A fruit picking end effector and device

Abstract

The application relates to the technical field of agricultural robots, in particular to a fruit picking end effector and device. The fruit picking end effector comprises a loading structure, a vision module and a shearing mechanism; the vision module is installed on one side of the loading structure and is used for identifying and positioning fruits; the shearing mechanism is installed on one side of the loading structure and is used for actively shearing fruit stalks located in the loading structure; the shearing mechanism comprises a swing structure and a shearing assembly; the shearing assembly is rotationally installed on one side of the loading structure and is used for actively shearing fruit stalks located in the loading structure; and the swing structure is installed on the loading structure and is used for controlling the swing of the shearing assembly. The end effector is improved, the positioning precision requirement is reduced, the transmission efficiency is improved, the picking rate is improved, and the mechanism complexity is reduced.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, specifically to a fruit-picking end effector and device. Background Technology

[0002] Fruit is one of the most consumed agricultural products globally and one of the most important economic crops, with widespread cultivation areas worldwide. However, in some regions, especially in some developed countries, there is a severe shortage of agricultural labor. Even with sufficient labor, harvesting fruit by hand is a time-consuming and labor-intensive task, requiring significant human resources.

[0003] To fill this labor shortage, and to achieve continuous and efficient harvesting operations without being limited by factors such as weather and time, thereby reducing damage and loss of fruit during the harvesting process and improving fruit production efficiency and quality, is a popular research direction for existing agricultural robots.

[0004] Existing technologies have researched reducing fruit damage and loss during harvesting and promoting continuous harvesting. For example, patent CN119678748A describes a fruit-harvesting end effector that employs a passive shearing and semi-enveloping design, using a crank-slider-rocker mechanism as the power source for hand-shaped actuation; it uses a V-shaped blade, and the cutting action on the fruit stem is completed through the movement of a platform robotic arm. Another example is patent CN121369071A, which describes a shearing mechanism and fruit-harvesting end effector that employs an active shearing and semi-enveloping design, using a crank-slider-rocker mechanism as the power source for hand-shaped actuation.

[0005] However, the above method has the following problems: 1. Existing shearing end effectors require high accuracy in identifying and locating the shearing point (usually the fruit stalk). When the accuracy of identification and positioning decreases due to obstruction or other interference, the harvesting success rate will be significantly reduced. 2. The crank-slider mechanism has many rotating and sliding pairs during movement, resulting in a long transmission path and easy frictional loss, leading to low transmission efficiency. At the same time, when subjected to large forces during shearing, jamming is likely to occur, affecting harvesting efficiency. Summary of the Invention

[0006] In view of this, the present invention provides a fruit picking end effector and device. By improving the end effector, the positioning accuracy requirement can be reduced and the transmission efficiency can be improved, thereby increasing the picking rate, while also reducing the complexity of the mechanism.

[0007] In a first aspect, the present invention provides a fruit-picking end effector, comprising a loading structure, a vision module, and a shearing mechanism; the vision module is installed on one side of the loading structure for identifying and locating the fruit; the shearing mechanism is installed on one side of the loading structure for actively shearing the fruit stalk located within the loading structure; the shearing mechanism includes a swinging structure and a shearing assembly, the shearing assembly being rotatably installed on one side of the loading structure for actively shearing the fruit stalk located within the loading structure, and the swinging structure being installed on the loading structure for controlling the swinging of the shearing assembly.

[0008] Furthermore, the shearing assembly includes a shearing structure, a driving structure, and a biomimetic structure. The biomimetic structure is rotatably mounted on the loading structure for moving the fruit and clamping the fruit stalk. The shearing structure is assembled inside the biomimetic structure for shearing the fruit stalk. The driving structure is used to drive the shearing structure to move.

[0009] Based on the above technical means, through the cooperation of the shearing structure, the driving structure and the bionic structure, the bionic structure can penetrate deep into the area covered by branches and leaves, allowing the fruit stalk to enter the bionic structure. Then, the driving structure drives the shearing structure to move and cut off the fruit stalk, resulting in high harvesting efficiency.

[0010] Furthermore, the bionic structure includes a mounting frame and bionic fingers. The mounting frame is rotatably connected to the loading structure. The two bionic fingers are spaced apart on the top of the mounting frame for clamping the fruit stalk. The shearing structure is assembled inside the mounting frame and partially located inside the two bionic fingers for shearing the fruit stalk that enters between the two bionic fingers.

[0011] Based on the aforementioned technical means, the design of two bionic fingers has two advantages: firstly, the structure is relatively simple, making it easy to penetrate into areas obscured by branches and leaves; secondly, it can cooperate with the mounting frame to form fingers and part of a palm, which is beneficial for enveloping the fruit.

[0012] Furthermore, the shearing structure includes a fixed blade, a movable blade, and a transmission block. The fixed blade is fixedly assembled within the bionic structure, the movable blade is rotatably mounted within the bionic structure, one end of the transmission block is fixedly connected to the movable blade, and the other end is connected to the drive structure for transmission. The drive structure is used to drive the transmission block to move.

[0013] Based on the above-mentioned technical means, the fruit stalk can be actively cut off.

[0014] Furthermore, the drive structure includes a motor and a reducer, both of which are fixedly installed within the biomimetic structure. The output shaft of the motor is connected to the input end of the reducer, and the output end of the reducer is connected to the shearing structure.

[0015] Based on the above-mentioned technical means, greater torque can be provided, thereby enabling the cutting of fruit stalks of different diameters, thus improving cutting efficiency and avoiding jamming.

[0016] Furthermore, the shearing mechanism also includes a first detection element and a second detection element. The first detection element is assembled inside the loading structure and is used to detect the position of the bionic structure. The second detection element is assembled at the shearing structure and is used to detect the position of the shearing structure.

[0017] The above-mentioned technical methods can effectively detect fruit stem shearing and improve the success rate of fruit harvesting.

[0018] Furthermore, the swing structure includes a drive source, a connecting rope, and a connector. The drive source is fixedly installed inside the loading structure, the connector is fixedly mounted on the shearing mechanism, and the connecting rope connects the output end of the drive source to the connector.

[0019] Based on the above-mentioned technical means, the bionic structure can be controlled to move back and forth, adaptively dropping the fruit stalks and branches to be cut into the cutting component, thereby reducing the accuracy of fruit stalk and fruit identification and positioning.

[0020] Furthermore, the vision module includes a vision sensor, which is mounted on the loading structure.

[0021] Based on the above-mentioned technical means, fruits can be identified and located, which is beneficial for fruit harvesting.

[0022] Furthermore, the loading structure includes a loading frame and a pipe, the pipe being fixedly connected to the loading frame for conveying the cut fruit.

[0023] Based on the above-mentioned technical means, on the one hand, it is beneficial to harvest the fruit, and on the other hand, it enables the transportation of the harvested fruit.

[0024] Secondly, the present invention provides a fruit picking device, including the fruit picking end effector described above.

[0025] The present invention, employing the above-described solution, has at least the following beneficial effects: In this application, a loading structure and a shearing mechanism are used to partially enclose the fruit, and the shearing mechanism is used to actively cut the fruit stalk. Before cutting, the fruit is first identified and located by a vision module, and then the shearing mechanism is controlled by a swinging structure to move back and forth, adaptively dropping the fruit stalk branch to be cut into the shearing mechanism, reducing the accuracy of identification and positioning of the fruit stalk and fruit, and improving the harvesting error tolerance in complex natural environments. During cutting, the fruit stalk is cut by the shearing component. During the cutting process, the transmission efficiency is high and the shearing torque is large, which is conducive to improving the harvesting success rate. Furthermore, its compact overall structure improves harvesting accessibility and success rate in complex foliage environments. Attached Figure Description

[0026] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the fruit-picking end effector in the embodiments of this application; Figure 2 This is a partial structural schematic diagram of the swing structure and shear component in the embodiments of this application; Figure 3 yes Figure 2 Enlarged structural diagram at point A; Figure 4 This is a schematic diagram of the loading structure in an embodiment of this application; Figure 5 This is a schematic diagram of the retaining ring structure in an embodiment of this application; Figure 6 This is one of the partial structural schematic diagrams of the shearing assembly during rotational installation in the embodiments of this application; Figure 7 This is the second partial structural schematic diagram of the shearing assembly during rotational installation in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the bionic finger in the embodiments of this application; Figure 9 This is one of the schematic diagrams of the cooperation structure between the driving structure and the shearing structure in the embodiments of this application; Figure 10 This is the second schematic diagram of the cooperation structure between the driving structure and the shearing structure in the embodiments of this application; Figure 11 This is the third schematic diagram of the cooperation structure between the driving structure and the shearing structure in the embodiments of this application; Figure 12 This is a schematic diagram of the cooperation structure between the moving blade and the transmission block in an embodiment of this application; Figure 13 This is a schematic diagram of the structure of the fixed shell in the embodiments of this application; Figure 14 This is a schematic diagram of the speed reduction component in the embodiments of this application; Explanation of key symbols: 100. Loading structure; 110. Loading frame; 111. Outer shell; 112. Base plate; 113. Stop block; 114. Retaining ring; 120. Pipeline; 200. Vision sensor; 300. Swinging structure; 310. Drive source; 320. Connecting rope; 330. First roller; 340. Second roller; 350. Reset component; 360. Connecting plate; 400. Shearing assembly; 500. First detection component; 600. Bionic structure; 601. First notch; 602. Second notch; 610. Mounting bracket; 611. First housing; 612. Second housing; 620. Support lug; 630. Support arm; 631. Connecting arm; 640. Bionic finger; 700. Drive structure; 710. Fixing shell; 711. Limiting groove; 720. Motor; 721. First tensioning wheel; 722. Synchronization Components; 730, Reduction component; 740, Support; 741, Second tensioner; 750, Helical gear; 751, Sealed bearing; 760, Drive shaft; 761, Sun gear; 762, Planetary gears; 763, Planetary gear carrier; 764, Gasket; 765, Rear cover; 770, Gear ring; 771, Vertical gear; 772, Limiting block; 800, Shearing structure; 810, Fixed blade; 820, Moving blade; 830, Transmission block; 831, Clamping block; 832, Sector bevel gear; 833, Through hole; 840, Connecting shaft; 841, First connecting ring; 842, Second connecting ring; 900, Second detection component; 1000, First controller. Detailed Implementation

[0028] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are for illustrative purposes only and represent schematic diagrams, not actual pictures, and should not be construed as limiting the present invention. In order to better illustrate the embodiments of the present invention, some components in the figures may be omitted, enlarged, or reduced, and do not represent the actual product size; it is understandable for those skilled in the art that some well-known structures and their descriptions may be omitted in the figures.

[0029] In the figures of this invention, the same or similar reference numerals correspond to the same or similar components. In the description of this invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figure, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the figures are only for illustrative purposes and should not be construed as limiting this invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. In the description of this application, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0031] To improve the success rate of fruit harvesting, the inventors researched end effectors for fruit harvesting. The inventors had previously researched end effectors for fruit harvesting, such as patent publication number CN119678748A, which employs a passive shearing and semi-enveloping design, using a crank-slider-rocker mechanism as the power source for the hand's actuation; it uses a V-shaped blade, and the cutting action of the fruit stem is completed under the movement of the platform robotic arm. Another example is patent publication number CN121369071A, which employs an active shearing and semi-enveloping design, using a crank-slider-rocker mechanism as the power source for the hand's actuation.

[0032] Through continuous research, the inventors discovered that shearing end effectors require high accuracy in identifying and locating the cutting point (usually the fruit stem). When obstruction or other interference reduces this accuracy, the harvesting success rate drops significantly. Furthermore, the crank-slider mechanism has numerous rotating and sliding pairs during operation, resulting in a long transmission path and increased frictional losses, leading to low transmission efficiency. Additionally, under high force during shearing, jamming can easily occur, further impacting harvesting efficiency.

[0033] In view of this, such as Figure 1-14 As shown in the figure, this application proposes a fruit-picking end effector, including a loading structure 100, a vision module, and a shearing mechanism. The vision module is installed on one side of the loading structure 100 for identifying and locating the fruit. The shearing mechanism is installed on one side of the loading structure 100 for actively shearing the fruit stalk located within the loading structure 100.

[0034] By cooperating with the loading structure 100, the vision module, and the shearing mechanism, the positioning accuracy requirements for fruit picking can be reduced and the transmission efficiency can be improved, thereby increasing the accessibility and success rate of picking in complex branch and leaf environments, while also reducing the complexity of the mechanism.

[0035] In one embodiment, such as Figure 1 and Figure 4-5 As shown, the loading structure 100 is used to transport fruits after the stems have been cut, and also provides a mounting base for the vision module and the cutting mechanism. In this embodiment, the loading structure 100 includes a loading frame 110 and a pipe 120. The pipe 120 is fixedly connected to the middle of the loading frame 110 for transporting the cut fruits.

[0036] Specifically, such as Figure 4-5 As shown, the loading rack 110 includes a shell 111 and a base plate 112. The base plate 112 is bolted to the bottom of the shell 111. The base plate 112 has an opening in the middle, and a pipe 120 is fixedly installed at the opening. To allow the fruit to smoothly enter the pipe 120, a retaining ring 114 is bolted to the upper surface of the base plate 112 at the opening. The front end of the retaining ring 114 is sloped, and a stop block 113 is bolted between the front end of the retaining ring 114 and the base plate 112. This provides support for the front end of the retaining ring 114, facilitating fruit entry, and also facilitates the installation of the shearing mechanism. The rear end of the retaining ring 114 is higher than the base plate 112 and is arc-shaped, allowing the fruit to smoothly enter the pipe 120. To reduce damage to the fruit from the retaining ring 114, it can be made of materials such as thermoplastic elastomer (TPE) or rubber, with the specific material selected according to actual conditions. Alternatively, the inner wall of the retaining ring 114 can be covered with sponge, cloth, or similar materials.

[0037] In some embodiments, such as Figure 1 As shown, the vision module includes a vision sensor 200. The vision sensor 200 is bolted to the housing 111 and is used to identify and locate the fruit to be picked.

[0038] In this embodiment, the visual sensor 200 can be a multispectral camera, a hyperspectral camera, an omnidirectional visual sensor, etc., and a suitable visual sensing device can be selected according to the actual situation.

[0039] In some embodiments, such as Figure 2-3 As shown in Figure 6-14, the shearing mechanism includes a swing structure 300 and a shearing assembly 400. The shearing assembly 400 is rotatably mounted on one side of the housing 111 and is used to actively shear the fruit stalk located inside the housing 111. The swing structure 300 is mounted on the housing 111 and is used to control the swing of the shearing assembly 400. Through the cooperation of the swing structure 300 and the shearing assembly 400, the accessibility and success rate of harvesting in complex branch and leaf environments can be improved, while reducing the accuracy of identifying and locating the fruit stalk and fruit.

[0040] In this embodiment, the shearing mechanism further includes a first controller 1000, which is electrically connected to the swing structure 300 and the shearing assembly 400, and is used to control the operation of the swing structure 300 and the shearing assembly 400. The first controller 1000 can be a PLC controller, an embedded controller, etc., and a suitable first controller can be selected according to the actual situation.

[0041] In some embodiments, such as Figure 2-3As shown, the swing structure 300 includes a drive source 310, a connecting rope 320, and a connector. The drive source 310 is fixedly installed inside the housing 111, the connector is fixedly mounted on the shearing mechanism, and the connecting rope 320 connects the output end of the drive source 310 to the connector. Through the cooperation of the drive source 310, the connecting rope 320, and the connector, the shearing assembly 400 can be controlled to swing back and forth, adaptively dropping the fruit stalks to be cut into the shearing assembly 400, thus reducing the accuracy of identifying and positioning the fruit stalks and fruits.

[0042] In one embodiment, the drive source 310 can be a stepper motor, servo motor, geared motor, etc., and a suitable motor can be selected according to the actual situation. The drive source 310 is fixedly installed in the housing 111 by bolts. The connecting rope 320 can be a steel wire rope, nylon braided rope, hemp rope, etc., and a rope of a suitable material can be selected according to the actual situation.

[0043] In one embodiment, the connector includes a first roller 330. The first roller 330 is bolted to the shearing assembly 400. The output end of the drive source 310 and the first roller 330 are located on the same plane. One end of the connecting rope 320 is fixedly wound around the output shaft of the drive source 310, and the other end is fixedly tied to the first roller 330. When the drive source 310 is working, it can drive the shearing assembly 400 to rotate towards the drive source 310 through the connecting rope 320, which is beneficial for shearing the fruit stem.

[0044] In another embodiment, the connector includes a first roller 330 and a second roller 340. The second roller 340 is bolted to the inside of the housing 111, and the first roller 330 is bolted to the shearing assembly 400. The output end of the drive source 310, the first roller 330, and the second roller 340 are located on the same horizontal plane. One end of the connecting rope 320 is fixedly wound around the output shaft of the drive source 310, and the other end passes around the second roller 340 and is fixedly tied to the first roller 330, so that the connecting rope 320 is relatively taut. When the drive source 310 is working, it can drive the first roller 330 to move through the connecting rope 320, thereby driving the shearing assembly 400 to rotate towards the drive source 310, which is beneficial for shearing the fruit stem.

[0045] In this embodiment, due to the height difference between the drive source 310 and the first roller 330, by setting two rollers, the connecting rope 320 can be bent into a straight shape by being pressed down by the second roller 340, thus reducing the impact of the connecting rope 320 on fruit picking in areas covered by branches and leaves.

[0046] To enhance the driving force of the shearing assembly 400, two sets of connecting ropes 320 and connectors are provided, and the output end of the driving source 310 is set as a dual output end, so that the two sets of connecting ropes 320 and connectors are symmetrically arranged. When the driving source 310 is working, the two output ends of the driving source 310 rotate simultaneously, driving the two connecting ropes 320 to move simultaneously, thereby driving the two ends of the shearing assembly 400 to rotate synchronously towards the driving source 310, which helps to improve the stability of the movement of the shearing assembly 400 and the overall reliability.

[0047] In this embodiment, the drive source 310 can be a dual-output-axis stepper motor, a dual-output-axis servo motor, a dual-output-axis geared motor, etc., and a suitable dual-output-axis motor can be selected according to the actual situation.

[0048] like Figure 3 As shown, due to the cooperation between the drive source 310 and the connecting rope 320, although the shearing assembly 400 can be moved towards the drive source 310, the shearing assembly 400 cannot be effectively reset. Therefore, the swing structure 300 also includes a reset member 350. The reset member 350 includes a compression spring, one end of which is fixedly connected to the housing 111. When the shearing assembly 400 approaches the drive source 310, the connecting rope 320 is tightened, and the shearing assembly 400 gradually contacts the compression spring and compresses it. When the shearing assembly 400 needs to be reset, the output shaft of the drive source 310 rotates in the opposite direction, causing the connecting rope 320 to be released, and the compression spring to recover its deformation. Under the action of the compression spring recovering its deformation, the shearing assembly 400 is reset.

[0049] In this embodiment, the reset member 350 can be disposed in the middle of the housing 111 or near the edge of the housing 111. When it is located near the edge of the housing 111, two reset members 350 are provided, and the two reset members 350 are symmetrically arranged to make the reset force of the shear assembly 400 more uniform. In this embodiment, the reset member 350 can also be a spring.

[0050] When it is inconvenient to install a compression spring or spring on the outer casing 111, a connecting plate 360 ​​can be provided. The connecting plate 360 ​​is fixedly installed on the outer casing 111 by bolts, and one end of the compression spring or spring is fixedly welded to the connecting plate 360.

[0051] In another embodiment, the swing structure 300 can also be configured as a servo motor or a stepper motor. The servo motor or stepper motor is installed at the rotatable connection between the shearing assembly 400 and the housing 111. The output shaft of the servo motor or stepper motor is fixedly connected to the shearing assembly 400, so that the operation of the servo motor or stepper motor can drive the shearing assembly 400 to swing back and forth, adaptively dropping the fruit stalk branch to be cut into the shearing assembly 400, thereby reducing the accuracy of identifying and positioning the fruit stalk and fruit.

[0052] In this application, the swing structure 300 has the characteristics of simple transmission path, light weight and good flexibility. Compared with the crank-slider-rocker mechanism, it can improve power transmission efficiency and reduce motion resistance, thereby improving the motion reliability of the end effector.

[0053] In some embodiments, such as Figure 6-14 As shown, the shearing assembly 400 includes a shearing structure 800, a driving structure 700, and a biomimetic structure 600. The biomimetic structure 600 is rotatably mounted on the outer casing 111 and is used to agitate the fruit and grip the fruit stalk. The shearing structure 800 is assembled inside the biomimetic structure 600 and is used to shear the fruit stalk. The driving structure 700 is used to drive the movement of the shearing structure 800. Through the cooperation of the shearing structure 800, the driving structure 700, and the biomimetic structure 600, the biomimetic structure 600 can penetrate deep into the area obstructed by branches and leaves, allowing the fruit stalk to enter the biomimetic structure 600. Then, the driving structure 700 drives the shearing structure 800 to move, cutting off the fruit stalk, resulting in high harvesting efficiency.

[0054] In one embodiment, such as Figure 6-8 As shown, the bionic structure 600 includes a mounting frame 610 and bionic fingers 640. The mounting frame 610 is rotatably connected to the outer shell 111, and two bionic fingers 640 are spaced apart on the top of the mounting frame 610 for gripping the fruit stalk. A shearing structure 800 is assembled inside the mounting frame 610 and partially located within the two bionic fingers 640 for shearing the fruit stalk that enters between the two bionic fingers 640. The arrangement of the two bionic fingers 640 provides two advantages: firstly, the structure is relatively simple and easy to penetrate areas obscured by branches and leaves; secondly, it can cooperate with the mounting frame 610 to form fingers and part of a hand, which is beneficial for enveloping the fruit.

[0055] In this embodiment, the mounting frame 610 includes a first housing 611 and a second housing 612, which are fixedly connected by bolts. After the first housing 611 and the second housing 612 are fixed, a first notch 601 is provided at the top of the mounting frame 610. Two bionic fingers 640 are respectively fixedly connected to both ends of the first notch 601, so that the first notch 601 communicates with the interior of the bionic fingers 640. Each of the two bionic fingers 640 has a second notch 602 on its opposite side, so that the first notch 601 and the second notch 602 communicate. A shearing structure 800 is partially located within the first notch 601 and the second notch 602, allowing the fruit stalk to be sheared by the shearing structure 800.

[0056] In this embodiment, such as Figure 6As shown, connecting sleeves are fixedly installed on both sides of the first housing 611 for mounting the first roller 330 with bolts. Two symmetrical lugs 620 are fixedly installed on the bottom of the first housing 611, with a long bolt protruding from each lug 620. Support arms 630 are installed on the outer shell 111 at positions corresponding to each lug 620. Each support arm 630 is aligned with the through hole on each lug 620, and the long bolt protrudes from the two fitting through holes, allowing the lug 620 to rotate relative to the support arm 630, thereby allowing the mounting bracket 610 to rotate relative to the outer shell 111.

[0057] To make the use of the support arm 630 more convenient, a connecting arm 631 is fixedly connected between the two support arms 630, and the connecting arm 631 is fixedly connected to the stop block 113 by bolts.

[0058] In some embodiments, such as Figure 2 and Figure 6 As shown, to detect whether the mounting bracket 610 has moved into position under the action of the swing structure 300, the shearing mechanism also includes a first detection element 500. The first detection element 500 is mounted on the housing 111 and is used to detect the position of the mounting bracket 610.

[0059] In this embodiment, the first detection element 500 includes a metal detection switch, which is fixedly mounted on one side of the housing 111 by bolts. When the mounting bracket 610 moves to the metal detection switch due to the swing structure 300, it can be detected by the metal detection switch, indicating that the movement position of the bionic structure 600 meets the requirements. To facilitate the installation of the metal detection switch, a mounting base can also be installed between the metal detection switch and the housing 111.

[0060] Understandably, the outer casing 111 is left unopened on the other side of the metal detection switch to avoid affecting it. The metal detection switch can be an inductive proximity switch, a Hall effect proximity switch, etc. When the metal detection switch is a Hall effect proximity switch, a permanent magnet needs to be installed in the first casing 611 at the corresponding location of the Hall effect proximity switch. Alternatively, a suitable metal detection switch can be selected and adapted according to the actual situation.

[0061] In some embodiments, such as Figure 9-12 As shown, the shearing structure 800 includes a fixed blade 810, a movable blade 820, and a transmission block 830. The fixed blade 810 is fixedly mounted within the mounting bracket 610. The movable blade 820 is rotatably mounted within the mounting bracket 610. One end of the transmission block 830 is fixedly connected to the movable blade 820, and the other end is kinetically connected to the drive structure 700, which drives the transmission block 830 to move. When the drive structure 700 is working, it can drive the transmission block 830 to move, thereby causing the movable blade 820 to rotate relative to the fixed blade 810, thus achieving active shearing of the fruit stalk.

[0062] In this embodiment, the fixed blade 810 is Z-shaped, with one part of its cutting edge located inside the bionic finger 640 and the other part inside the first notch 601. The shank of the fixed blade 810 is inside the mounting bracket 610 and extends downward. The cutting edge of the movable blade 820 is located inside the bionic finger 640 and is opposite to the cutting edge of the fixed blade 810. This creates a gradually narrowing guide structure between the two bionic fingers 640, where the cutting edges of the fixed blade 810 and the movable blade 820 are narrower than wide. Combined with the back-and-forth movement, this allows the fruit stem to automatically slide into the shearing area during the movement.

[0063] Compared to conventional end effectors that require high-precision recognition and alignment, the passive adaptive guidance of the fruit stalk is achieved through the cooperation of the swing structure 300, the bionic structure 600 and the shearing structure 800. Even if there is a positioning error in the robotic arm, the fruit stalk can still gradually enter the shearing blade area during the plucking process. Therefore, the requirements of the vision module and control system on positioning accuracy can be reduced, and the fault tolerance of harvesting in complex natural environments can be improved.

[0064] In this embodiment, such as Figure 9 and Figure 11 As shown, the lower part of the cutting edge of the fixed blade 810 and the lower part of the shank of the fixed blade 810 are fixedly connected to the first housing 611 and the second housing 612 by bolts.

[0065] In this embodiment, such as Figure 12 As shown, the top of the transmission block 830 is connected to the moving blade 820 and the fixed blade 810 via a connecting shaft 840. One end of the connecting shaft 840 has a protrusion, and the other end is screwed with a nut, connecting the transmission block 830, the fixed blade 810, and the moving blade 820. The connecting shaft 840 has a first connecting ring 841, on which the top of the transmission block 830 and the moving blade 820 are fitted. The first connecting ring 841 has a second connecting ring 842, on which the fixed blade 810 is fitted, thus fixing the relative positions of the fixed blade 810, the moving blade 820, and the transmission block 830.

[0066] In this embodiment, a locking block 831 is fixedly mounted on the transmission block 830, and the moving blade 820 has a receiving groove. The locking block 831 is located in the receiving groove. The lower part of the transmission block 830 is a sector bevel gear 832, which is used for transmission connection with the drive structure 700. When the drive structure 700 is working, the sector bevel gear 832 can drive the transmission block 830 to rotate relative to the connecting shaft 840, and then drive the moving blade 820 to rotate relative to the fixed blade 810 through the locking block 831, thereby realizing active shearing of the fruit stalk.

[0067] In some embodiments, such as Figure 9-10As shown, the drive structure 700 includes a motor 720 and a reducer 730. Both the motor 720 and the reducer 730 are fixedly mounted within the mounting bracket 610. The output shaft of the motor 720 is connected to the input end of the reducer 730, and the output end of the reducer 730 is connected to the transmission block 830. Through the cooperation of the motor 720 and the reducer 730, greater torque can be provided, enabling the cutting of fruit stems of different diameters, thereby improving cutting efficiency and preventing jamming.

[0068] In this embodiment, such as Figure 9-10 and Figure 13 As shown, the motor 720 and the reducer 730 are enclosed by the fixed housing 710. The free end of the fixed housing 710 is fixedly connected to the lower part of the blade shank of the fixed blade 810 by bolts, so that the motor 720 can be stably installed in the mounting bracket 610 and the reducer 730 is enclosed to prevent leaves, branches and other debris from entering and affecting the operation of the reducer 730.

[0069] In this embodiment, a support 740 is installed at the bottom of the reducer 730. The support 740 is fixedly connected to the fixed housing 710 by bolts, thereby fixing the position of the reducer 730. The reducer 730 includes a planetary reducer and a helical gear 750. One end of the drive shaft 760 of the planetary reducer passes through the support 740. The end of the drive shaft 760 located inside the support 740 is connected to the output shaft of the motor 720 through a synchronizing member 722. When the motor 720 is working, it can drive the drive shaft 760 to rotate through the synchronizing member 722, thereby driving the planetary reducer to work.

[0070] In one specific embodiment, the synchronizing element 722 can be configured as a timing belt or a chain; when the synchronizing element 722 is a timing belt, a first tensioning pulley 721 is splined on the output shaft of the motor 720, and a second tensioning pulley 741 is splined on one end of the drive shaft 760 located in the support 740, and the timing belt is tensioned on the first tensioning pulley 721 and the second tensioning pulley 741; when the synchronizing element 722 is a chain, a first sprocket is splined on the output shaft of the motor 720, and a second sprocket is splined on one end of the drive shaft 760 located in the support 740, and the chain meshes with the first sprocket and the second sprocket.

[0071] In this embodiment, the reducer 730 and the helical gear 750 are connected by a transmission pair shaft. A sealed bearing 751 is sleeved between the transmission pair shaft and the fixed housing 710. On the one hand, it is used to seal the connection, and on the other hand, it reduces the friction at the connection.

[0072] In one specific implementation, such as Figure 14As shown, the planetary reducer is configured as a three-stage planetary reducer and a ring gear 770. Understandably, the three-stage planetary reducer is initially driven by a drive shaft 760, with a helical gear 750 splinedly mounted on top of the drive shaft. The three-stage planetary reducer includes three identical gear sets and three planetary gear carriers 763; the ring gear 770 is fitted onto the three-stage planetary reducer, and the vertical teeth 771 on the inner side of the ring gear 770 mesh with each gear set.

[0073] Each gear set includes a sun gear 761 and three planet gears 762. The first-stage sun gear 761 is splinedly connected to the drive shaft 760. The three first-stage planet gears 762 are mounted on the first-stage planetary gear carrier 763 at equal angles. The second-stage sun gear 761 is fixedly mounted in the middle of the first-stage planetary gear carrier 763, and the three second-stage planet gears 762 are mounted on the second-stage planetary gear carrier 763 at equal angles. The third-stage sun gear 761 is fixedly mounted in the middle of the second-stage planetary gear carrier 763, and the three third-stage planet gears 762 are mounted on the third-stage planetary gear carrier 763 at equal angles. Each stage's planet gear 762 meshes with its respective stage's sun gear 761, and simultaneously, each stage's planet gear 762 meshes with the vertical teeth 771 on the inner side of the gear ring 770.

[0074] When the drive shaft 760 rotates, it drives the first-stage sun gear 761 to rotate. The rotation of the first-stage sun gear 761 drives the three first-stage planetary gears 762 to rotate, and the first-stage planetary gears 762 rotate on the gear ring 770. At the same time, the first-stage planetary gear carrier 763 rotates, and the transmission is carried out step by step, thereby converting the high speed and low torque of the DC motor 720 into low speed and high torque. In this process, the third-stage planetary gear carrier 763 drives the transmission countershaft to rotate, and the rotation of the transmission countershaft drives the helical gear 750 to rotate. Since the helical gear 750 meshes with the sector bevel gear 832, it drives the transmission block 830 to rotate, which in turn drives the moving blade 820 to rotate relative to the fixed blade 810.

[0075] In this embodiment, the outer wall of the gear ring 770 has a limiting block 772, and the inner wall of the fixing shell 710 has a limiting groove 711. The limiting block 772 is engaged in the limiting groove 711, thereby fixing the position of the gear ring 770.

[0076] In this embodiment, a rear cover 765 is fixedly installed on the support 740 by bolts, and a gasket 764 is installed on the rear cover 765, thereby cooperating with the third-stage planetary gear carrier 763 to constrain the gear set.

[0077] In another embodiment, the reduction element 730 can also be configured as a worm gear reducer and a helical gear 750. In this configuration, the motor 720 is connected to the worm gear drive, the worm gear has a drive shaft 760, one end of the drive shaft 760 is splinedly connected to the helical gear 750, and the helical gear 750 meshes with the transmission block 830.

[0078] In this embodiment, the motor 720 can be a DC motor, a servo motor, a geared motor, etc., and a suitable motor can be selected according to the actual situation.

[0079] In one embodiment, such as Figure 9-10 As shown, a second detection element 900 is also installed inside the mounting bracket 610 to detect the movement position of the moving blade 820. The second detection element 900 is fixedly installed inside the first housing 611 and corresponds to the position of the locking block 831, and is used to cooperate with the locking block 831 to detect the movement position of the moving blade 820.

[0080] In this embodiment, the second detection element 900 includes a Hall effect detection plate. The Hall effect detection plate is fixedly installed inside the first housing 611 by bolts. Both the locking block 831 and the transmission block 830 have through holes 833, and cylindrical magnets are embedded in the through holes 833, corresponding to the Hall effect detection plate. The position of the transmission block 830 can be detected by the Hall effect, and thus the movement position of the moving blade 820 can be detected. If the moving blade 820 does not move to the designated position, the drive structure 700 continues to drive the moving blade 820 to move, thereby effectively cutting off the fruit stem.

[0081] Understandably, the second detection component 900 can also select a suitable detector based on the actual situation.

[0082] This application also discloses a fruit harvesting device, including the aforementioned fruit harvesting end effector. By installing the aforementioned fruit harvesting end effector on the fruit harvesting device, the success rate of fruit harvesting can be improved.

[0083] In this application, the drive source 310, motor 720, first detection element 500 and second detection element 900 are all controlled by the first controller. The vision sensor 200 is electrically connected to the second controller. The second controller can be installed on the fruit picking device or in a suitable location according to the actual situation. The second controller can be an industrial vision control computer, an embedded AI platform, etc., and a suitable second controller can be selected according to the actual situation.

[0084] In this application, after the vision sensor 200 identifies the target fruit, the end effector, moved by the robotic arm, moves to a lower position on the fruit and then moves upwards to approach the fruit further, allowing the fruit to enter the end effector. Simultaneously, the swing structure 300 controls the bionic structure 600 to rotate and move, at which point the fruit stem to be cut will adaptively enter between the two bionic fingers 640, positioning the stem between the moving blade 820 and the fixed blade 810. Then, depending on the specific situation, the robotic arm will drive the end effector to move a short distance backwards and upwards, further lowering the stem between the moving blade 820 and the fixed blade 810. Finally, the drive structure 700 is activated, driving the moving blade 820 to move, working in conjunction with the fixed blade 810 to cut the stem. The fruit falls into the pipe 120 inside the end effector and into the collection box of the fruit picking device, completing a single picking action.

[0085] The above provides a detailed description of a fruit-picking end effector and device provided in this application. The specific embodiments are described only to aid in understanding the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

[0086] It should be noted that the terms "one embodiment," "embodiment," "some alternative embodiments," "exemplary embodiments," and "some embodiments" used in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A fruit-picking end effector, characterized in that, The device includes a loading structure (100), a vision module, and a shearing mechanism. The vision module is installed on one side of the loading structure (100) for identifying and locating the fruit. The shearing mechanism is installed on one side of the loading structure (100) for actively shearing the fruit stalks located within the loading structure (100). The shearing mechanism includes a swinging structure (300) and a shearing assembly (400). The shearing assembly (400) is rotatably installed on one side of the loading structure (100) for actively shearing the fruit stalks located within the loading structure (100). The swinging structure (300) is installed on the loading structure (100) for controlling the swinging of the shearing assembly (400).

2. The fruit-picking end effector according to claim 1, characterized in that, The shearing assembly (400) includes a shearing structure (800), a driving structure (700), and a bionic structure (600). The bionic structure (600) is rotatably mounted on the loading structure (100) for moving the fruit and holding the fruit stalk. The shearing structure (800) is assembled inside the bionic structure (600) for shearing the fruit stalk. The driving structure (700) is used to drive the shearing structure (800) to move.

3. The fruit-picking end effector according to claim 2, characterized in that, The bionic structure (600) includes a mounting frame (610) and bionic fingers (640). The mounting frame (610) is rotatably connected to the loading structure (100). The two bionic fingers (640) are spaced apart on the top of the mounting frame (610) for clamping the fruit stalk. The shearing structure (800) is assembled inside the mounting frame (610) and partially located inside the two bionic fingers (640) for shearing the fruit stalk that enters between the two bionic fingers (640).

4. The fruit-picking end effector according to claim 2, characterized in that, The shearing structure (800) includes a fixed blade (810), a movable blade (820), and a transmission block (830). The fixed blade (810) is fixedly assembled inside the bionic structure (600), and the movable blade (820) is rotatably mounted inside the bionic structure (600). One end of the transmission block (830) is fixedly connected to the movable blade (820), and the other end is connected to the drive structure (700). The drive structure (700) is used to drive the transmission block (830) to move.

5. The fruit-picking end effector according to claim 2, characterized in that, The drive structure (700) includes a motor (720) and a reducer (730). The motor (720) and the reducer (730) are both fixedly installed in the bionic structure (600). The output shaft of the motor (720) is connected to the input end of the reducer (730), and the output end of the reducer (730) is connected to the shearing structure (800).

6. The fruit-picking end effector according to any one of claims 2-5, characterized in that, The shearing mechanism further includes a first detection element (500) and a second detection element (900). The first detection element (500) is assembled inside the loading structure (100) and is used to detect the position of the bionic structure (600). The second detection element (900) is assembled at the shearing structure (800) and is used to detect the position of the shearing structure (800).

7. The fruit-picking end effector according to claim 1, characterized in that, The swing structure (300) includes a drive source (310), a connecting rope (320), and a connector. The drive source (310) is fixedly installed inside the loading structure (100), the connector is fixedly installed on the shearing mechanism, and the connecting rope (320) is connected between the output end of the drive source (310) and the connector.

8. The fruit-picking end effector according to any one of claims 2-5, characterized in that, The vision module includes a vision sensor (200) mounted on a loading structure (100).

9. The fruit-picking end effector according to any one of claims 2-5, characterized in that, The loading structure (100) includes a loading frame (110) and a pipe (120), the pipe (120) being fixedly connected to the loading frame (110) for transporting the cut fruit.

10. A fruit-harvesting device, characterized in that, Includes the fruit-picking end effector as described in any one of claims 1-9.

Images