Figure 1 This is a schematic diagram of the structure of the Yunnan honeysuckle harvesting end effector shown in an embodiment of the present invention; Figure 2 This is another schematic diagram of the end effector for harvesting honeysuckle in Yunnan, as shown in an embodiment of the present invention; Figure 3 This is a schematic diagram of the second slider assembly of the Yunnan honeysuckle picking end effector shown in an embodiment of the present invention; Figure 4 This is a schematic diagram of the harvesting roller assembly of the Yunnan honeysuckle harvesting end effector shown in an embodiment of the present invention; Figure 5 This is a schematic diagram of the assembly of the first and second electromagnets of the Yunnan honeysuckle harvesting end effector, as shown in an embodiment of the present invention. Figure 6 This is a schematic diagram of the assembly of the first slider of the Yunnan honeysuckle picking end effector shown in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the honeysuckle harvesting device shown in an embodiment of the present invention; Figure label: 1. Gas absorption and collection chamber; 101. First slider; 102. First electromagnet; 103. First spring; 104. Discharge hole; 2. Opening and closing housing; 201. Opening and closing drive motor; 202. Clamping plate; 203. Slide groove; 204. Second spring; 205. Adjusting screw; 206. Adjusting motor; 207. Comb teeth; 3. Harvesting roller; 301. Roller strip; 302. Second slider; 303. Harvesting drive motor; 4. Vibration chamber; 401. Slide rail; 402. Second electromagnet; 5. Robotic arm; 6. Vision camera. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited to the content described.

[0019] Example 1: Please see Figures 1-6 As shown, this application provides a Yunnan honeysuckle harvesting end effector, including an air absorption collection chamber 1, an opening and closing shell 2, a harvesting roller 3, and a vibrating chamber 4; The gas absorption collection chamber 1 is hollow and open at the bottom. Two opening and closing shells 2 are symmetrically arranged at the bottom of the gas absorption collection chamber 1. The top and one side of the opening and closing shells 2 are open, and the opposite sides of the two opening and closing shells 2 are open surfaces. The top of the opening and closing shells 2 is hinged to the gas absorption collection chamber 1. The gas absorption collection chamber 1 is equipped with two opening and closing drive motors 201. The output shafts of the two opening and closing drive motors 201 are respectively connected to the hinge shafts of the two opening and closing shells 2. Thus, when the two opening and closing drive motors 201 are working, they drive the two opening and closing shells 2 to open or close.

[0020] A picking roller 3 is rotatably installed inside the opening and closing housing 2. The outer circumferential surface of the picking roller 3 is provided with a spiral roller strip 301. A clamping plate 202 is provided at the bottom of the opening and closing housing 2. Specifically, the clamping plate 202 is located at the bottom of the open side of the opening and closing housing 2.

[0021] The vibrating chamber 4 is a hollow cube with an open bottom and one side. A slide rail 401 extends within the vibrating chamber 4 along the axis of the harvesting roller 3. A first slider 101 is mounted on the top of the gas absorption and collection chamber 1, and is slidably installed on the slide rail 401. The shapes of the first slider 101 and the slide rail 401 are shown in the figure and will not be described further. A first electromagnet 102 is located on the left end face of the first slider 101, and a second electromagnet 402 is located on the inner left side of the vibrating chamber 4. The first electromagnet 102 and the second electromagnet 402 are positioned opposite each other. Furthermore, a first spring 103 is provided between the left end face of the first slider 101 and the inner side of the left end of the vibration chamber 4. When the first electromagnet 102 and the second electromagnet 402 generate magnetism, the first electromagnet 102 and the second electromagnet 402 attract each other, thereby driving the first slider 101 to move to the left along the slide rail 401 and compressing the spring, while at the same time causing the first electromagnet 102 and the second electromagnet 402 to move closer to each other; when the first electromagnet 102 and the second electromagnet 402 lose magnetism, under the action of the first spring 103, the first electromagnet 102 and the second electromagnet 402 move away from each other.

[0022] The first electromagnet 102 and the second electromagnet 402 are powered by a half-wave rectified pulse current. When energized during the positive half-cycle, they generate an electromagnetic attraction force, driving the first slider 101 to compress the first spring 103 and move to the left. After the power is turned off during the negative half-cycle, they reset under the action of the first spring 103. This reciprocating motion forms a reciprocating vibration. The amplitude adjustment relies on the dynamic control of the electromagnetic force. By changing the input current, the peak value of the electromagnetic attraction force is adjusted, thereby changing the displacement of the first slider 101. The larger the current, the stronger the electromagnetic attraction force and the greater the displacement of the first slider 101 in compressing the spring. This allows for continuous fine adjustment of the amplitude within the range of 0.1-0.5mm (e.g., 0.5A current corresponds to 0.1mm amplitude, and 1.2A current corresponds to 0.5mm amplitude).

[0023] During operation, the Yunnan honeysuckle harvesting end effector is installed on the robotic arm 5, and driven by the robotic arm 5 to the designated position to carry out the Yunnan honeysuckle harvesting operation.

[0024] When harvesting honeysuckle, the two opening and closing shells 2 rotate to the sides under the drive of the opening and closing drive motor 201, thus opening to 60 degrees, and then move from top to bottom to contain the honeysuckle flower clusters into the two opening and closing shells 2. Subsequently, the opening and closing drive motor 201 drives the two opening and closing shells 2 to close, and the clamping plates 202 on the two opening and closing shells 2 hold the base of the flower clusters, making the flower clusters into a flat shape, with the top of the honeysuckle flowers located between the two harvesting rollers 3.

[0025] Then, a half-wave rectified pulse current is passed through the first electromagnet 102 and the second electromagnet 402 to drive the first slider 101 to move back and forth, forming vibration. Through the coupling of the first slider 101 and the gas absorption collection chamber 1, the vibration energy is evenly transmitted to the clamping plate 202. The high-frequency low-amplitude vibration breaks the adhesion between the flower and the branch. At the same time, the two picking rollers 3 rotate to pull the flower upward, thereby picking the flower and realizing the picking of Yunnan honeysuckle flowers.

[0026] In some specific embodiments, the power input end of the picking roller 3 is equipped with a torque sensor, which is connected to the signal input end of the controller. The first electromagnet 102 and the second electromagnet 402 are powered by an adjustable frequency AC power supply, which is connected in sequence to a half-wave rectifier circuit, the first electromagnet 102, and / or the second electromagnet 402. The signal output end of the controller is connected to the adjustable frequency AC power supply. The controller changes the output frequency of the adjustable frequency AC power supply, thereby changing the frequency of the DC pulse obtained after rectification by the half-wave rectifier circuit, and thus adjusting the vibration frequency of the device. This allows for continuous fine-tuning of the vibration frequency within the range of 50-200Hz.

[0027] During operation, the torque sensor detects the flower separation resistance encountered by the picking roller 3 when it rotates to remove the flower, and transmits the data to the controller. The controller controls the output frequency of the adjustable frequency AC power supply according to the input command, thereby adjusting the frequency and magnitude of the DC pulse current received by the first electromagnet 102 and / or the second electromagnet 402, and thus adjusting the vibration frequency and amplitude of the actuator, so that the flower can be gently pulled off, which helps to reduce damage to the flower.

[0028] In some specific implementations, such as Figure 3 As shown, each end of the opening and closing housing 2 is provided with a sliding groove 203. The sliding groove 203 extends along the line connecting the two picking rollers 3 when the two opening and closing housings 2 are closed. A second slider 302 is slidably installed in each of the two sliding grooves 203. The two ends of the picking roller 3 are rotatably connected to the two second sliders 302, thereby realizing the rotatable connection between the picking roller 3 and the opening and closing housing 2. A second spring 204 is provided between the second slider 302 and the side wall of the sliding groove 203. Specifically, the second spring 204 is provided on the side of the second slider 302 away from the other picking roller 3, or a second spring 204 is provided on both sides of the second slider 302. A picking drive motor 303 for driving the picking roller 3 to rotate is provided on the second slider 302. Specifically, the output shaft of the picking drive motor 303 is fixedly connected to one end of the picking roller 3, so that when the picking drive motor 303 rotates, it can drive the picking roller 3 to rotate.

[0029] During operation, when the two opening and closing housings 2 are closed, the two picking rollers 3 clamp the flowers from both sides. Initially, there are many flowers, and under the action of the flowers, the two picking rollers 3 move away from each other, driving the second slider 302 to move along the slide groove 203 and compressing the second spring 204. As the flowers are gradually picked, the number of flowers between the two picking rollers 3 decreases. Under the action of the second spring, the two picking rollers 3 gradually move closer, so that the two picking rollers 3 are always in a state of clamping the flowers, which is conducive to the smooth picking of flowers. At the same time, it improves the adaptability of the device when picking different numbers of flower clusters.

[0030] In some specific implementations, such as Figure 4 As shown, a thin-film pressure sensor is provided on the working surface of the clamping plate 202. The thin-film pressure sensor is connected to the signal input terminal of the controller, and the signal output terminal of the controller is connected to the opening and closing drive motor 201. During the closing process of the two opening and closing shells 2, as the clamping plate 202 continuously clamps the flower cluster, the thin-film pressure sensor detects the clamping force of the clamping plate 202 and transmits it to the controller. The controller controls the closing angle of the two opening and closing shells 2 according to the input command, effectively avoiding the technical problem of the flower cluster being damaged by clamping.

[0031] In this embodiment, an adjusting screw 205 is rotatably mounted on each end of the clamping plate 202. One end of the adjusting screw 205 is threadedly connected to the clamping plate 202, and the other end is connected to the output shaft of the adjusting motor 206 mounted on the opening and closing housing 2. Thus, when the adjusting motor 206 rotates, it drives the adjusting screw 205 to rotate, thereby causing the two clamping plates 202 to move closer or further apart, thereby achieving the purpose of adjusting the distance between the two clamping plates 202.

[0032] During operation, the opening and closing drive motor 201 drives the opening and closing housing 2 to gradually close. The initial spacing of the clamping plates 202 is set to 3mm (to accommodate loose flower clusters). The thin-film pressure sensor detects the clamping force applied to the flower by the clamping plates 202. If the pressure on both sides is zero, the spacing of the limiting plates is reduced. If the pressure remains zero for 2 seconds, it is determined that the flower cluster is not clamped, and the robotic arm 5 is triggered to reposition itself. During the clamping phase, the opening and closing drive motor 201 drives the opening and closing housing 2 to close. If the pressure on one side is greater than 3N, the adjusting motor 206 drives the adjusting screw 205 to expand the spacing until the pressure is less than or equal to 2N.

[0033] In some specific implementations, such as Figure 2 As shown, the bottom of the opening and closing shell 2 is provided with comb teeth 207. The comb teeth 207 are evenly spaced along the length direction of the clamping plate 202. When the opening and closing shell 2 gradually closes, the comb teeth 207 are inserted between the flowers, which makes the flowers disperse and facilitates the smooth progress of the picking process.

[0034] In this embodiment, the comb teeth 207 on the two opening and closing housings 2 are staggered vertically.

[0035] In some specific embodiments, the surface of the picking roller 3 is coated with a 5mm silicone layer to achieve flexible contact with the flower and effectively avoid damage to the flower.

[0036] Example 2: Based on Example 1, such as Figure 7 As shown, this application also provides a honeysuckle picking device, including the actuator, robotic arm, and negative pressure fan described in Example 1; The robotic arm is equipped with an actuator and a vision camera at its end, and the negative pressure fan is connected to the discharge port of the actuator through a pipe.

[0037] During operation, the location information of Yunnan honeysuckle is identified by a visual camera, then the actuator is transported to the designated location by a robotic arm, and finally the harvesting operation is carried out by the actuator.

[0038] During the harvesting process, the negative pressure fan operates, generating negative pressure in the air absorption and collection chamber. After the flowers are picked by the harvesting rollers, they are driven by the negative pressure to be discharged from the discharge hole and collected into the negative pressure fan, which facilitates the subsequent processing of the flowers.

[0039] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A terminal actuator for harvesting honeysuckle, characterized in that: Includes gas absorption collection chamber (1), opening and closing shell (2), picking roller (3), and vibrating chamber (4); The bottom of the gas absorption collection chamber (1) is symmetrically provided with two opening and closing shells (2); the top of the opening and closing shells (2) is hinged to the gas absorption collection chamber (1) and driven to rotate by an opening and closing drive motor (201) installed on the gas absorption collection chamber (1); A picking roller (3) is rotatably installed inside the opening and closing housing (2), and a spiral roller strip (301) is provided on the outer circumference of the picking roller (3); a clamping plate (202) is provided at the bottom of the opening and closing housing (2); and comb teeth (207) are provided at the bottom of the opening and closing housing (2). The vibrating chamber (4) is provided with a slide rail (401), which extends along the axial direction of the picking roller (3); the top of the gas absorption collection chamber (1) is provided with a first slider (101), which is slidably mounted on the slide rail (401); one end of the first slider (101) is provided with a first electromagnet (102), and the vibrating chamber (4) is provided with a second electromagnet (402) opposite to the first electromagnet (102); a first spring (103) is provided between the first slider (101) and the vibrating chamber (4). When the first electromagnet (102) and the second electromagnet (402) generate magnetism, the first electromagnet (102) and the second electromagnet (402) attract each other and move closer together. When the first electromagnet (102) and the second electromagnet (402) lose magnetism, under the action of the first spring (103), the first electromagnet (102) and the second electromagnet (402) move away from each other. The power input end of the picking roller (3) is equipped with a torque sensor, which is connected to the signal input end of the controller; The first electromagnet (102) and the second electromagnet (402) are powered by a frequency-adjustable AC power supply, which is connected in sequence to a half-wave rectifier circuit, the first electromagnet (102) and / or the second electromagnet (402); the signal output terminal of the controller is connected to the frequency-adjustable AC power supply. The two ends of the opening and closing housing (2) are respectively provided with a sliding groove (203), and a second slider (302) is slidably installed in each of the two sliding grooves (203); The two ends of the picking roller (3) are rotatably connected to the two second sliders (302), thereby realizing the rotatable connection between the picking roller (3) and the opening and closing shell (2); A second spring (204) is provided between the second slider (302) and the side wall of the slide groove (203). The second slider (302) is provided with a picking drive motor (303) for driving the picking roller (3) to rotate. When the two opening and closing shells (2) are closed, the two picking rollers (3) clamp the flower from both sides. Under the action of the flower, the two picking rollers (3) move away from each other, causing the second slider (302) to move along the groove (203) and compress the second spring (204). A thin-film pressure sensor is provided on the clamp (202), the thin-film pressure sensor is connected to the signal input terminal of the controller, and the signal output terminal of the controller is connected to the opening and closing drive motor (201).

2. The Yunnan honeysuckle harvesting end effector according to claim 1, characterized in that: An adjusting screw (205) is rotatably mounted on each end of the clamping plate (202); one end of the adjusting screw (205) is threadedly connected to the clamping plate (202), and the other end is connected to the output shaft of the adjusting motor (206) mounted on the opening and closing housing (2).

3. The Yunnan honeysuckle harvesting end effector according to claim 2, characterized in that: The comb teeth (207) are evenly spaced along the length of the clamp (202).

4. The Yunnan honeysuckle harvesting end effector according to claim 3, characterized in that: The comb teeth (207) on the two opening and closing housings (2) are staggered vertically.

5. The Yunnan honeysuckle harvesting end effector according to claim 4, characterized in that: The surface of the picking roller (3) is provided with a silicone layer.

6. The Yunnan honeysuckle harvesting end effector according to claim 5, characterized in that: The gas absorption collection chamber (1) is provided with a discharge hole (104), which is connected to a negative pressure fan through a pipe.

7. The Yunnan honeysuckle harvesting end effector according to claim 6, characterized in that: It also includes a robotic arm (5), the end of which is fixedly connected to the vibration chamber (4), and a visual camera is also provided on the robotic arm (5).

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