Grabbing, shearing and twisting integrated fruit and vegetable picking actuator

Abstract

The utility model discloses a grabbing, shearing and twisting integrated fruit and vegetable picking actuator which comprises a cylindrical shell, the axial direction of the cylindrical shell faces the direction of fruits and vegetables to be picked, and the direction of the fruits and vegetables to be picked is the forward direction. The rear end of the cylindrical shell is closed and the front end is provided with an opening; an axial movement mechanism is arranged at the middle rear part of the cylindrical shell, and a circumferential movement mechanism matched with the axial movement mechanism is arranged at the middle front part of the cylindrical shell; the axial movement mechanism is used for driving the upper clamping jaw and the lower clamping jaw to close or open through the upper connecting rod hinging mechanism and the lower connecting rod hinging mechanism; the circumferential movement mechanism is used for driving the upper clamping jaw and the lower clamping jaw to rotate under the driving of the circumferential movement mechanism so as to twist off and cut off possible still connected parts of the stem; the closing action of the upper clamping jaw and the lower clamping jaw is the grabbing action of grabbing fruits and vegetables, the action of inserting the blade into the blade groove is the cutting action, and the grabbing action and the cutting action are two-in-one synchronous actions.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit and vegetable picking, in particular to a fruit and vegetable picking actuator. Background Art

[0002] There are many kinds of fruits and vegetables, which are indispensable to people's daily life. Various fruits and vegetables, such as apples and tomatoes, need to be picked manually for storage or transportation after they are ripe. Manual picking of fruits and vegetables is labor-intensive and may require people to bend over or work at heights for a long time, which may cause falls, sprains, overwork injuries, cuts and other problems, posing certain risks to health and safety, and the picking efficiency is low.

[0003] To this end, fruit and vegetable pickers using visual recognition technology have been continuously researched and developed in recent years. The basic principle is to determine the position and depth information of fruits and vegetables through visual recognition technology, and the fruit and vegetable pickers (executors) complete the picking action.

[0004] The picking action of existing fruit and vegetable pickers is either to cut the fruit stalk first and then grab the fruit, or to grab the fruit first and then cut the fruit stalk. There is also a technology that only grabs without cutting, and then pulls the fruits and vegetables down by pulling. If it is not cut, the whole plant will shake violently when the fruits and vegetables are pulled, which may shake other ripe fruits off. The particles are easily damaged after falling to the ground uncontrollably, and it is not easy to pick them up one by one. If it is cut, there is also a situation where the fruit stalk cannot be completely cut off. If the skin of the fruit stalk is not cut off, when retrieving the fruit, the plant will also shake, causing the ripe fruit to be shaken off.

[0005] The existing fruit and vegetable picker fails to combine grasping and shearing into one action (thus the picking efficiency needs to be improved), and also fails to adopt a subsequent action after the grasping and shearing action to improve the separation rate of the fruit being successfully separated from the plant. Utility Model Content

[0006] The utility model aims to provide an integrated grasping, shearing and twisting fruit and vegetable picking actuator, which combines the grasping and shearing actions into a two-in-one action, improves the picking efficiency, and increases the separation rate of fruits successfully separated from plants through the twisting action.

[0007] To achieve the above-mentioned purpose, the utility model of the integrated grasping, shearing and twisting fruit and vegetable picking actuator comprises a cylindrical shell, the axial direction of the cylindrical shell is toward the direction of the fruits and vegetables to be picked, and the direction of the fruits and vegetables to be picked is the forward direction; the rear end of the cylindrical shell is closed and the front end is provided with an opening;

[0008] The cylindrical shell is provided with an axial motion mechanism at the middle rear part, and a circumferential motion mechanism matching the axial motion mechanism is provided at the middle front part of the cylindrical shell; the axial motion mechanism is connected with a rear upper hinge seat and a rear lower hinge seat which can rotate with the circumferential motion mechanism, and the circumferential motion mechanism is connected with a middle upper hinge seat and a middle lower hinge seat;

[0009] A front bearing serving as an end cover of the cylindrical housing is provided at the front opening of the cylindrical housing, a bearing shell is fixed to the outer ring of the front bearing, the rear end of the bearing shell is open, and the bearing shell is fixedly connected to the cylindrical housing, an upper support hinge seat is provided at the middle upper part of the front side of the front bearing, and a lower support hinge seat is provided at the middle lower part of the front side of the front bearing;

[0010] An upper connecting rod articulation mechanism is provided between the rear upper articulation seat, the middle upper articulation seat and the upper support articulation seat, and an upper clamping claw is articulated at the front end of the upper connecting rod articulation mechanism;

[0011] A lower connecting rod hinge mechanism is provided between the rear lower hinge seat, the middle lower hinge seat and the lower support hinge seat, and a lower clamping claw is hinged at the front end of the lower connecting rod hinge mechanism; the upper clamping claw and the lower clamping claw are both in a hollow spherical shape and the notches of the two are opposite to each other.

[0012] The front end of the upper clamp is downwardly connected with a blade for cutting the fruit stalk, and the upper surface of the front end of the lower clamp is provided with a knife groove corresponding to the blade for accommodating the blade and bending the uncut part of the fruit stalk to a right angle and increasing the tension of the uncut part of the fruit stalk;

[0013] The axial motion mechanism is used to drive the upper jaw and the lower jaw to close or open through the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism; the circumferential motion mechanism is used to drive the upper jaw and the lower jaw to perform rotational motion under the drive of the circumferential motion mechanism to twist off the part of the handle that may still be connected after the cutting action (cutting action is shearing action);

[0014] The closing action of the upper clamp and the lower clamp is the grabbing action for grabbing fruits and vegetables, the action of inserting the blade into the knife groove is the cutting action, and the grabbing action and the cutting action are two-in-one synchronous actions; the rotational movement of the upper clamp and the lower clamp is the twisting action.

[0015] The upper connecting rod articulation mechanism comprises a rear upper connecting rod articulated on a rear upper articulation seat, the front end of the rear upper connecting rod is articulated with a middle upper connecting rod and a front upper connecting rod through a middle upper node, and the other end of the middle upper connecting rod is articulated downward with the middle upper articulation seat.

[0016] The front upper connecting rod is hinged to a front upper node forwardly, the front upper node is hinged to an upper supporting connecting rod backwardly, and the upper supporting connecting rod is hinged to an upper supporting hinge seat backwardly; the front upper connecting rod is hinged to the upper supporting connecting rod and the rear end bottom of the upper clamping claw through the front upper node;

[0017] The lower connecting rod articulation mechanism comprises a rear lower connecting rod articulated on a rear lower articulation seat, the front end of the rear lower connecting rod is articulated with a middle lower connecting rod and a front lower connecting rod through a middle lower node, and the other end of the middle lower connecting rod is articulated upward with the middle lower articulation seat.

[0018] The front lower connecting rod is hinged with a front lower node forwardly, the front lower node is hinged with a lower supporting connecting rod backwardly, and the lower supporting connecting rod is hinged with a lower supporting hinge seat backwardly; the front lower connecting rod is hinged with the lower supporting connecting rod and the rear end bottom of the lower clamp through the front lower node.

[0019] An upper through slot and a lower through slot are provided in the middle front portion of the cylindrical shell corresponding to the rear upper connecting rod and the rear lower connecting rod, and both the upper through slot and the lower through slot extend along the axial direction of the cylindrical shell;

[0020] The upper through groove is used to provide space for the rear upper connecting rod and the middle upper connecting rod to extend upward from the cylindrical housing and perform axial forward and backward displacement and circumferential rotation displacement.

[0021] The lower through groove is used to provide space for the rear lower connecting rod and the middle lower connecting rod to extend downward from the cylindrical housing and perform axial front-back displacement and circumferential rotation displacement.

[0022] The axial motion mechanism includes a stepper motor, the stepper motor is connected to a screw through a coupling, the stepper motor is fixed to the rear end of the cylindrical shell, and the screw extends along the axial direction of the cylindrical shell to the front bearing;

[0023] A rear axial positioning plate is connected to the middle of the screw rod, a sleeve is sleeved on the screw rod in front of the rear axial positioning plate, and the rear axial positioning plate is used to position the sleeve at the extreme position of rearward displacement;

[0024] A rear toothed nut is threadedly connected to the screw rod in front of the sleeve, and the rear toothed nut is radially fixedly connected to a front connecting plate. The front connecting plate is connected to the front end of the sleeve through a rear bearing and is used to drive the sleeve to move axially forward and backward;

[0025] The rear upper hinge seat is fixed to the upper part of the sleeve, and the rear lower hinge seat is fixed to the lower part of the sleeve;

[0026] The front end of the rear toothed nut is connected forwardly with a rear tooth with a tip facing forward;

[0027] A guiding constraint structure is provided in the cylindrical shell for constraining the circumferential angle of the rear toothed nut and providing axial guidance for the rear toothed nut. The guiding constraint structure is used to force the rear toothed nut to move forward or backward when the screw rotates. When the rear toothed nut moves forward and backward, it drives the sleeve to move forward and backward together, thereby driving the upper and lower jaws to close or open through the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism.

[0028] The structure of the circumferential motion mechanism is:

[0029] The inner ring of the front bearing is interference-fitted with a front sleeve rod, and the front sleeve rod is forwardly mounted through a mounting frame to mount the upper support hinge seat and the lower support hinge seat; an upper through hole and a lower through hole are opened at the front end of the bearing shell corresponding to the upper support hinge seat and the lower support hinge seat, and the upper through hole and the lower through hole are used to provide activity space for the upper support connecting rod and the lower support connecting rod;

[0030] The bearing shell between the upper through hole and the lower through hole protrudes forward and is provided with a hollow support groove body. The front end of the screw rod passes through the front sleeve rod and extends into the support groove body and rotates with the support groove body. The support groove body is used to support the front end of the screw rod; the screw rod and the front sleeve rod rotate with each other;

[0031] The front sleeve rod is equipped with front teeth with the tip facing backwards, and the front teeth are adapted to the rear teeth. The rear teeth are driven by the axial motion mechanism to move forward and insert into the rear teeth. In the process of meshing with the rear teeth, the rear teeth drive the rear teeth to rotate. The rear teeth drive the upper clamping jaw and the lower clamping jaw to rotate as a whole through the front sleeve rod, the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism to form a twisting action.

[0032] A plurality of reset springs are connected to the circumferential surface of the front sleeve rod at evenly spaced intervals along the circumferential direction, and each reset spring extends radially and is connected to the inner wall of the cylindrical shell; the reset spring is used to drive the front sleeve rod, the front teeth, the upper clamping jaw and the lower clamping jaw to rotate and reset when the axial motion mechanism drives the rear teeth to retreat away from the front teeth.

[0033] The utility model has the following advantages:

[0034] The front and rear sides of the fruit stem cutting part are supported by the groove wall of the knife groove, which improves the success rate of the fruit stem cutting in one time. The knife groove has a right-angle bending effect on the unbroken part of the fruit stem, thus enhancing the cutting effect of the cutting action. The unbroken part of the fruit stem goes deep into the knife groove under the pressure of the blade, which increases the tension on the unbroken part of the fruit stem, is more conducive to twisting off, and improves the success rate of the subsequent twisting off action.

[0035] In the past, the grabbing action and the cutting action were two actions. The structure of the utility model ensures that the grabbing action and the cutting action are two-in-one synchronous actions, which improves the efficiency of fruit and vegetable picking. The structure of the utility model allows that during the cutting action, if the fruit stalk is not broken at the beginning of cutting (one-time cutting action), the cut part will be bent 90 degrees and pressed into the knife groove, bearing a much greater cutting force than the cutting process without a knife groove, thereby enhancing the cutting effect and improving the cutting rate of the cutting action. After the cutting action, the twisting action is followed. At this time, the unbroken part is still pressed deep into the knife groove by the blade. The tension on the unbroken part is already very strong (very tight). The twisting action at this time will greatly increase the force on the unbroken part of the fruit stalk, greatly increasing the probability of twisting compared to the situation where the fruit stalk is not subjected to tension or is not obviously subjected to tension during twisting.

[0036] The utility model adopts a purely mechanical structure and completes the grasping action, the cutting action and the twisting action under one drive of an action device (stepping motor). Each picking action includes the grasping action, the cutting action and the twisting action. The cutting action is coordinated with the knife groove, and the twisting action is coordinated with the strong tension formed by the knife groove and the blade on the fruit stalk (the unbroken part of the fruit stalk is bent and further away from the plant body when it is forced into the knife groove by the blade, and thus has a stronger tension). The probability that the fruit stalk of the fruit and vegetable is not completely separated from the plant body after one picking action is performed is significantly reduced compared with the past, thereby avoiding the subsequent troubles caused by an unsuccessful picking, and improving the picking effect, picking efficiency and picking success rate.

[0037] The upper connecting rod articulation mechanism and the lower connecting rod articulation mechanism have simple structures, low costs, reliable action execution, and can reliably drive the upper clamping jaw and the lower clamping jaw to close or open under the drive of the axial motion mechanism. The cylindrical shell is cleverly designed to meet the installation and action requirements of the axial motion mechanism and the circumferential motion mechanism.

[0038] The structures of the axial motion mechanism and the circumferential motion mechanism can reliably complete the axial drive and circumferential drive functions. Except for the stepper motor, it is a purely mechanical structure with reliable movement and long-term maintenance-free operation.

[0039] The utility model has simple steps for use, can be operated by hand, and can be operated with the help of a mechanical arm, which is convenient and flexible. The twisting action does not need to be controlled separately, and the stepper motor only needs one rotation to complete all the cutting actions and twisting actions, which is simple to control and convenient to operate.

[0040] Since the cutting action has two cutting actions, namely, the primary cutting action and the secondary cutting action, the cutting success rate is significantly improved compared with the past. With the utility model, the probability that the fruit stem is still not cut after the twisting action is performed is extremely low, which greatly reduces the subsequent processing workload caused by the fruit stem not being completely cut off compared with the past. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of an integrated grabbing, shearing and twisting fruit and vegetable picking actuator.

[0042] Figure 2 It is a schematic diagram of the three-dimensional structure of the integrated grasping, cutting and twisting fruit and vegetable picking actuator.

[0043] Figure 3 It is a schematic diagram of the three-dimensional structure of the cylindrical shell.

[0044] Figure 4 It is a right side view of the cylindrical shell.

[0045] Figure 5 It is a structural schematic diagram of the integrated grabbing, shearing and twisting fruit and vegetable picking actuator after removing the cylindrical shell.

[0046] Figure 6 It is a schematic diagram of the three-dimensional structure of the integrated grabbing, shearing and twisting fruit and vegetable picking actuator after removing the cylindrical shell.

[0047] Figure 7 This is a schematic diagram of the three-dimensional structure of the integrated grabbing, shearing and twisting fruit and vegetable picking actuator after removing the cylindrical shell from another angle. DETAILED DESCRIPTION

[0048] like Figures 1 to 7 As shown, the integrated grabbing, shearing and twisting fruit and vegetable picking actuator of the utility model comprises a cylindrical shell 1, the axial direction of the cylindrical shell 1 is toward the direction of the fruits and vegetables to be picked, and the direction of the fruits and vegetables to be picked is the forward direction; the rear end of the cylindrical shell 1 is closed and the front end is provided with an opening; in the utility model, up and down are relative directions, which only have the meaning of expressing the relative structural relationship of related components, rather than the up and down directions when in use.

[0049] The cylindrical shell 1 is provided with an axial motion mechanism at the middle rear part, and a circumferential motion mechanism matching the axial motion mechanism is provided at the middle front part; the axial motion mechanism is connected with a rear upper hinge seat 2 and a rear lower hinge seat 3 which can rotate with the circumferential motion mechanism, and the circumferential motion mechanism is connected with a middle upper hinge seat 4 and a middle lower hinge seat 5;

[0050] A front bearing 6 serving as an end cover of the cylindrical shell 1 is provided at the front end opening of the cylindrical shell 1, a bearing shell 7 is fixed to the outer ring (fixed part) of the front bearing 6, the rear end of the bearing shell 7 is open, the bearing shell 7 is fixedly connected to the cylindrical shell 1 by a plurality of bolts, an upper support hinge seat 8 is provided at the middle and upper part of the front side of the front bearing 6, and a lower support hinge seat 9 is provided at the middle and lower part of the front side of the front bearing 6; the upper support hinge seat 8 and the lower support hinge seat 9 are rotatable parts that can rotate relative to the screw 10.

[0051] An upper connecting rod hinge mechanism is provided between the rear upper hinge seat 2, the middle upper hinge seat 4 and the upper support hinge seat 8, and an upper clamping claw 11 is hinged at the front end of the upper connecting rod hinge mechanism;

[0052] A lower connecting rod hinge mechanism is provided between the rear lower hinge seat 3, the middle lower hinge seat 5 and the lower support hinge seat 9, and a lower clamping jaw 12 is hinged at the front end of the lower connecting rod hinge mechanism; the upper clamping jaw 11 and the lower clamping jaw 12 are both in the shape of a hollow spherical segment (approximately a hemispherical segment) and the notches of the two are opposite to each other up and down;

[0053] The front end of the upper clamping jaw 11 is downwardly connected with a blade 13 for cutting the fruit stem, and the upper surface of the front end of the lower clamping jaw 12 is provided with a knife groove 14 corresponding to the blade 13 for accommodating the blade 13 and bending the uncut part of the fruit stem to a right angle and increasing the tension of the uncut part of the fruit stem;

[0054] The front and rear sides of the cut part of the fruit stem are supported by the groove wall of the knife groove 14, which improves the success rate of cutting the fruit stem in one time. The knife groove 14 has a right-angle bending effect on the uncut part of the fruit stem, thereby enhancing the cutting effect of the cutting action. The uncut part of the fruit stem goes deep into the knife groove 14 under the pressure of the blade 13, which increases the tension on the uncut part of the fruit stem, is more conducive to twisting off, and improves the success rate of twisting off in the subsequent twisting off action.

[0055] The axial motion mechanism is used to drive the upper clamping jaw 11 and the lower clamping jaw 12 to close or open relative to each other through the upper connecting rod hinge mechanism and the lower upper connecting rod hinge mechanism; the circumferential motion mechanism is used to drive the upper clamping jaw 11 and the lower clamping jaw 12 to perform rotational motion under the drive of the circumferential motion mechanism to twist off the part of the handle that may still be connected after the cutting action;

[0056] The closing action of the upper clamping jaw 11 and the lower clamping jaw 12 is the grabbing action of grabbing fruits and vegetables, the action of the blade 13 inserting into the knife groove 14 is the cutting action, and the grabbing action and the cutting action are two-in-one synchronous actions; the rotational movement of the upper clamping jaw 11 and the lower clamping jaw 12 is the twisting action.

[0057] When in use, the utility model preferably cooperates with a visual recognition mechanism and a mechanical arm driven by the visual recognition mechanism. The utility model is installed on the mechanical arm, and the mechanical arm is driven by the visual recognition mechanism to aim at the fruits and vegetables to be picked. Of course, the utility model can also be manually operated to aim at the fruits and vegetables to be picked when in use.

[0058] In the past, the grabbing action and the cutting action were two actions. The structure of the utility model ensures that the grabbing action and the cutting action are two-in-one synchronous actions, thereby improving the efficiency of fruit and vegetable picking. The structure of the utility model allows that during the cutting action, if the fruit stalk is not broken at the beginning of cutting (one-time cutting action), the cut portion will be bent 90 degrees and pressed into the knife groove 14, bearing a much greater cutting force than the cutting process without the knife groove 14, thereby enhancing the cutting effect and improving the cutting rate of the cutting action. After the cutting action, the twisting action is followed. At this time, the unbroken part is still pressed deep into the knife groove 14 by the blade 13. The tension on the unbroken part is already very strong (very tight). The twisting action at this time will greatly increase the force on the unbroken part of the fruit stalk, greatly increasing the probability of twisting compared to the situation where the fruit stalk is not subjected to tension or is not obviously subjected to tension during twisting.

[0059] The utility model adopts a purely mechanical structure and completes the grasping action, the cutting action and the twisting action under one drive of an action device (stepping motor). Each picking action includes the grasping action, the cutting action and the twisting action. The cutting action is coordinated with the knife groove 14, and the twisting action is coordinated with the strong tension formed on the fruit stalk by the knife groove 14 and the blade 13 (the unbroken part of the fruit stalk is bent and further away from the plant body when it is forced into the knife groove 14 by the blade 13, so it has a strong tension). After one picking action is performed, the probability that the fruit stalk of the fruit and vegetable is not completely separated from the plant body is significantly reduced compared with the past, thereby avoiding the subsequent trouble caused by an unsuccessful picking, and improving the picking effect, picking efficiency and picking success rate.

[0060] The upper connecting rod articulation mechanism comprises a rear upper connecting rod 15 articulated on the rear upper articulation seat 2, the front end of the rear upper connecting rod 15 is articulated with a middle upper connecting rod 17 and a front upper connecting rod 18 through a middle upper node 16, and the other end of the middle upper connecting rod 17 is articulated downwardly with the middle upper articulation seat 4;

[0061] The front upper link 18 is hinged forwardly with a front upper node 19, and the front upper node 19 is hinged backwardly with an upper support link 20, and the upper support link 20 is hinged downwardly and backwardly with the upper support hinge seat 8; the front upper link 18 is hinged to the upper support link 20 and the rear end bottom of the upper clamp 11 through the front upper node 19;

[0062] The lower connecting rod articulation mechanism includes a rear lower connecting rod 21 articulated on the rear lower articulation seat 3. The front end of the rear lower connecting rod 21 is articulated with a middle lower connecting rod 23 and a front lower connecting rod 24 through a middle lower node 22. The other end of the middle lower connecting rod 23 is articulated upward to the middle lower articulation seat 5.

[0063] The front lower connecting rod 24 is hinged to the front lower node 25 forwardly, the front lower node 25 is hinged to the lower supporting connecting rod 26 backwardly, and the lower supporting connecting rod 26 is hinged to the lower supporting hinge seat 9 upwardly and backwardly; the front lower connecting rod 24 is hinged to the lower supporting connecting rod 26 and the rear end top of the lower clamp 12 through the front lower node 25.

[0064] The upper connecting rod articulated mechanism and the lower connecting rod articulated mechanism have simple structures, low costs, reliable action execution, and can reliably drive the upper clamping jaw 11 and the lower clamping jaw 12 to close or open under the drive of the axial motion mechanism.

[0065] An upper through groove 27 and a lower through groove are provided in the middle front part of the cylindrical shell 1 corresponding to the rear upper connecting rod 15 and the rear lower connecting rod 21. Both the upper through groove 27 and the lower through groove extend along the axial direction of the cylindrical shell 1. The lower through groove is symmetrically arranged with the upper through groove 27, and the figure does not show the lower through groove in detail.

[0066] The upper through slot 27 is used to provide space for the rear upper connecting rod 15 and the middle upper connecting rod 17 to extend upward from the cylindrical housing 1 and perform axial forward and backward displacement and circumferential rotation displacement;

[0067] The lower through groove is used to provide space for the rear lower connecting rod 21 and the middle lower connecting rod 23 to extend downward from the cylindrical housing 1 and to perform axial forward and backward displacement and circumferential rotation displacement.

[0068] The cylindrical housing 1 is cleverly designed to meet the installation and movement requirements of the axial motion mechanism and the circumferential motion mechanism.

[0069] The axial motion mechanism includes a stepper motor 30, the stepper motor 30 is connected to a screw 10 via a coupling 31, the stepper motor 30 is fixed to the rear end of the cylindrical housing 1, and the screw 10 extends along the axial direction of the cylindrical housing 1 to the front bearing 6;

[0070] A rear axial positioning plate 32 is fixedly connected to the middle of the screw rod 10, and a sleeve 33 is sleeved on the screw rod 10 in front of the rear axial positioning plate 32. The rear axial positioning plate 32 is used to position the sleeve 33 to the extreme position of the rearward displacement;

[0071] A rear toothed nut 34 is threadedly connected to the screw rod 10 in front of the sleeve 33, and a front connecting plate 35 is radially fixedly connected to the rear toothed nut 34. The front connecting plate 35 is connected to the front end of the sleeve 33 through the rear bearing and is used to drive the sleeve 33 to move forward and backward axially; specifically, the front connecting plate 35 is fixedly connected to the outer ring of the rear bearing, and the inner ring of the rear bearing is fixedly connected to the sleeve. The bearing is conventional technology and is not shown in the figure.

[0072] The rear upper hinge seat 2 is fixed to the upper part of the sleeve 33, and the rear lower hinge seat 3 is fixed to the lower part of the sleeve 33;

[0073] The front end of the rear toothed nut 34 is connected forwardly with a rear tooth 36 with a tip facing forward;

[0074] A guiding and restraining structure is provided in the cylindrical shell 1 for restraining the circumferential angle of the rear toothed nut 34 and providing axial guidance for the rear toothed nut 34. The guiding and restraining structure is used to force the rear toothed nut 34 to move forward or backward when the screw 10 rotates. When the rear toothed nut 34 moves forward and backward, it drives the sleeve 33 to move forward and backward together, thereby driving the upper jaw 11 and the lower jaw 12 to close or open through the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism.

[0075] It is a conventional technology in the field to constrain the circumferential angle of the nut so that it moves forward or backward when the screw 10 rotates. The guide constraint structure in the present invention includes a guide groove 37 arranged on the circumferential end surface of the front connecting plate 35 and a guide ridge 38 arranged on the inner wall of the cylindrical shell 1, and the guide ridge 38 is arranged in a one-to-one correspondence with the guide groove 37; in the present invention, two guide grooves 37 are symmetrically arranged on the left and right sides of the front connecting plate 35 (two on the front side and two on the rear side), and the guide ridges 38 are also arranged in a one-to-one correspondence with the guide grooves 37, and a total of four are arranged. Figure 4In the embodiment, two adjacent guide ridges 38 form a groove shape.

[0076] The rear axial positioning plate 32 can be fixedly connected to the screw rod 10, or its axial position can be only positioned by the stopper on the screw rod 10 without limiting the rear axial positioning plate 32 from rotating circumferentially relative to the screw rod 10. When the latter connection method is adopted, the rear axial positioning plate 32 can also be provided with a guide groove 37 and matched with a guide ridge 38.

[0077] The structure of the circumferential motion mechanism is:

[0078] The inner ring of the front bearing 6 is interference-fitted with a front sleeve rod 39, and the front sleeve rod 39 is installed forward through the mounting frame to install the upper support hinge seat 8 and the lower support hinge seat 9; the front end of the bearing shell 7 is provided with an upper through hole 40 and a lower through hole 41 corresponding to the upper support hinge seat 8 and the lower support hinge seat 9, and the upper through hole 40 and the lower through hole 41 are used to provide activity space for the upper support connecting rod 20 and the lower support connecting rod 26;

[0079] The bearing housing 7 between the upper through hole 40 and the lower through hole 41 is protruded forward and is provided with a hollow support groove body 42. The front end of the screw rod 10 passes through the front sleeve rod 39 and extends into the support groove body 42 and rotates with the support groove body 42. The support groove body 42 is used to support the front end of the screw rod 10; the screw rod 10 and the front sleeve rod 39 are rotated (the two can rotate relative to each other);

[0080] The front sleeve rod 39 is provided with a front tooth 43 with a tip facing backward, and the front tooth 43 is adapted to the rear tooth 36. The rear tooth 36 moves forward under the drive of the axial motion mechanism and inserts into the rear tooth 36. In the process of meshing with the rear tooth 36, the rear tooth 36 is driven to rotate. The rear tooth 36 drives the upper clamping jaw 11 and the lower clamping jaw 12 to rotate integrally through the front sleeve rod 39, the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism to form a twisting action.

[0081] A plurality of reset springs 44 are connected to the circumferential surface of the front sleeve rod 39 at evenly spaced intervals along the circumferential direction, and each reset spring 44 extends radially and is connected to the inner wall of the cylindrical shell 1; the reset spring 44 is used to drive the front sleeve rod 39, the front teeth 43, the upper clamping jaw 11 and the lower clamping jaw 12 to rotate and reset when the axial motion mechanism drives the rear teeth 36 to retreat away from the front teeth 43.

[0082] The structures of the axial motion mechanism and the circumferential motion mechanism can reliably complete the axial drive and circumferential drive functions. Except for the stepping motor 30, it is a purely mechanical structure, has reliable operation, and can operate for a long time without maintenance.

[0083] The utility model also discloses a method for using the above-mentioned integrated grasping, shearing and twisting fruit and vegetable picking actuator. The first step is to aim at the fruits and vegetables to be picked; the upper clamping jaw 11 and the lower clamping jaw 12 are aimed at the fruits and vegetables to be picked in any of the following two ways:

[0084] 1. The cylindrical housing 1 is mounted on a mechanical arm and the mechanical arm is guided by a visual recognition mechanism so that the upper clamping jaw 11 and the lower clamping jaw 12 are aligned with the fruits and vegetables to be picked;

[0085] 2. Manually operate the cylindrical housing 1 so that the upper clamping jaw 11 and the lower clamping jaw 12 are aligned with the fruits and vegetables to be picked;

[0086] The second step is to complete the grabbing action and the cutting action (the action of inserting the blade 13 into the knife groove 14);

[0087] The stepper motor 30 is started to drive the screw rod 10 to rotate, and the screw rod 10 drives the rear toothed nut 34 to move forward. The rear toothed nut 34 drives the lower connecting rod hinge mechanism and the upper connecting rod hinge mechanism to extend forward through the sleeve 33, forcing the upper clamping jaw 11 and the upper supporting connecting rod 20 to rotate downward around the upper supporting hinge seat 8; at the same time, the lower clamping jaw 12 and the lower supporting connecting rod 26 are forced to rotate upward around the lower supporting hinge seat 9, completing the grabbing action of wrapping the fruits and vegetables to be picked; while the grabbing action is being carried out, the blade 13 is inserted into the knife groove 14, and the blade 13 initially enters the knife groove 14 to produce a cutting effect on the fruit stalk; if the fruit stalk is not in a In the case where the fruit stalk is completely cut off under the secondary cutting action, the uncut part of the fruit stalk is bent 90 degrees under the pressure of the blade 13 and penetrates into the knife groove 14. In this process, the fruit stalk is subjected to a secondary cutting action formed by the bending force, the tight pressure from the groove wall of the knife groove 14 and the downward cutting force of the blade 13; if the fruit stalk is not completely cut off under the secondary cutting action, the uncut part of the fruit stalk enters the groove bottom of the knife groove 14 under the action of the blade 13, increasing the tension between the uncut part of the fruit stalk and the fruit and vegetable body; the primary cutting action and the secondary cutting action are both the results of the cutting action (the action of the blade 13 inserting into the knife groove 14);

[0088] The third step is to complete the twisting action;

[0089] After the grabbing action and the cutting action are completed synchronously, as the stepping motor 30 continues to drive the screw 10 to rotate, the rear teeth 36 press the front teeth 43 forward and gradually form a meshing state with the front teeth 43. In the process of the rear teeth 36 pressing the front teeth 43 forward, the rear teeth 36 force the front teeth 43 to rotate circumferentially (the rotation angle depends on the matching tooth shape design of the front teeth 43 and the rear teeth 36). The front teeth 43 drive the upper support hinge seat 8 and the lower support hinge seat 9 to rotate through the front sleeve rod 39. The upper support hinge seat 8 and the lower support hinge seat 9 drive the upper clamping jaw 11 and the lower clamping jaw 12 to rotate synchronously through the upper support connecting rod 20 and the lower support connecting rod 26. At this time, the unbroken part of the fruit stalk pressed by the blade 13 in the knife groove 14 rotates, and the twisting action is performed; since there is tension between the unbroken part of the fruit stalk and the fruit and vegetable body due to the pressing of the blade 13, the twisting action easily twists off the unbroken part of the fruit stalk;

[0090] During the third step, each return spring 44 is rotated and twisted to generate a return elastic force;

[0091] The fourth step is to control the stepper motor 30 to reverse, forcing the rear toothed nut 34 to retreat, and the rear teeth 36 to disengage from the front teeth 43, and the front teeth 43 and the front sleeve rod 39 rotate and reset under the action of the reset elastic force;

[0092] Repeat the first to fourth steps, picking one fruit of the fruit or vegetable each time the first to fourth steps are performed.

[0093] The utility model has simple steps for use, can be operated by hand, and can be operated with the help of a mechanical arm, which is convenient and flexible. The twisting action does not need to be controlled separately, and the stepper motor 30 only needs one rotation to complete all the cutting actions and twisting actions, which is simple to control and convenient to operate.

[0094] Since the cutting action has two cutting actions, namely, the primary cutting action and the secondary cutting action, the cutting success rate is significantly improved compared with the past. With the utility model, the probability that the fruit stem is still not cut after the twisting action is performed is extremely low, which greatly reduces the subsequent processing workload caused by the fruit stem not being completely cut off compared with the past.

[0095] The above embodiments are only used to illustrate but not limit the technical solutions of the present invention. Although the present invention is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that the present invention can still be modified or replaced by equivalents without departing from any modification or partial replacement of the spirit and scope of the present invention, such as replacing the screw 10 with a ball screw, replacing the rear toothed nut 34 with a ball screw nut, and setting a rear tooth 36 structure at the front end of the ball screw nut, and the ball screw nut drives the sleeve 33 to move forward and backward axially. Such equivalent replacement structures should be included in the scope of the claims of the present invention. Since the cost of the ball screw and the ball screw nut is higher than the solution of the screw 10 and the toothed nut plus the guide constraint structure, it is preferred to adopt the axial drive structure of the screw 10 and the toothed nut plus the guide constraint structure.

Claims

1. An integrated grasping, cutting and twisting fruit and vegetable picking actuator comprises a cylindrical shell, the axial direction of which is toward the direction of the fruits and vegetables to be picked, with the direction of the fruits and vegetables to be picked as the forward direction; the rear end of the cylindrical shell is closed and the front end is provided with an opening; Features: The cylindrical shell is provided with an axial motion mechanism at the middle rear part, and a circumferential motion mechanism matching the axial motion mechanism is provided at the middle front part of the cylindrical shell; the axial motion mechanism is connected with a rear upper hinge seat and a rear lower hinge seat which can rotate with the circumferential motion mechanism, and the circumferential motion mechanism is connected with a middle upper hinge seat and a middle lower hinge seat; A front bearing serving as an end cover of the cylindrical housing is provided at the front opening of the cylindrical housing, a bearing shell is fixed to the outer ring of the front bearing, the rear end of the bearing shell is open, and the bearing shell is fixedly connected to the cylindrical housing, an upper support hinge seat is provided at the middle upper part of the front side of the front bearing, and a lower support hinge seat is provided at the middle lower part of the front side of the front bearing; An upper connecting rod articulation mechanism is provided between the rear upper articulation seat, the middle upper articulation seat and the upper support articulation seat, and an upper clamping claw is articulated at the front end of the upper connecting rod articulation mechanism; A lower connecting rod hinge mechanism is provided between the rear lower hinge seat, the middle lower hinge seat and the lower support hinge seat, and a lower clamping claw is hinged at the front end of the lower connecting rod hinge mechanism; the upper clamping claw and the lower clamping claw are both in a hollow spherical shape and the notches of the two are opposite to each other. The front end of the upper clamp is downwardly connected with a blade for cutting the fruit stalk, and the upper surface of the front end of the lower clamp is provided with a knife groove corresponding to the blade for accommodating the blade and bending the uncut part of the fruit stalk to a right angle and increasing the tension of the uncut part of the fruit stalk; The axial motion mechanism is used to drive the upper clamping jaw and the lower clamping jaw to close or open through the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism; the circumferential motion mechanism is used to drive the upper clamping jaw and the lower clamping jaw to perform rotational motion under the drive of the circumferential motion mechanism to twist off the part of the handle that may still be connected after the cutting action; The closing action of the upper clamp and the lower clamp is the grabbing action for grabbing fruits and vegetables, the action of inserting the blade into the knife groove is the cutting action, and the grabbing action and the cutting action are two-in-one synchronous actions; the rotational movement of the upper clamp and the lower clamp is the twisting action.

2. The integrated grabbing, shearing and twisting fruit and vegetable picking actuator according to claim 1, Features: The upper connecting rod articulation mechanism comprises a rear upper connecting rod articulated on a rear upper articulation seat, the front end of the rear upper connecting rod is articulated with a middle upper connecting rod and a front upper connecting rod through a middle upper node, and the other end of the middle upper connecting rod is articulated downward with the middle upper articulation seat. The front upper connecting rod is hinged to a front upper node forwardly, the front upper node is hinged to an upper supporting connecting rod backwardly, and the upper supporting connecting rod is hinged to an upper supporting hinge seat backwardly; the front upper connecting rod is hinged to the upper supporting connecting rod and the rear end bottom of the upper clamping claw through the front upper node; The lower connecting rod articulation mechanism comprises a rear lower connecting rod articulated on a rear lower articulation seat, the front end of the rear lower connecting rod is articulated with a middle lower connecting rod and a front lower connecting rod through a middle lower node, and the other end of the middle lower connecting rod is articulated upward with the middle lower articulation seat. The front lower connecting rod is hinged with a front lower node forwardly, the front lower node is hinged with a lower supporting connecting rod backwardly, and the lower supporting connecting rod is hinged with a lower supporting hinge seat backwardly; the front lower connecting rod is hinged with the lower supporting connecting rod and the rear end bottom of the lower clamp through the front lower node.

3. The integrated grabbing, shearing and twisting fruit and vegetable picking actuator according to claim 2, Features: An upper through slot and a lower through slot are provided in the middle front portion of the cylindrical shell corresponding to the rear upper connecting rod and the rear lower connecting rod, and both the upper through slot and the lower through slot extend along the axial direction of the cylindrical shell; The upper through groove is used to provide space for the rear upper connecting rod and the middle upper connecting rod to extend upward from the cylindrical housing and perform axial front-back displacement and circumferential rotation displacement; The lower through groove is used to provide space for the rear lower connecting rod and the middle lower connecting rod to extend downward from the cylindrical housing and perform axial front-back displacement and circumferential rotation displacement.

4. The integrated grabbing, shearing and twisting fruit and vegetable picking actuator according to claim 3, Features: The axial motion mechanism includes a stepper motor, the stepper motor is connected to a screw through a coupling, the stepper motor is fixed to the rear end of the cylindrical shell, and the screw extends along the axial direction of the cylindrical shell to the front bearing; A rear axial positioning plate is connected to the middle of the screw rod, a sleeve is sleeved on the screw rod in front of the rear axial positioning plate, and the rear axial positioning plate is used to position the sleeve at the extreme position of rearward displacement; A rear toothed nut is threadedly connected to the screw rod in front of the sleeve, and the rear toothed nut is radially fixedly connected to a front connecting plate. The front connecting plate is connected to the front end of the sleeve through a rear bearing and is used to drive the sleeve to move axially forward and backward; The rear upper hinge seat is fixed to the upper part of the sleeve, and the rear lower hinge seat is fixed to the lower part of the sleeve; The front end of the rear toothed nut is connected forwardly with a rear tooth with a tip facing forward; A guiding constraint structure is provided in the cylindrical shell for constraining the circumferential angle of the rear toothed nut and providing axial guidance for the rear toothed nut. The guiding constraint structure is used to force the rear toothed nut to move forward or backward when the screw rotates. When the rear toothed nut moves forward and backward, it drives the sleeve to move forward and backward together, thereby driving the upper and lower jaws to close or open through the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism.

5. The integrated grabbing, shearing and twisting fruit and vegetable picking actuator according to claim 4, Features: The structure of the circumferential motion mechanism is: The inner ring of the front bearing is interference-fitted with a front sleeve rod, and the front sleeve rod is forwardly mounted through a mounting frame to mount the upper support hinge seat and the lower support hinge seat; an upper through hole and a lower through hole are opened at the front end of the bearing shell corresponding to the upper support hinge seat and the lower support hinge seat, and the upper through hole and the lower through hole are used to provide activity space for the upper support connecting rod and the lower support connecting rod; The bearing shell between the upper through hole and the lower through hole protrudes forward and is provided with a hollow support groove body. The front end of the screw rod passes through the front sleeve rod and extends into the support groove body and rotates with the support groove body. The support groove body is used to support the front end of the screw rod; the screw rod and the front sleeve rod rotate with each other; The front sleeve rod is equipped with front teeth with the tip facing backwards, and the front teeth are adapted to the rear teeth. The rear teeth are driven by the axial motion mechanism to move forward and insert into the rear teeth. In the process of meshing with the rear teeth, the rear teeth drive the rear teeth to rotate. The rear teeth drive the upper clamping jaw and the lower clamping jaw to rotate as a whole through the front sleeve rod, the upper connecting rod hinge mechanism and the lower connecting rod hinge mechanism to form a twisting action. A plurality of reset springs are connected to the circumferential surface of the front sleeve rod at evenly spaced intervals along the circumferential direction, and each reset spring extends radially and is connected to the inner wall of the cylindrical shell; the reset spring is used to drive the front sleeve rod, the front teeth, the upper clamping jaw and the lower clamping jaw to rotate and reset when the axial motion mechanism drives the rear teeth to retreat away from the front teeth.

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