End effector for picking fruits and vegetables

Abstract

The utility model belongs to the technical field of agricultural tools, and discloses an end effector for picking fruits and vegetables, which comprises a base, a guide channel, a handle and a handle. The mounting frame is fixedly connected to the top face of the base, the mounting frame is rotationally connected with an electric push rod through a rotating shaft, a lifting air cylinder is arranged on the mounting frame, a ring sleeve is hinged to the output end of the lifting air cylinder, the electric push rod is slidably sleeved with the ring sleeve, the output end of the electric push rod faces the upper portion of the guide channel and is connected with a rotating assembly, and scissors are connected to the rotating assembly. The scissors correspond to the guide channel up and down, and an automatic opening and closing assembly is arranged on the scissors; according to the fruit and vegetable picking device, in the whole picking process, the connecting positions of fruits and vegetables and branches cannot be torn, the fruits and the vegetables cannot be damaged, the integrity of the picked fruits and the vegetables is guaranteed, and the fruits and the vegetables can be stored for a long time.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural tools, and in particular relates to an end effector for picking fruits and vegetables. Background Art

[0002] Fruits and vegetables are a general term for vegetables, that is, melons and vegetables. For example, apples, pears, peaches, cucumbers, loofahs and other fruits and vegetables that grow in hanging styles at high places often require climbing up trees or setting up scaffolding to pick them by hand, and climbing to high places involves certain risks.

[0003] For example, an existing Chinese patent discloses a spherical fruit and vegetable flexible picking end effector CN219146173U, which is driven by a driving motor to enable the fruits and vegetables wrapped and fixed by the first clamp, the second clamp and the third clamp to quickly detach from the main rod under the action of rotation.

[0004] For example, an existing Chinese patent discloses a fruit and vegetable picking robot end effector CN210610363U, which first sucks the picked fruits and vegetables through a vacuum suction cup, and then drives the gripper to close and hold tightly, to avoid picking failure due to the excessive weight of the fruits and vegetables or loose grip.

[0005] For example, an existing Chinese patent discloses an adaptive flexible fruit and vegetable picking end effector CN203896769U, which uses tendon rope transmission to enable each finger to rotate flexibly to achieve enveloping grasping of fruits and vegetables.

[0006] However, the above-mentioned prior art is easy to tear the connection between fruits and vegetables and branches during actual application, making it impossible to store and preserve the fruits and vegetables for a long time. Utility Model Content

[0007] In order to solve the above technical problems, the utility model proposes an end effector for picking fruits and vegetables, aiming to solve or improve at least one of the above technical problems.

[0008] To achieve the above-mentioned purpose, the utility model provides an end effector for picking fruits and vegetables, comprising:

[0009] A base, one side of which is fixedly connected with a guide channel;

[0010] An installation frame, wherein the installation frame is fixedly connected to the top surface of the base, the installation frame is rotatably connected to an electric push rod through a rotating shaft, a lifting cylinder is arranged on the installation frame, an output end of the lifting cylinder is hinged with a ring sleeve, the ring sleeve is slidably sleeved on the electric push rod, the output end of the electric push rod faces upwards of the guide channel and is connected to a rotating component, a scissors is connected to the rotating component, the scissors corresponds to the guide channel up and down, and an automatic opening and closing component is arranged on the scissors.

[0011] Optionally, the rotating assembly includes a support frame with a built-in motor, the support frame is rotatably connected to a connecting frame, the connecting frame is fixedly connected to an output shaft of the built-in motor in the support frame, and the connecting frame is fixedly connected to a central axis of the scissors.

[0012] Optionally, the automatic opening and closing component includes a fixed disk and a rotating disk with a built-in motor, the rotating disk is divided into a fixed end and a rotating end, the fixed disk and the fixed end of the rotating disk are respectively fixedly connected to the two connecting rods of the scissors, and a rotating rod is fixedly connected between the eccentric part of the top surface of the fixed disk and the eccentric part of the top surface of the rotating end of the rotating disk.

[0013] Optionally, a pair of air boxes are fixedly connected to the top surface of the base, and the pair of air boxes are respectively located on both sides of the scissors. Airflow injection components are installed on the air boxes, and the output ends of the airflow injection components are facing upwards of the guide channel.

[0014] Optionally, a pair of pneumatic flexible clamps are installed on the base, and the pair of pneumatic flexible clamps are located above the guide channel.

[0015] Optionally, a bone ring is circumferentially fixed to the top of the guide channel, and the bone ring is fixed to the base.

[0016] Optionally, the rubber bone ring is made of PE material.

[0017] Optionally, the guide channel is made of PP material.

[0018] Compared with the prior art, the utility model has the following advantages and technical effects:

[0019] The base is connected to an external mechanical arm, which drives the base to move to the position of fruits and vegetables and makes the fruits and vegetables located above the guide channel. The approximate position of the scissors at the end of the electric push rod relative to the fruits and vegetables is adjusted by lifting the cylinder, and then the scissors are pushed to the connection between the fruits and vegetables and the branches by the electric push rod, and the branches are located between the two blades of the scissors. Then, the position of the scissors is further fine-tuned by rotating the assembly, so that the connection between the scissors, the branches and the fruits and vegetables and the connection between the branches and the trunk are staggered, and then the scissors are controlled by the automatic opening and closing assembly to cut the fruits and vegetables. Through gravity, the cut fruits and vegetables are guided to the manual collection area along the guide channel. During the entire picking process, the connection between the fruits and vegetables and the branches will not be torn, and the fruits and vegetables will not be damaged, thereby ensuring the integrity of the fruits and vegetables after picking, so that the fruits and vegetables can be collected for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1It is a schematic diagram of the overall structure of the utility model;

[0022] Figure 2 for Figure 1 A partial enlarged view of middle A;

[0023] Figure 3 for Figure 1 A partial enlarged view of B.

[0024] In the figure: 1. base; 2. guide channel; 3. mounting frame; 4. electric push rod; 5. lifting cylinder; 6. scissors; 7. support frame; 8. connecting frame; 10. fixed plate; 11. rotating plate; 12. rotating rod; 13. air box; 14. air flow injection part; 15. rotating shaft; 16. pneumatic flexible clamp; 17. rubber bone ring; 18. ring sleeve. DETAILED DESCRIPTION

[0025] 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.

[0026] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] Reference Figure 1-Figure 3 As shown, this embodiment provides an end effector for picking fruits and vegetables, comprising:

[0028] A base 1, with a guide channel 2 fixedly connected to one side of the base 1;

[0029] The mounting frame 3 is fixedly connected to the top surface of the base 1, and the mounting frame 3 is rotatably connected to the electric push rod 4 through the rotating shaft 15. A lifting cylinder 5 is arranged on the mounting frame 3, and a ring sleeve 18 is hinged at the output end of the lifting cylinder 5, and the ring sleeve 18 is slidably sleeved on the electric push rod 4. The output end of the electric push rod 4 faces the upper side of the guide channel 2 and is connected to a rotating component, and a scissors 6 is connected to the rotating component. The scissors 6 correspond to the guide channel 2 up and down, and the scissors 6 are provided with an automatic opening and closing component.

[0030] By connecting the base 1 with an external mechanical arm, the mechanical arm drives the base 1 to move to the position of fruits and vegetables, and the fruits and vegetables are located above the guide channel 2. The approximate position of the scissors 6 at the end of the electric push rod 4 relative to the fruits and vegetables is adjusted by lifting the cylinder 5, and then the scissors 6 are pushed to the connection between the fruits and vegetables and the branches by the electric push rod 4, and the branches are located between the two blades of the scissors 6, and then the position of the scissors 6 is further fine-tuned by the rotating component, so that the connection between the scissors 6 and the branches and fruits and vegetables and the connection between the branches and the trunk are staggered, and then the scissors 6 are controlled by the automatic opening and closing component to cut the fruits and vegetables. Through gravity, the cut fruits and vegetables are guided to the manual collection place along the guide channel 2. During the entire picking process, the connection between the fruits and vegetables and the branches will not be torn, and the fruits and vegetables will not be damaged, thereby ensuring the integrity of the fruits and vegetables after picking, so that the fruits and vegetables can be collected for a long time.

[0031] According to a further optimization scheme, the rotating assembly includes a support frame 7 with a built-in motor, a connecting frame 8 is rotatably connected to the support frame 7, the connecting frame 8 is fixedly connected to the output shaft of the built-in motor in the support frame 7, and the connecting frame 8 is fixedly connected to the central axis of the scissors 6.

[0032] The motor in the support frame 7 drives the connecting frame 8 to rotate, and the connecting frame 8 can drive the scissors 6 to flip up and down, thereby improving the freedom and flexibility of the scissors 6.

[0033] A further optimized solution is that the automatic opening and closing component includes a fixed disk 10 and a rotating disk 11 with a built-in motor. The rotating disk 11 is divided into a fixed end and a rotating end. The fixed ends of the fixed disk 10 and the rotating disk 11 are respectively fixedly connected to the two connecting rods of the scissors 6, and a rotating rod 12 is fixedly connected between the eccentric part of the top surface of the fixed disk 10 and the eccentric part of the top surface of the rotating end of the rotating disk 11.

[0034] The rotation of the rotating end of the rotating disk 11 is transmitted to the fixed disk 10 through the rotating rod 12, and finally the scissors 6 are automatically opened and closed. Compared with the pull-type picker, the scissor-type picking is more efficient and causes less damage to fruits and vegetables.

[0035] According to a further optimization scheme, a pair of air boxes 13 are fixedly connected to the top surface of the base 1 , and the pair of air boxes 13 are respectively located on both sides of the scissors 6 , and an air flow injection member 14 is installed on the air box 13 , and the output end of the air flow injection member 14 faces above the guide channel 2 .

[0036] The leaves that block the fruits and vegetables are blown away by the airflow injection member 14, so that the rate of missed picking of fruits and vegetables on the tree trunk is greatly reduced, which greatly reduces the loss of fruit farmers.

[0037] According to a further optimized solution, a pair of pneumatic flexible clamps 16 are installed on the base 1 , and the pair of pneumatic flexible clamps 16 are located above the guide channel 2 .

[0038] The pneumatic flexible clamps 16 are used to clamp and fix the fruits and vegetables, thereby improving the stability of the fruits and vegetables during the picking process.

[0039] According to a further optimized solution, a bone ring 17 is circumferentially fixed to the top of the guide channel 2 , and the bone ring 17 is fixed to the base 1 .

[0040] The guide channel 2 is opened by the rubber bone ring 17, which makes it easy to fall into the guide channel 2. By setting the rubber bone ring 17, when encountering a position with dense tree trunks, the rubber bone ring 17 can be deformed after contacting the tree trunks, which makes it easy to shuttle between the tree trunks, so that the rubber bone ring 17 can effectively correspond to the position of fruits and vegetables, thereby improving flexibility.

[0041] According to a further optimization scheme, the rubber bone ring 17 is made of PE material.

[0042] To further optimize the solution, the guide channel 2 is made of PP material.

[0043] Working principle:

[0044] The base 1 is connected to the end of the external mechanical arm, so that the pneumatic flexible clamp 16 grabs the fruits and vegetables at a high place, and then the scissors 6 are extended forward and stopped in front of the fruits and vegetables through the electric push rod 4. The position of the scissors 6 and the branch is adjusted by the rotating component at the end of the scissors 6 and the lifting cylinder 5 under the electric push rod 4. After the position is adjusted, the scissors 6 continue to move forward until they can cut the branch. At this time, the automatic opening and closing component is activated to cut the fruits and vegetables. Due to gravity, the cut fruits and vegetables will move along the guide channel 2.

[0045] If fruits and vegetables are covered by leaves, the airflow injection member 14 will spray the leaves to expose the fruits and vegetables, and then the scissors 6 will start to operate to cut the fruits and vegetables.

[0046] After cutting the fruits and vegetables, the electric push rod 4 retracts to ensure that the blades of the scissors 6 will not damage the tree trunk and fruits and vegetables. Before the pneumatic flexible clamp 16 captures the next target, the electric push rod 4 will not stretch to expose the scissors 6, which greatly reduces the damage to fruits and vegetables and fruit trees caused by picking.

[0047] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0048] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An end effector for picking fruits and vegetables, characterized in that: include: A base (1), wherein a guide channel (2) is fixedly connected to one side of the base (1); The mounting frame (3) is fixedly connected to the top surface of the base (1), and the mounting frame (3) is rotatably connected to an electric push rod (4) via a rotating shaft (15). A lifting cylinder (5) is provided on the mounting frame (3), and an output end of the lifting cylinder (5) is hinged with a ring sleeve, and the ring sleeve is slidably sleeved on the electric push rod (4). The output end of the electric push rod (4) faces the upper side of the guide channel (2) and is connected to a rotating component. A scissors (6) is connected to the rotating component, and the scissors (6) corresponds to the guide channel (2) up and down. The scissors (6) are provided with an automatic opening and closing component.

2. The end effector for picking fruits and vegetables according to claim 1, characterized in that: The rotating assembly comprises a support frame (7) with a built-in motor, a connecting frame (8) is rotatably connected to the support frame (7), the connecting frame (8) is fixedly connected to the output shaft of the built-in motor in the support frame (7), and the connecting frame (8) is fixedly connected to the central axis of the scissors (6).

3. The end effector for picking fruits and vegetables according to claim 1, characterized in that: The automatic opening and closing assembly comprises a fixed disk (10) and a rotating disk (11) with a built-in motor, wherein the rotating disk (11) is divided into a fixed end and a rotating end, the fixed ends of the fixed disk (10) and the rotating disk (11) are respectively fixedly connected to two connecting rods of the scissors (6), and a rotating rod (12) is fixedly connected between an eccentric portion of the top surface of the fixed disk (10) and an eccentric portion of the top surface of the rotating end of the rotating disk (11).

4. The end effector for picking fruits and vegetables according to claim 1, characterized in that: A pair of air boxes (13) are fixedly connected to the top surface of the base (1), and the pair of air boxes (13) are respectively located on both sides of the scissors (6). An air flow injection member (14) is installed on the air box (13), and the output end of the air flow injection member (14) faces upward of the guide channel (2).

5. The end effector for picking fruits and vegetables according to claim 1, characterized in that: A pair of pneumatic flexible clamps (16) are mounted on the base (1), and the pair of pneumatic flexible clamps (16) are located above the guide channel (2).

6. The end effector for picking fruits and vegetables according to claim 1, characterized in that: A bone ring (17) is circumferentially fixed to the top end of the guide channel (2), and the bone ring (17) is fixed to the base (1).

7. The end effector for picking fruits and vegetables according to claim 6, characterized in that: The rubber bone ring (17) is made of PE material.

8. The end effector for picking fruits and vegetables according to claim 1, characterized in that: The guide channel (2) is made of PP material.

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