Picking and shearing integrated fruit stem end effector
By designing a fruit stem end effector including a slider, a shear handle and a storage box, the problem of debris splash caused by traditional scissors is solved, and efficient storage and production efficiency of the fruit stem is improved.
Patent Information
- Application Number
- CN202421303253.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-07
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-06-07
AI Technical Summary
The traditional method of directly cutting fruit stems with scissors will cause the fruit stem to splash, affecting the production efficiency and the storage process of the fruit.
A fruit stem end effector is designed with a pick-and-cutter, including a slider, a pick-and-cutter handle, a storage box and a transportation pipe. Through the design of the slider and a pick-and-cutter handle, the fruit stems can enter the storage box along the carrying pipe to avoid Splash of debris.
This actuator can effectively avoid splashing of fruit stems and improve the efficiency of fruit storage and production.
Smart Images
Figure CN222485417U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a fruit stalk end effector integrated with picking and cutting. Background Art
[0002] Agriculture is developing from mechanization to intelligence, and agricultural production is gradually becoming large-scale and diversified. As a cutting-edge technology in the agricultural industry, harvesting robots have great development potential in reducing labor intensity, saving production costs, improving productivity, ensuring product weight and real-time harvesting.
[0003] Many fruits, such as apples and pears, have a long stem that needs to be cut off after picking to ensure that the fruit is not damaged during transportation. The traditional method of cutting directly with scissors will cause the stem debris to splash, which is not conducive to production. Utility Model Content
[0004] The utility model aims to solve the shortcomings in the prior art and proposes a fruit stalk end effector that can pick and cut fruit stalks in one.
[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a fruit stalk end effector with integrated picking and cutting, comprising a slider, a first picking handle is fixedly connected to the top edge of the slider, a first picking blade is fixedly connected to one side of the first picking handle, a storage box is slidably connected to the bottom of the slider, a loader is fixedly connected to the top of the storage box, a second picking handle is fixedly connected to the top of the loader, a second picking blade is fixedly connected to the side of the second picking handle close to the first picking handle, a transport pipe is fixedly connected to the bottom of the second picking handle, the bottom of the transport pipe is connected to the storage box, and an open groove is provided on the side of the transport pipe close to the second picking handle.
[0006] As a further description of the above technical solution:
[0007] A slide bar is fixedly connected inside the second shearing and picking handle, a return spring is sleeved on the outer wall of the slide bar, one end of the return spring is fixedly connected to the first shearing and picking handle, and the other end of the return spring is fixedly connected to the second shearing and picking handle.
[0008] As a further description of the above technical solution:
[0009] A sliding opening is provided at the top of the slider, and a fixing opening is provided at the top of the loader.
[0010] As a further description of the above technical solution:
[0011] The bottom of the second shearing and picking handle is fixedly connected with a slide rail, and the first shearing and picking handle is slidably connected to the slide rail.
[0012] As a further description of the above technical solution:
[0013] Both the sliding opening and the fixed opening are in a crescent-like shape.
[0014] The utility model has the following beneficial effects:
[0015] The integrated fruit stem picking and cutting end effector enables the fruit stems to flow along the transport pipe into the storage box for temporary storage, thus avoiding the problem of debris splashing when cutting the ends of the fruit stems. This can speed up the fruit storage process and increase production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 This is a front view of a fruit stem end effector integrated with picking and cutting proposed by the utility model;
[0017] Figure 2 This is a diagram of a loader for a fruit stem end effector that can be picked and cut in one device proposed by the utility model;
[0018] Figure 3 for Figure 1 Medium Slider Graph.
[0019] Legend:
[0020] 1. Slider; 2. Sliding opening; 3. First shearing handle; 4. First shearing blade; 5. Second shearing handle; 6. Second shearing blade; 7. Carrying pipe; 8. Sliding rod; 9. Return spring; 10. Loader; 11. Fixed opening; 12. Storage box; 13. Slide rail. DETAILED DESCRIPTION
[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0022] Reference Figure 1-3The utility model provides a fruit stem end effector with integrated picking and cutting, comprising a slider 1, a first picking handle 3 is fixedly connected at the top edge of the slider 1, a first picking blade 4 is fixedly connected to one side of the first picking handle 3, a storage box 12 is slidably connected to the bottom of the slider 1, a loader 10 is fixedly connected to the top of the storage box 12, a second picking handle 5 is fixedly connected to the top of the loader 10, a second picking handle 5 is fixedly connected to the second picking blade 6 on the side of the second picking handle 5 close to the first picking handle 3, a transport pipe 7 is fixedly connected to the bottom of the second picking handle 5, the bottom of the transport pipe 7 is connected to the storage box 12, an open groove is provided on the side of the transport pipe 7 close to the second picking handle 5, and the design of the open groove and the picking handle can make the fruit stems enter the storage box 12 along the transport pipe 7 for temporary retention during the process of cutting the fruit stems, and then be processed in a centralized manner after the cutting and picking is completed, so as to avoid the garbage caused by the splashing of the fruit stems being difficult to handle.
[0023] The interior of the second shearing and picking handle 5 is fixedly connected to a slide rod 8, and the outer wall of the slide rod 8 is sleeved with a return spring 9, one end of the return spring 9 is fixedly connected to the first shearing and picking handle 3, and the other end of the return spring 9 is fixedly connected to the second shearing and picking handle 5. The design of the return spring 9 allows it to automatically reset after completing a shearing and picking action, reducing the difficulty of operation.
[0024] A sliding opening 2 is provided at the top of the slider 1, and a fixing opening 11 is provided at the top of the loader 10. The design of the sliding opening 2 and the fixing opening 11 facilitates one-handed operation and facilitates pouring out the stored fruit stems.
[0025] The bottom of the second shearing handle 5 is fixedly connected with a slide rail 13, and the first shearing handle 3 and the slide rail 13 are slidably connected. By designing the slide rail 13, a certain constraint can be provided between the first shearing handle 3 and the second shearing handle 5, so that the fruit stem is not easy to deviate from the notch when greater force is applied.
[0026] The sliding opening 2 and the fixed opening 11 are both in a half-moon shape, which is convenient for inserting fingers for operation.
[0027] Working principle: When in use, four fingers are inserted into the fixed opening 11, the thumb is inserted into the sliding opening 2, the longer end of the fruit stalk is placed into the transport pipe 7, and then the five fingers are closed to cut off the fruit stalk. At this time, the fruit stalk goes along the transport pipe 7 into the storage box 12 for temporary retention. After the picking is completed, it can be processed together, thus avoiding the garbage caused by the splashing of the fruit stalk that is difficult to handle.
[0028] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A fruit stem end effector integrated with picking and cutting, comprising a slider (1), characterized in that: A first shearing handle (3) is fixedly connected to the top edge of the slider (1), a first shearing blade (4) is fixedly connected to one side of the first shearing handle (3), a storage box (12) is slidably connected to the bottom of the slider (1), a loader (10) is fixedly connected to the top of the storage box (12), a second shearing handle (5) is fixedly connected to the top of the loader (10), a second shearing blade (6) is fixedly connected to the side of the second shearing handle (5) close to the first shearing handle (3), a transport pipe (7) is fixedly connected to the bottom of the second shearing handle (5), the bottom of the transport pipe (7) is connected to the storage box (12), and an open groove is provided on the side of the transport pipe (7) close to the second shearing handle (5).
2. The fruit stem end effector integrated with picking and cutting according to claim 1 is characterized by: A slide bar (8) is fixedly connected to the interior of the second shearing and picking handle (5), a return spring (9) is sleeved on the outer wall of the slide bar (8), one end of the return spring (9) is fixedly connected to the first shearing and picking handle (3), and the other end of the return spring (9) is fixedly connected to the second shearing and picking handle (5).
3. The fruit stem end effector integrated with picking and cutting according to claim 1 is characterized in that: The top of the slider (1) is provided with a sliding opening (2), and the top of the loader (10) is provided with a fixing opening (11).
4. The fruit stem end effector integrated with picking and cutting according to claim 1 is characterized in that: The bottom of the second shearing and picking handle (5) is fixedly connected to a slide rail (13), and the first shearing and picking handle (3) and the slide rail (13) are slidably connected.
5. The fruit stem end effector integrated with picking and cutting according to claim 3 is characterized by: The sliding opening (2) and the fixed opening (11) are both in a shape similar to a crescent moon.