An integrated, breakable tomato-picking robot

Abstract

This invention relates to the field of tomato harvesting robotic arms, specifically an integrated snap-break tomato harvesting robotic arm. It includes a through-tube with arc-shaped components on both sides of its upper end. A connection port is located at the lower end of each arc-shaped component, and a reset mechanism is located within the connection port. The reset mechanism is connected to the through-tube. A high-pressure contact mechanism is shared by both the arc-shaped components and the through-tube. This application uses high-pressure gas as a power source to facilitate control of the positional relationship between the arc-shaped components and the through-tube. The two arc-shaped components can enclose the tomato fruit, and the opening and closing of the control valve assembly can be achieved through the cooperation of the squeezing rollers and corresponding components. This allows the contact components to clamp the stem of the tomato fruit, and the squeezing plate can cause the tomato fruit to move downwards, breaking the stem and achieving harvesting. Furthermore, the arc-shaped components can quickly reset, allowing for the harvesting of the next fruit.

Description

Technical Field

[0001] This invention relates to the field of tomato harvesting robotic arms, and more particularly to an integrated, breakable tomato harvesting robotic arm. Background Technology

[0002] When traditional robotic arms pick clustered tomatoes, their gripping or enveloping actions are prone to colliding with surrounding fruits or branches, leading to harvesting failures. Furthermore, due to the irregular shape of tomatoes, traditional gripping fingers, such as parallel two-finger or three-finger structures, cannot achieve complete envelopment of the tomato, which can easily lead to unstable gripping or excessive local pressure, causing damage to the fruit's skin. While existing adaptive gripping mechanisms, such as pneumatic soft hands, can conform to the shape of the fruit, their response speed is slow and they are difficult to take into account obstacle avoidance functions.

[0003] A tomato-harvesting robot with adaptive telescopic fingers and its harvesting method are disclosed in CN120304166A. The robot comprises two symmetrically arranged telescopic grippers with arc-shaped bases facing each other, driven by a drive mechanism to move relative to or away from each other. Multiple circumferentially spaced grooves are formed on the arc-shaped bases, and each groove is radially arranged. Each groove has a telescopic finger. One end of the telescopic finger near the phalanx forms a sliding pair with the corresponding groove and is fixed to one end of an elastic rope. The other end of the elastic rope passes through a through hole in the inner end of the corresponding groove and is fixed to the arc-shaped base. The other end near the phalanx forms a sliding pair with a straight hole on the distal phalanx and is connected to the straight hole via a steel wire rope. A return spring is installed inside the straight hole. This invention enables tomato harvesting, has obstacle avoidance capabilities, can completely enclose the tomato, adapts to irregular tomato shapes, and is less likely to damage the tomato skin.

[0004] The above-mentioned technical solution can wrap the tomatoes, but it cannot harvest them quickly. It harvests the tomatoes by applying external force to them, which can easily damage the tomatoes and affect the harvesting results. Therefore, it needs to be improved. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an integrated, breakable tomato-picking robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An integrated tomato-harvesting robot includes a through tube, with arc-shaped parts on both sides of the upper end of the through tube, and a connection port at the lower end of the arc-shaped parts. A reset mechanism is provided inside the connection port, and the reset mechanism is connected to the through tube. A high-pressure contact mechanism is provided on both the arc-shaped parts and the through tube, and a high-pressure gas pipe is provided on the high-pressure contact mechanism.

[0008] The high-pressure gas pipe is equipped with an abutment gas supply mechanism, and the abutment gas supply mechanism is equipped with a connecting gas supply pipe fitting;

[0009] The top of the arc-shaped component is provided with a connecting groove, a first high-pressure pipe is installed in the connecting groove, a self-resetting piston rod is sealed and installed in the first high-pressure pipe, one end of the self-resetting piston rod is connected to a compression plate, and the connecting air supply pipe is connected to the connecting groove.

[0010] The arc-shaped component has a linkage groove, and a contact rod is inserted through one end of the linkage groove. Two contact rods are staggered. The end of the contact rod located in the linkage groove is connected to a second straight rack. The second straight rack is provided with a reversing mechanism. The reversing mechanism is provided with a contact element. The contact element is located at the upper end of the arc-shaped component.

[0011] Compared with the prior art, this application uses high-pressure gas as a power source to facilitate the control of the positional relationship between the arc-shaped parts and the through pipe. The two arc-shaped parts can wrap the tomato fruit, and the opening and closing of the control valve assembly can be realized through the cooperation of the extrusion roller and corresponding components. The stem on the tomato fruit can be clamped by the contact part, and the extrusion plate can make the tomato fruit move down so that the stem of the tomato fruit can be broken, thus realizing the harvesting of the fruit. It also facilitates the rapid reset of the arc-shaped parts to complete the harvesting of the next fruit.

[0012] Preferably, the reset mechanism includes a roller contact assembly that passes through the connection port. A movable groove is formed on one side wall of the connection port, and one end of the roller contact assembly extends into the movable groove. Two bearing grooves are formed on the through tube. The two roller contact assemblies pass through the upper end of the through tube and extend into the bearing grooves. A reset spring is sleeved on one end of the roller contact assembly located in the bearing groove. The two ends of the reset spring are fixed to the top of the bearing groove and the lower end of the roller contact assembly, respectively. The upper end of the through tube is rotatably connected to the connection port.

[0013] Furthermore, in actual production and preparation, a rod is rotatably sleeved inside the connection port, the lower end of the rod is fixedly connected to the upper end of the through pipe, and the roller contact assembly can adopt a T-shaped rod. Shaft components are sleeved at both ends of the horizontal end of the roller contact assembly, and moving grooves are set on the opposite sidewalls inside the connection port. The two shaft components extend into the two moving grooves respectively.

[0014] When no external force is applied, the reset spring retracts and returns to its original shape, which allows the roller contact assembly to rise and contact the top of the moving groove, causing the arc-shaped part to flip. The two arc-shaped parts rotate in opposite directions and rotate around the position connected to the rod as the axis, making it easier to place the tomato between the two arc-shaped parts.

[0015] Preferably, the high-pressure abutment mechanism includes a limiting plate fixed to one side of the arc-shaped component, mounting cavities are provided on both sides of the through tube, a stop bar is provided through the top of the mounting cavity, the upper end of the stop bar abuts against the lower end of the limiting plate, a high-pressure airbag assembly is provided through the stop bar, the lower end of the high-pressure airbag assembly is provided through the bottom of the mounting cavity, and one end of the high-pressure airbag assembly extending out of the through tube is connected to a high-pressure gas pipe.

[0016] Furthermore, the high-pressure airbag assembly consists of a high-pressure airbag and a connecting pipe connected to the high-pressure airbag. The connecting pipe passes through the mounting cavity and extends to the lower end of the through pipe, allowing it to connect to the high-pressure gas pipe for easy supply and suction of high-pressure gas. This allows the high-pressure airbag assembly to expand or contract. When the high-pressure airbag of the high-pressure airbag assembly expands, it pushes the stop lever upward. A roller component is installed at the upper end of the stop lever, and the roller component abuts against the arc-shaped component, pushing the arc-shaped component to flip. As the upper end of the stop lever moves, it abuts against the limit plate component. At this time, the arc-shaped component abuts against the through pipe, and the two arc-shaped components abut against each other, which can wrap the tomato fruit between the two arc-shaped components. When the gas is released, the high-pressure airbag assembly contracts, and the two arc-shaped components can be separated by the action of the return spring component, that is, after picking the wrapped fruit, it moves to the next fruit.

[0017] Preferably, the gas supply mechanism includes a control valve assembly installed on a high-pressure gas pipe, the upper end of the control valve assembly is connected to a second high-pressure pipe, and both sides of the upper end of the through pipe are provided with placement slots. A linkage mechanism is provided on one side of the placement slot, and the linkage mechanism is connected to the arc-shaped component.

[0018] The linkage mechanism is equipped with a reverse movement component, on which a lifting plate and a valve stem control component are mounted. The lower end of the valve stem control component passes through a placement groove and is connected to the control valve component. A contact air supply pipe is slidably sleeved on the lifting plate. The contact air supply pipe is sleeved on the upper end of the second high-pressure pipe. A resistance spring is sleeved on the contact air supply pipe. The two ends of the resistance spring are respectively fixed to the upper end of the contact air supply pipe and the upper end of the lifting plate. The upper end of the contact air supply pipe and the lower end of the connecting air supply pipe are in contact.

[0019] Furthermore, the operation of the linkage mechanism enables the reverse movement component to operate. The reverse movement component consists of two racks and a gear located between and meshing with the two racks. The gear rotates and is sleeved in the placement groove, and the racks slide in the placement groove. The linkage mechanism causes one rack to descend, while the other rack rises, which in turn causes the lifting plate to rise. The lifting plate compresses the resistance spring and causes the air supply pipe to rise, thus making the air supply pipe and the connecting air supply pipe come into contact and seal, facilitating the supply of air to the connecting air supply pipe.

[0020] Meanwhile, a valve stem control assembly is set at the lower end of another straight rack. The control valve assembly is a valve body component with a valve stem. The valve stem control assembly is connected to the valve stem and can drive the valve stem to rotate. As the valve stem control assembly rises and falls, it can open and close the control valve assembly. That is, when the valve stem control assembly rises, it can open the control valve assembly, so that high-pressure gas can pass through the second high-pressure pipe and abut against the gas supply pipe fitting to enter the connected gas supply pipe fitting.

[0021] Meanwhile, in actual operation, a sealing component is installed between the contact gas supply pipe and the second high-pressure pipe, which allows the contact gas supply pipe to move up and down relative to the second high-pressure pipe.

[0022] Preferably, the linkage mechanism includes a lifting groove formed on one side of the placement groove, a self-resetting telescopic member is provided through the lifting groove, one end of the self-resetting telescopic member extends into the placement groove and is connected to the reverse movement component, the top of the lifting groove is provided through, the self-resetting telescopic member is provided through the lifting groove, and a pressing roller is installed at the lower end of the arc-shaped member, the lower end of the pressing roller abuts against the upper end of the self-resetting telescopic member.

[0023] Furthermore, when the arc-shaped component rotates and comes into contact with the through-tube, it causes the extrusion roller component to move against the through-tube and come into contact with one end of the self-resetting telescopic component extending out of the through-tube. This extrudes the self-resetting telescopic component, causing the piston rod end of the self-resetting telescopic component to be extruded and lowered. A straight rack in the reverse movement assembly is connected to the piston rod inside the self-resetting telescopic component and moves up and down synchronously. This ensures that high-pressure gas can be delivered when the arc-shaped component drives the extrusion roller component to extrude the self-resetting telescopic component.

[0024] Preferably, the reversing mechanism includes a double-gear linkage assembly rotatably sleeved in the linkage groove, the double-gear linkage assembly meshing with a second spur rack, a first spur rack meshing with one side of the double-gear linkage assembly, the first spur rack being slidably installed in the linkage groove, a linkage rod being fixed to one side of the first spur rack, and the linkage rod being fixed to the lower end of the abutment member.

[0025] The second spur rack and the first spur rack are respectively disposed on both sides of the dual gear linkage assembly.

[0026] Furthermore, when the two arc-shaped parts move relative to each other and come into contact, the contact rod can drive the second spur rack to move. The double gear linkage assembly consists of a vertical shaft, a pinion, and a large gear. The vertical shaft, pinion, and large gear are coaxially arranged. The second spur rack meshes with the pinion, which allows the large gear to drive the first spur rack, linkage rod, and contact parts to move. The relative movement of the two contact parts can squeeze the tomato stem. The application of the pinion and large gear can quickly make the two contact parts move relative to each other.

[0027] Preferably, the top of the arc-shaped component has a notch, the abutting component is slidably installed in the notch, and the notch and the linkage groove are connected.

[0028] Furthermore, it can effectively ensure the stability of the movement of the contacting parts.

[0029] Preferably, a tee gas supply fitting with a quick connector is connected between the two high-pressure gas pipes.

[0030] Furthermore, the tee fitting with quick connector can be connected to an external high-pressure gas supply component, which can control the supply and suction of high-pressure gas and facilitate the control of the rotation of the arc-shaped component.

[0031] Preferably, the connecting groove is inclined.

[0032] Furthermore, the two contacting parts move relative to each other and contact the tomato stem. The inclined setting of the connecting groove allows the squeezing plate to move at an angle. The two squeezing plates move at an angle and contact the upper end of the tomato. As the squeezing plates continue to move, they can push the distance between the tomato and the stem between the two contacting parts to change, which can break the stem or separate the stem from the tomato at the connection point, thus completing the harvesting of the tomato.

[0033] The beneficial effects of this invention are:

[0034] 1. The curved parts can wrap the tomato fruit, and the tomato stem will pass through the round hole between the two curved parts. The harvested tomatoes can be discharged through the through pipe, which can be connected to the corresponding pipe body for easy transportation of the tomato fruit. A corresponding robotic arm can also be installed on the through pipe for easy control of its operation. At the same time, a corresponding high-pressure gas supply component and a corresponding control component are set externally. How to control the gas supply and suction is existing technology and does not need to be explained again. A corresponding quick-connect sealing component can be set on the three-way gas supply pipe with quick connector for easy connection with the external high-pressure gas connection pipeline.

[0035] 2. The two contacting parts move relative to each other and contact the tomato stem. The inclined setting of the connecting groove allows the squeezing plate to tilt and move. The two squeezing plates tilt and move and contact the upper end of the tomato. As the squeezing plates continue to move, they can push the distance between the tomato and the stem between the two contacting parts to change, which can break the stem or separate the stem from the tomato and break it, thus completing the harvesting of the tomato. Attached Figure Description

[0036] Figure 1 This is a cross-sectional view of the arc-shaped component in this invention;

[0037] Figure 2 This is a structural diagram of the tee-type air supply pipe fitting with quick connector and the through pipe in this invention;

[0038] Figure 3This is a diagram showing the closed structure of the two arc-shaped components in this invention;

[0039] Figure 4 This is a structural diagram of the arc-shaped component in this invention;

[0040] Figure 5 Appendix to this invention Figure 1 Enlarged view of point A;

[0041] Figure 6 Appendix to this invention Figure 1 Enlarged view of point B;

[0042] Figure 7 Appendix to this invention Figure 2 Enlarged view of point C;

[0043] Figure 8 Appendix to this invention Figure 2 Enlarged view of point D;

[0044] In the diagram: 1. Arc-shaped component; 2. T-joint air supply pipe with quick connector; 3. Through pipe; 4. Abutment component; 5. Notch; 6. Abutment rod; 7. Limiting plate component; 8. Stop rod component; 9. High-pressure airbag assembly; 10. Mounting cavity; 11. Connection port; 12. Moving groove; 13. Roller abutment assembly; 14. Return spring component; 15. Bearing groove; 16. High-pressure gas pipe; 17. First high-pressure pipe; 18. Connecting groove; 19. Extrusion plate; 20. Self-resetting piston rod; 21. Connecting air supply pipe component; 22. Abutment air supply pipe component; 23. Resistance spring component; 24. Lifting plate; 25. Second high-pressure pipe; 26. Control valve assembly; 27. Extrusion roller component; 28. Self-resetting telescopic component; 29. ​​Lifting groove; 30. Placement groove; 31. Reverse movement assembly; 32. Valve stem control assembly; 33. Linkage groove; 34. Linkage rod; 35. First straight rack; 36. Second straight rack; 37. Double gear linkage assembly. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] Reference Figure 1-8 An integrated, folding tomato-harvesting robot includes a through pipe 3, which has a T-shaped structure and is internally interconnected. Corresponding fittings can be connected to its lower end for easy transport of the harvested fruit. The through pipe 3 can also be connected to mechanical components or matching moving and adjusting parts for automated adjustment. The adjustment, connection, and movement principles are existing technologies; adjustments can be made according to the structure of this application without further explanation. The robot also includes high-pressure gas supply and suction components, capable of supplying or suctioning high-pressure gas into the three-way gas supply fitting 2 with quick connectors.

[0047] In this embodiment, arc-shaped parts 1 are provided on both sides of the upper end of the through pipe 3, and a connection port 11 is provided at the lower end of the arc-shaped parts 1. A reset mechanism is provided inside the connection port 11. The reset mechanism is connected to the through pipe 3. A high-pressure contact mechanism is provided on both the arc-shaped parts 1 and the through pipe 3. A high-pressure gas pipe 16 is provided on the high-pressure contact mechanism. This can effectively control the arc-shaped parts 1 to flip over and, when there is no high-pressure gas supply, make the two arc-shaped parts 1 merge or separate so that the two arc-shaped parts 1 can merge to pick the fruit and then open the two arc-shaped parts 1 after picking so that the other fruit can be picked.

[0048] In this embodiment, the high-pressure gas pipe 16 is provided with a contact gas supply mechanism, and the contact gas supply mechanism is provided with a connecting gas supply fitting 21; the top of the arc-shaped part 1 is provided with a connecting groove 18, the connecting groove 18 is installed with a first high-pressure pipe 17, the first high-pressure pipe 17 is sealed with a self-resetting piston rod 20, one end of the self-resetting piston rod 20 is connected to a pressing plate 19, and the connecting gas supply fitting 21 is connected to the connecting groove 18; the contact gas supply mechanism can control the movement of gas, so that the first high-pressure pipe 17 can control the movement of the pressing plate 19 to complete the harvesting of tomato fruits.

[0049] In this embodiment, a linkage groove 33 is provided in the arc-shaped part 1, and an abutment rod 6 is provided through one end of the linkage groove 33. Two abutment rods 6 are staggered. The end of the abutment rod 6 located in the linkage groove 33 is connected to a second straight rack 36. A reversing mechanism is provided on the second straight rack 36, and an abutment 4 is provided on the reversing mechanism. The abutment 4 is located at the upper end of the arc-shaped part 1. The relative movement of the two abutment 4 can complete the clamping of the tomato stem. With the movement of the extrusion plate 19, the tomato fruit is harvested.

[0050] In this embodiment, the reset mechanism includes a roller contact assembly 13 that passes through the connection port 11. A moving groove 12 is provided on one side wall of the connection port 11. One end of the roller contact assembly 13 extends into the moving groove 12. Two bearing grooves 15 are provided on the through pipe 3. The two roller contact assemblies 13 pass through the upper end of the through pipe 3 and extend into the bearing grooves 15. A reset spring 14 is sleeved on one end of the roller contact assembly 13 located in the bearing groove 15. The two ends of the reset spring 14 are fixed to the top of the bearing groove 15 and the lower end of the roller contact assembly 13, respectively. The upper end of the through pipe 3 is rotatably connected to the connection port 11.

[0051] In actual production, a rod is rotatably sleeved inside the connection port 11, the lower end of the rod is fixedly connected to the upper end of the through pipe 3, and the roller contact assembly 13 can be a T-shaped rod. Shaft components are sleeved at both ends of the horizontal end of the roller contact assembly 13, and moving grooves 12 are provided on the opposite sidewalls inside the connection port 11. The two shaft components extend into the two moving grooves 12 respectively.

[0052] When no external force is applied, the reset spring 14 contracts and returns to its original state, which allows the roller contact assembly 13 to rise and contact the top of the moving groove 12, causing the arc-shaped part 1 to flip. The two arc-shaped parts 1 rotate in opposite directions, and the two arc-shaped parts 1 will rotate around the position connected to the above-mentioned rod body as the axis, so that the tomato can be placed between the two arc-shaped parts 1.

[0053] In this embodiment, the high-pressure contact mechanism includes a limiting plate 7 fixed to one side of the arc-shaped member 1, and mounting cavities 10 are provided on both sides of the through tube 3. A stop bar 8 is provided through the top of the mounting cavity 10, and the upper end of the stop bar 8 abuts against the lower end of the limiting plate 7. A high-pressure airbag assembly 9 is provided through the stop bar 8, and the lower end of the high-pressure airbag assembly 9 is provided through the bottom of the mounting cavity 10. One end of the high-pressure airbag assembly 9 extending out of the through tube 3 is connected to the high-pressure gas tube 16.

[0054] The high-pressure airbag assembly 9 consists of a high-pressure airbag and a connecting pipe connected to the high-pressure airbag. The connecting pipe passes through the mounting cavity 10 and extends to the lower end of the through pipe 3, and can be connected to the high-pressure gas pipe 16 to facilitate the supply and suction of high-pressure gas. This allows the high-pressure airbag assembly 9 to expand or contract. When the high-pressure airbag of the high-pressure airbag assembly 9 expands, it will push the stop lever 8 upward. A roller component is installed at the upper end of the stop lever 8. The roller component and the arc-shaped component 1 abut against each other, which can push the arc-shaped component 1 to flip. As the upper end of the stop lever 8 moves, the stop lever 8 will abut against the limiting plate 7. At this time, the arc-shaped component 1 abuts against the through pipe 3. At the same time, the two arc-shaped components 1 abut against each other, which can wrap the tomato fruit between the two arc-shaped components 1. When the gas is released, the high-pressure airbag assembly 9 will contract. Through the action of the return spring component 14, the two arc-shaped components 1 can be separated, that is, after picking the wrapped fruit, it can move to the next fruit.

[0055] In this embodiment, the gas supply mechanism includes a control valve assembly 26 installed on the high-pressure gas pipe 16. The upper end of the control valve assembly 26 is connected to a second high-pressure pipe 25. Placement slots 30 are provided on both sides of the upper end of the through pipe 3. A linkage mechanism is provided on one side of the placement slot 30. The linkage mechanism is connected to the arc-shaped component 1.

[0056] The linkage mechanism is equipped with a reverse movement component 31, on which a lifting plate 24 and a valve stem control component 32 are installed. The lower end of the valve stem control component 32 passes through the placement groove 30 and is connected to the control valve component 26. A contact air supply pipe fitting 22 is slidably sleeved on the lifting plate 24. The contact air supply pipe fitting 22 is sleeved on the upper end of the second high pressure pipe 25. A resistance spring component 23 is sleeved on the contact air supply pipe fitting 22. The two ends of the resistance spring component 23 are respectively fixed to the upper end of the contact air supply pipe fitting 22 and the upper end of the lifting plate 24. The upper end of the contact air supply pipe fitting 22 abuts against the lower end of the connecting air supply pipe fitting 21.

[0057] The operation of the linkage mechanism enables the reverse movement component 31 to operate. The reverse movement component 31 consists of two racks and a gear located between and meshing with the two racks. The gear rotates and is sleeved in the placement groove 30. The racks slide in the placement groove 30. The linkage mechanism can cause one rack to descend, and the other rack will rise, which will drive the lifting plate 24 to rise. The lifting plate 24 will squeeze the resistance spring 23 and cause the abutting air supply pipe 22 to rise, so that the abutting air supply pipe 22 and the connecting air supply pipe 21 come into contact, completing the seal and facilitating the supply of air to the connecting air supply pipe 21.

[0058] Meanwhile, a valve stem control assembly 32 is provided at the lower end of another straight rack. The control valve assembly 26 is a valve body component with a valve stem. The valve stem control assembly 32 is connected to the valve stem and can drive the valve stem to rotate. As the valve stem control assembly 32 rises and falls, it can cause the control valve assembly 26 to open and close. That is, when the valve stem control assembly 32 rises, it can cause the control valve assembly 26 to open, so that high pressure gas can pass through the second high pressure pipe 25, abut against the gas supply pipe fitting 22 and enter the connected gas supply pipe fitting 21.

[0059] Meanwhile, in actual operation, a sealing component is provided between the gas supply pipe 22 and the second high-pressure pipe 25, which allows the gas supply pipe 22 to move up and down relative to the second high-pressure pipe 25.

[0060] In this embodiment, the linkage mechanism includes a lifting groove 29 opened on one side of the placement groove 30. A self-resetting telescopic member 28 is provided through the lifting groove 29. One end of the self-resetting telescopic member 28 extends into the placement groove 30 and is connected to the reverse movement component 31. The top of the lifting groove 29 is provided through. The self-resetting telescopic member 28 is provided through the lifting groove 29. A pressing roller 27 is installed at the lower end of the arc-shaped member 1. The lower end of the pressing roller 27 abuts against the upper end of the self-resetting telescopic member 28.

[0061] When the arc-shaped component 1 rotates and comes into contact with the through-tube 3, the squeezing roller component 27 moves against the through-tube 3 and comes into contact with one end of the self-resetting telescopic component 28 extending out of the through-tube 3, squeezing the self-resetting telescopic component 28, causing the piston rod end of the self-resetting telescopic component 28 to be squeezed down. A straight rack in the reverse movement assembly 31 is connected to the piston rod inside the self-resetting telescopic component 28 and moves up and down synchronously, so that when the arc-shaped component 1 drives the squeezing roller component 27 to squeeze the self-resetting telescopic component 28, it can ensure that high-pressure gas can be transported.

[0062] In this embodiment, the reversing mechanism includes a double gear linkage assembly 37 rotatably sleeved in the linkage groove 33. The double gear linkage assembly 37 meshes with the second spur rack 36. A first spur rack 35 meshes with one side of the double gear linkage assembly 37. The first spur rack 35 is slidably installed in the linkage groove 33. A linkage rod 34 is fixed to one side of the first spur rack 35. The linkage rod 34 is fixed to the lower end of the contact member 4.

[0063] The second spur rack 36 and the first spur rack 35 are respectively disposed on both sides of the double gear linkage assembly 37;

[0064] When the two arc-shaped parts 1 move relative to each other and abut, the abutting rod 6 can drive the second spur rack 36 to move. The double gear linkage assembly 37 consists of a vertical shaft, a small gear and a large gear. The vertical shaft, small gear and large gear are coaxially arranged. The second spur rack 36 meshes with the small gear, which can drive the first spur rack 35, the linkage rod 34 and the abutting parts 4 to move. The two abutting parts 4 move relative to each other and can squeeze the tomato stem. The application of the small gear and the large gear can quickly make the two abutting parts 4 move relative to each other.

[0065] In this embodiment, a notch 5 is provided at the top of the arc-shaped component 1, and the abutment 4 is slidably installed in the notch 5. The notch 5 and the linkage groove 33 are connected through each other, which can effectively ensure the stability of the movement of the abutment 4.

[0066] In this embodiment, a three-way gas supply fitting 2 with a quick connector is connected between the two high-pressure gas pipes 16; the three-way gas supply fitting 2 with a quick connector is connected to an external high-pressure gas supply component, which can control the supply and suction of high-pressure gas and facilitate the control of the rotation of the arc-shaped component 1.

[0067] In this embodiment, the connecting groove 18 is inclined; the two abutting members 4 move relative to each other and abut against the tomato stem. The inclined setting of the connecting groove 18 allows the squeezing plate 19 to move inclined. The two squeezing plates 19 move inclined and abut against the upper end of the tomato. As the squeezing plates 19 continue to move, they can push the distance between the tomato and the stem between the two abutting members 4 to change, so that the stem can be broken or the connection between the stem and the tomato can be separated and broken, thus completing the harvesting of the tomato.

[0068] In this invention, the three-way gas supply fitting 2 with quick connector is connected to the external high-pressure gas supply component, which can control the delivery or suction of high-pressure gas. The three-way gas supply fitting 2 with quick connector can be equipped with a corresponding quick-connect sealing component. The connection scheme and control scheme are both existing technologies modified according to the specifications of the three-way gas supply fitting 2 with quick connector.

[0069] High-pressure gas enters the high-pressure airbag assembly 9 through the three-way gas supply fitting 2 with quick connector and the high-pressure gas pipe 16, which can cause the stop lever 8 to rise so that the two arc-shaped parts 1 can abut against each other. When the two arc-shaped parts 1 abut against each other, the abutting rod 6 will drive the second straight rack 36, the double gear linkage assembly 37 and other components to operate, so that the two abutting parts 4 can move relative to each other and clamp the stem of the tomato fruit.

[0070] At the same time, the squeezing roller 27 at the lower end of the arc-shaped part 1 will squeeze the self-resetting telescopic part 28, so that the self-resetting telescopic part 28 controls the operation of the reverse movement component 31, which enables the lifting plate 24 and the resistance spring 23 to work together to drive the gas supply pipe 22 to rise. At the same time, the control valve component 26 opens, which allows high-pressure gas to enter the gas supply pipe 21. This causes the first high-pressure pipe 17 to control the self-resetting piston rod 20 to extend and retract. The two squeezing plates 19 move under the action of the two self-resetting piston rods 20 and will abut against the upper end of the tomato fruit, breaking the stem on the tomato fruit and completing the harvest.

[0071] The external high-pressure gas supply component draws in high-pressure gas, which facilitates the separation of the two arc-shaped parts 1.

[0072] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An integrated, snap-fit ​​tomato-harvesting robot, comprising a through-tube (3), characterized in that: The upper end of the through pipe (3) is provided with arc-shaped parts (1) on both sides. The lower end of the arc-shaped parts (1) is provided with a connection port (11). The connection port (11) is provided with a reset mechanism. The reset mechanism is connected to the through pipe (3). The arc-shaped parts (1) and the through pipe (3) are provided with a high-pressure contact mechanism. The high-pressure contact mechanism is provided with a high-pressure gas pipe (16). The high-pressure gas pipe (16) is provided with an abutting gas supply mechanism, and the abutting gas supply mechanism is provided with a connecting gas supply pipe fitting (21). The top of the arc-shaped part (1) is provided with a connecting groove (18), a first high-pressure pipe (17) is installed in the connecting groove (18), a self-resetting piston rod (20) is sealed in the first high-pressure pipe (17), one end of the self-resetting piston rod (20) is connected to a pressing plate (19), and the connecting air supply pipe (21) is connected to the connecting groove (18). The arc-shaped part (1) has a linkage groove (33) inside. One end of the linkage groove (33) is provided with a contact rod (6). Two contact rods (6) are staggered. One end of the contact rod (6) in the linkage groove (33) is connected to a second straight rack (36). The second straight rack (36) is provided with a reversing mechanism. The reversing mechanism is provided with a contact element (4). The contact element (4) is located at the upper end of the arc-shaped part (1).

2. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The reset mechanism includes a roller contact assembly (13) that passes through the connection port (11). A moving groove (12) is provided on one side wall of the connection port (11). One end of the roller contact assembly (13) extends into the moving groove (12). Two bearing grooves (15) are provided on the through pipe (3). The two roller contact assemblies (13) pass through the upper end of the through pipe (3) and extend into the bearing grooves (15). A reset spring (14) is sleeved on one end of the roller contact assembly (13) located in the bearing groove (15). The two ends of the reset spring (14) are fixed to the top of the bearing groove (15) and the lower end of the roller contact assembly (13), respectively. The upper end of the through pipe (3) is rotatably connected to the connection port (11).

3. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The high-pressure contact mechanism includes a limiting plate (7) fixed on one side of the arc-shaped part (1), and mounting cavities (10) are provided on both sides of the through tube (3). A stop bar (8) is provided through the top of the mounting cavity (10). The upper end of the stop bar (8) abuts against the lower end of the limiting plate (7). A high-pressure airbag assembly (9) is provided through the stop bar (8). The lower end of the high-pressure airbag assembly (9) is provided through the bottom of the mounting cavity (10). One end of the high-pressure airbag assembly (9) extending out of the through tube (3) is connected to the high-pressure gas pipe (16).

4. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The gas supply mechanism includes a control valve assembly (26) installed on a high-pressure gas pipe (16). The upper end of the control valve assembly (26) is connected to a second high-pressure pipe (25). Placement slots (30) are provided on both sides of the upper end of the through pipe (3). A linkage mechanism is provided on one side of the placement slot (30). The linkage mechanism is connected to the arc-shaped part (1). The linkage mechanism is provided with a reverse movement component (31), on which a lifting plate (24) and a valve stem control component (32) are installed. The lower end of the valve stem control component (32) passes through the placement groove (30) and is connected to the control valve component (26). A contact air supply pipe fitting (22) is slidably sleeved on the lifting plate (24). The contact air supply pipe fitting (22) is sleeved on the upper end of the second high pressure pipe (25). A resistance spring component (23) is sleeved on the contact air supply pipe fitting (22). The two ends of the resistance spring component (23) are respectively fixed to the upper end of the contact air supply pipe fitting (22) and the upper end of the lifting plate (24). The upper end of the contact air supply pipe fitting (22) and the lower end of the connecting air supply pipe fitting (21) are in contact.

5. The integrated snap-break tomato harvesting robot according to claim 4, characterized in that: The linkage mechanism includes a lifting groove (29) opened on one side of the placement groove (30). A self-resetting telescopic member (28) is provided through the lifting groove (29). One end of the self-resetting telescopic member (28) extends into the placement groove (30) and is connected to the reverse movement component (31). The top of the lifting groove (29) is provided through. The self-resetting telescopic member (28) is provided through the lifting groove (29). A pressing roller (27) is installed at the lower end of the arc-shaped member (1). The lower end of the pressing roller (27) abuts against the upper end of the self-resetting telescopic member (28).

6. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The reversing mechanism includes a double gear linkage assembly (37) rotatably sleeved in the linkage groove (33), the double gear linkage assembly (37) meshing with a second spur rack (36), a first spur rack (35) meshing on one side of the double gear linkage assembly (37), the first spur rack (35) being slidably installed in the linkage groove (33), and a linkage rod (34) fixed on one side of the first spur rack (35), the linkage rod (34) being fixed to the lower end of the contact member (4); The second spur rack (36) and the first spur rack (35) are respectively disposed on both sides of the double gear linkage assembly (37).

7. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The top of the arc-shaped component (1) is provided with a notch (5), and the contact component (4) is slidably installed in the notch (5). The notch (5) and the linkage groove (33) are connected.

8. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The two high-pressure gas pipes (16) are connected by a tee gas supply fitting (2) with a quick connector.

9. The integrated snap-break tomato harvesting robot according to claim 1, characterized in that: The connecting groove (18) is set at an angle.

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