Pneumatic pineapple picking manipulator
By designing a pneumatic pineapple picking robot, the pneumatic flexible hand mechanism and clamping mechanism are used to achieve adaptive clamping of pineapple fruits of different sizes, solving the problem that pineapple picking equipment in the prior art cannot adapt to the fruit size, and improving the picking efficiency and automation level.
Patent Information
- Application Number
- CN202421575109.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-04
- Publication Date
- 2025-04-25
- Estimated Expiration
- 2034-07-04
AI Technical Summary
The existing pineapple picking equipment cannot adapt to pineapple fruits of different sizes, resulting in mechanical damage to the pineapple fruits during the picking process and reducing their storage life.
A pneumatic pineapple picking robot is designed, using a pneumatic flexible hand mechanism and a clamping mechanism. The adaptive clamping of the pineapple fruit is achieved through the expansion of the pneumatic flexible hand mechanism, and the crown buds of the pineapple fruit are clamped through the clamping mechanism to ensure stable clamping.
The stable clamping of pineapple fruits of different sizes has been achieved, which reduces mechanical damage during the picking process, improves the efficiency of pineapple picking, and promotes the automation of the pineapple picking industry.
Smart Images
Figure CN222786432U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of pineapple picking, in particular to a pneumatic pineapple picking manipulator. Background Art
[0002] At present, pineapple picking still relies on manual harvesting. Due to the obvious grid-like texture on the outer skin of pineapples, the crown buds at the top of the pineapple fruit and the edges of the leaves have many thorns and other physical characteristics, manual picking requires wearing protective gear to avoid scratches, resulting in problems such as difficulty in picking and low operating efficiency, which cannot meet the development needs of the modern pineapple industry.
[0003] In order to solve the above problems, pineapple picking is realized automatically by using pineapple picking equipment. However, the pineapple picking end actuator of the existing pineapple picking equipment cannot adapt to pineapple fruits of different sizes, cannot effectively envelop the pineapple fruits and stably clamp the pineapple fruits. Therefore, mechanical damage will be caused to the pineapple fruits during the picking process, reducing the storage life of the pineapple fruits. Utility Model Content
[0004] The purpose of the utility model is to overcome the above-mentioned problems and provide a pneumatic pineapple picking manipulator, which can adaptively clamp the pineapple fruit according to the size of the pineapple fruit, and can effectively envelop the pineapple fruit to achieve stable clamping, thereby achieving low-loss and lossless harvesting of pineapples and improving picking efficiency.
[0005] The purpose of the utility model is achieved through the following technical solutions:
[0006] A pneumatic pineapple picking manipulator comprises a clamping device and a rotation drive device for driving the clamping device to rotate; wherein the clamping device comprises a mounting plate, a pneumatic flexible hand mechanism arranged on the mounting plate for clamping pineapple fruits, and a clamping mechanism for clamping crown buds of pineapple fruits; the clamping mechanism is located above the pneumatic flexible hand mechanism, and the driving end of the rotation drive device is connected to the mounting plate; wherein,
[0007] The pneumatic flexible hand mechanism includes multiple groups of pneumatic flexible hand components arranged in a vertical direction, each group of pneumatic flexible hand components includes a finger fixing plate and two clamping fingers arranged on the finger fixing plate and opposite to each other; the clamping fingers include a finger fixing shell arranged on the finger fixing plate and a flexible finger arranged on the finger fixing shell, and an air cavity is arranged inside the flexible finger.
[0008] The working principle of the above-mentioned pneumatic pineapple picking manipulator is:
[0009] When picking, air is filled into the air cavity of the flexible fingers through the air drive. Under the flexible action of the flexible fingers, the air cavity will expand, so that the flexible fingers can open and close to stably clamp the pineapple fruit. Since the flexible fingers clamp by expansion, the flexible fingers can adapt to the size of the pineapple fruit well. The flexible fingers can adaptively adjust their shape according to the shape of the pineapple fruit, and have a good buffering effect on the pineapple fruit. The flexible fingers can envelop the pineapple fruit to prevent damage to the pineapple fruit; at the same time, the clamping mechanism can also clamp the crown buds of the pineapple fruit, further improving the stability of the clamping. After the clamping is completed, the entire clamping device is driven to rotate by the rotating drive device, and the clamped pineapple fruit also rotates together. The breaking torque is applied by the rotating drive device to complete the separation of the fruit stem, thereby realizing the harvesting of the pineapple.
[0010] In a preferred embodiment of the utility model, the clamping mechanism is a clamping claw cylinder, which includes a cylinder disposed on the upper end of the mounting plate and two clamping claws disposed on the cylinder. In the above structure, the two clamping claws can be driven to separate from each other and approach each other by the cylinder, thereby realizing the opening and clamping action, and the crown bud of the pineapple fruit can be clamped.
[0011] Preferably, a finger air valve is provided on the finger fixing shell, one end of the finger air valve is connected to the air cavity, and the other end of the finger air valve is connected to the air driver. By setting the finger air valve, the on and off of the air flow can be controlled, thereby realizing the clamping action of the pneumatic flexible hand mechanism; specifically, when the finger air valve is opened, the gas driven by the air driver enters the air cavity of the flexible finger, causing the flexible finger to expand and deform, thereby clamping the pineapple fruit. After the clamping is stable, the finger air valve can be closed to ensure stable clamping; after picking is completed, the air driver stops working, opens the finger air valve, and discharges the gas in the air cavity of the flexible finger, thereby releasing the pineapple fruit.
[0012] Preferably, the flexible finger includes a vertical portion located on the inner side and a serrated portion located on the outer side. In the above structure, the vertical portion is arranged vertically, so that the height of the vertical portion is relatively large. Under positive pressure conditions, the high-pressure airflow is filled into the air cavity in the flexible finger through the finger air valve. Since the height of the vertical portion is relatively large and the thickness in the horizontal direction is relatively small, the bending deformation of the flexible finger in the vertical direction is limited. At the same time, the compressed gas in the air cavity expands along the gas flow direction. Under the expansion of the serrated portion, the flexible finger will bend inward, thereby enveloping and clamping the pineapple fruit; when the compressed gas in the air cavity is released, the vertical portion will restore the deformation, and the entire flexible finger will return to its original state, realizing the opening action of the flexible finger; by controlling the pressure of the compressed gas in the air cavity, the opening and closing movement of the pneumatic flexible hand mechanism to clamp and envelop the pineapple fruit is realized.
[0013] Preferably, the inner side of the flexible finger is provided with a raised texture. Specifically, the raised texture is provided on the side of the vertical portion, the purpose of which is to increase the friction between the flexible finger and the pineapple fruit and ensure the stability of the clamping.
[0014] Preferably, a connecting seat is provided between the finger fixing plate and the finger fixing shell; a conical keyway is provided at one end of the connecting seat, and the other end of the connecting seat is fixedly connected to the finger fixing shell; a slide groove is provided on the finger fixing plate, and the conical keyway is locked and installed on the slide groove by a fastener. With the above structure, the installation position of the connecting seat can be well adjusted by the fastener, thereby realizing the position of the flexible finger; the distance between the two flexible fingers can be manually adjusted according to the size of the pineapple fruit.
[0015] Preferably, a connecting plate is provided on the mounting plate, and the cylinder and the finger fixing plate are both mounted on the connecting plate. The connection plate is provided to facilitate the installation of the clamping mechanism and the pneumatic flexible hand mechanism.
[0016] Preferably, the number of the pneumatic flexible hand assemblies is two. By setting two groups of pneumatic flexible hand assemblies, that is, the number of flexible fingers is four, the two groups of pneumatic flexible hand assemblies can clamp the upper end and the lower end of the pineapple fruit respectively, and cooperate with the clamping mechanism to clamp the crown bud, which can improve the clamping stability.
[0017] Preferably, a flexible body is provided on the inner side of the clamping jaws, so that when clamping, the flexible body has a buffering effect and can reduce damage to the crown bud.
[0018] Preferably, the rotation drive device is a blade-type swing cylinder. By setting the blade-type swing cylinder, after the clamping mechanism and the pneumatic flexible hand mechanism stably clamp the pineapple, compressed air is used to drive the blades inside the blade-type swing cylinder, and torque output is achieved through rotational motion, and finally the pineapple stem is broken, the fruit stem is separated, and the picking is completed; the clamping mechanism and the pneumatic flexible hand mechanism are both pneumatic, and the blade-type swing cylinder is also pneumatic, which can make good use of the power of the air drive, the driving method is simpler, and the structure becomes very compact.
[0019] Compared with the prior art, the utility model has the following beneficial effects:
[0020] 1. The pneumatic pineapple picking manipulator in the utility model can adapt to the size of the pineapple fruit well because the flexible fingers are clamped by expansion mode. The flexible fingers can adaptively adjust their shapes according to the shape of the pineapple fruit and play a good buffering role on the pineapple fruit. The flexible fingers can envelop the pineapple fruit to prevent the pineapple fruit from being damaged.
[0021] 2. The pneumatic pineapple picking manipulator in the utility model can also clamp the crown buds of the pineapple fruit with a clamping mechanism, thereby further improving the clamping stability.
[0022] 3. The pneumatic pineapple picking manipulator in the utility model has a simple structure of a pneumatic flexible hand mechanism, is easy to control, and has the advantages of small size and light weight.
[0023] 4. The pneumatic pineapple picking manipulator in the utility model has flexible fingers that envelop and protect the pineapple fruit, and a clamping mechanism that clamps the crown bud. The picking method that applies torque through a rotating drive device is more in line with the agronomic characteristics of pineapples.
[0024] 5. The pineapple-picking picking manipulator in the utility model can realize automatic picking, improve the possibility of large-scale unmanned pineapple picking, improve the operating efficiency, and promote the automation level of the pineapple picking industry.
[0025] 6. The pneumatic pineapple picking manipulator in the utility model can provide a rotational motion within a specific angle range, which is convenient for precise control of picking. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 This is a front view of one specific implementation of a pneumatic pineapple picking manipulator in the utility model.
[0027] Figure 2 The utility model is a top view of a pneumatic pineapple picking manipulator.
[0028] Figure 3 The utility model is a three-dimensional structural schematic diagram of a pneumatic pineapple picking manipulator.
[0029] Figure 4 It is a three-dimensional structural schematic diagram of the pneumatic flexible hand mechanism in the utility model.
[0030] Figure 5 It is a schematic diagram of the three-dimensional structure of the clamping fingers in the utility model.
[0031] Figure 6 It is a schematic diagram of the internal structure of the clamping finger in the utility model.
[0032] Figure 7 It is a three-dimensional structural schematic diagram of the clamping mechanism in the utility model. DETAILED DESCRIPTION
[0033] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.
[0034] Example 1
[0035] See also Figure 1-Figure 3 The present embodiment discloses a pneumatic pineapple picking robot, which aims to improve the stability of the robot's clamping and the low-loss and lossless clamping capabilities, especially for special-shaped fruits such as pineapples. The robot in the prior art cannot have enough contact area with the pineapple surface, which leads to the inability to provide a stable clamping force, and the pineapple fruit will be damaged during clamping and picking, thereby reducing the storage life of the pineapple.
[0036] See also Figure 1-Figure 3 The pneumatic pineapple picking robot includes a clamping device and a rotating drive device 1 for driving the clamping device to rotate; wherein the clamping device includes a mounting plate 2, a pneumatic flexible hand mechanism 3 arranged on the mounting plate 2 for clamping the pineapple fruit, and a clamping mechanism 4 for clamping the crown bud of the pineapple fruit; the clamping mechanism 4 is located above the pneumatic flexible hand mechanism 3, and the driving end of the rotating drive device 1 is connected to the mounting plate 2.
[0037] See also Figure 1-Figure 6 The pneumatic flexible hand mechanism 3 includes multiple groups of pneumatic flexible hand components arranged along the vertical direction, each group of pneumatic flexible hand components includes a finger fixing plate 31 and two clamping fingers arranged on the finger fixing plate 31 and opposite to each other; the clamping fingers include a finger fixing shell 32 arranged on the finger fixing plate 31, and a flexible finger 33 arranged on the finger fixing shell 32, and an air cavity 3301 is arranged inside the flexible finger 33.
[0038] See also Figure 5 The flexible finger 33 is made of silicone material, and silicone has good flexibility.
[0039] See also Figure 1-Figure 3 and Figure 7 The clamping mechanism 4 is a clamping claw cylinder, which includes a cylinder 41 disposed at the upper end of the mounting plate 2 and two clamping claws 42 disposed on the cylinder 41. In the above structure, the cylinder 41 can drive the two clamping claws 42 to separate from each other and approach each other, thereby realizing the opening and clamping action, and the crown bud of the pineapple fruit can be clamped.
[0040] See also Figure 1-Figure 6The finger fixing shell 32 is provided with a finger air valve 34, one end of the finger air valve 34 is connected to the air cavity 3301, and the other end of the finger air valve 34 is connected to the air driver. By setting the finger air valve 34, the on and off of the air flow can be controlled, thereby realizing the clamping action of the pneumatic flexible hand mechanism 3; specifically, when the finger air valve 34 is opened, the gas driven by the air driver enters the air cavity 3301 of the flexible finger 33, causing the flexible finger 33 to expand and deform, thereby clamping the pineapple fruit. After the clamping is stable, the finger air valve 34 can be closed to ensure stable clamping; after picking is completed, the air driver stops working, opens the finger air valve 34, and discharges the gas in the air cavity 3301 of the flexible finger 33, thereby releasing the pineapple fruit.
[0041] See also Figure 1-Figure 6 , the flexible finger 33 includes a vertical portion 3302 located on the inside and a serrated portion 3303 located on the outside. In the above structure, the vertical portion 3302 is arranged vertically, so that the height of the vertical portion 3302 is relatively large. Under positive pressure conditions, the high-pressure airflow is filled into the air cavity 3301 in the flexible finger 33 through the finger air valve 34. Since the vertical portion 3302 is relatively high and the thickness in the horizontal direction is relatively small, the bending deformation of the flexible finger 33 in the vertical direction is limited. At the same time, the compressed gas in the air cavity 3301 expands along the gas flow direction. Under the expansion of the serrated portion 3303, the flexible finger 33 will bend toward the inside, thereby enveloping and clamping the pineapple fruit; when the compressed gas in the air cavity 3301 is released, the vertical portion 3302 will recover its deformation, and the entire flexible finger 33 will return to its original state, realizing the opening action of the flexible finger 33; by controlling the pressure of the compressed gas in the air cavity 3301, the opening and closing movement of the pneumatic flexible hand mechanism 3 to clamp and envelop the pineapple fruit is realized.
[0042] See also Figure 1-Figure 6 , a raised texture 3304 is provided on the inner side of the flexible finger 33. Specifically, the raised texture 3304 is provided on the side of the vertical portion 3302, and its purpose is to increase the friction between the flexible finger 33 and the pineapple fruit, thereby ensuring the stability of the clamping.
[0043] See also Figure 1-Figure 6 A connecting seat 5 is provided between the finger fixing plate 31 and the finger fixing shell 32; a conical keyway 51 is provided at one end of the connecting seat 5, and the other end of the connecting seat 5 is fixedly connected to the finger fixing shell 32; a slide groove 311 is provided on the finger fixing plate 31, and the conical keyway 51 is locked and installed on the slide groove 311 by a fastener. With the above structure, the installation position of the connecting seat 5 can be well adjusted by the fastener, so as to realize the position of the flexible finger 33; the distance between the two flexible fingers 33 can be manually adjusted according to the size of the pineapple fruit.
[0044] See also Figure 1-Figure 4 The mounting plate 2 is provided with a connecting plate 6, and the cylinder 41 and the finger fixing plate 31 are both mounted on the connecting plate 6. By providing the connecting plate 6, the installation of the clamping mechanism 4 and the pneumatic flexible hand mechanism 3 is facilitated.
[0045] See also Figure 1-Figure 4 The number of the pneumatic flexible hand assemblies is two. By setting two groups of pneumatic flexible hand assemblies, that is, the number of flexible fingers 33 is four, the two groups of pneumatic flexible hand assemblies can clamp the upper end and the lower end of the pineapple fruit respectively, and cooperate with the clamping mechanism 4 to clamp the crown bud, the stability of the clamping can be improved.
[0046] See also Figure 1-Figure 3 and Figure 7 A flexible body 7 is provided on the inner side of the clamping jaw 42, and the flexible body 7 can be made of rubber. The purpose is that when clamping, the flexible body 7 has a buffering effect, which can reduce the damage to the crown bud.
[0047] See also Figure 1-Figure 3 The rotation drive device 1 is a blade-type swing cylinder. By setting the blade-type swing cylinder, after the clamping mechanism 4 and the pneumatic flexible hand mechanism 3 stably clamp the pineapple, the compressed air is used to drive the blades inside the blade-type swing cylinder, and the torque output is achieved through the rotational motion, and finally the pineapple stem is broken, the fruit stem is separated, and the picking is completed; the clamping mechanism 4 and the pneumatic flexible hand mechanism 3 are both pneumatic, and the blade-type swing cylinder is also pneumatic, which can make good use of the power of the air drive, the driving method is simpler, and the structure becomes very compact.
[0048] See also Figure 1 The pneumatic pineapple picking manipulator also includes a mechanical arm, and the rotation drive device 1 is installed at the end of the mechanical arm. Through the movement of the mechanical arm, accurate picking of pineapple fruits can be achieved.
[0049] See also Figure 1-Figure 6 The pneumatic pineapple picking manipulator also includes a host computer, and the air driver is an air compressor, which is connected to the clamping cylinder and the blade-type swing cylinder. The host computer controls the air driver to fill the clamping mechanism 4, the rotation drive device 1 and the pneumatic flexible hand mechanism 3 with air, drives the rotation drive device 1 to complete the rotation action, drives the clamping mechanism 4 to complete the opening and closing action, and drives the pneumatic flexible hand mechanism 3 to complete the opening and closing action; the physical characteristics of the flexible fingers 33 can make the flexible fingers 33 automatically adapt to the shape of the pineapple fruit, protect the pineapple fruit from mechanical damage, and realize the adaptive size grasping of the pineapple fruit.
[0050] See also Figure 1-Figure 6 , the working principle of the above-mentioned pneumatic pineapple picking manipulator is:
[0051] When picking, air is filled into the air cavity 3301 of the flexible finger 33 through the air drive. Under the flexible action of the flexible finger 33, the air cavity 3301 will expand, so that the flexible finger 33 can realize the opening and closing action, and the pineapple fruit can be stably clamped. Since the flexible finger 33 clamps by expansion, the flexible finger 33 can adapt well to the size of the pineapple fruit. The flexible finger 33 can adaptively adjust its shape according to the shape of the pineapple fruit, and has a good buffering effect on the pineapple fruit. The flexible finger 33 can envelop the pineapple fruit to prevent the pineapple fruit from being damaged; at the same time, the clamping mechanism 4 can also clamp the crown bud of the pineapple fruit, further improving the stability of the clamping. After the clamping is completed, the entire clamping device is driven to rotate by the rotating drive device 1, and the clamped pineapple fruit also rotates together. The breaking torque is applied by the rotating drive device 1 to complete the separation of the fruit stem, thereby realizing the harvesting of the pineapple.
[0052] Example 2
[0053] The structure of this embodiment is different from that of embodiment 1 in that the clamping mechanism 4 is an electric clamping jaw 42 and the rotation driving device 1 is a motor. The electric clamping jaw 42 can be used to electrically clamp the crown buds of the pineapple fruit, and the rotation of the main shaft of the motor can drive the clamping device to rotate, with high electric control accuracy.
[0054] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.
Claims
1. A pneumatic pineapple picking manipulator, characterized in that: The invention comprises a clamping device and a rotation driving device for driving the clamping device to rotate; wherein the clamping device comprises a mounting plate, a pneumatic flexible hand mechanism arranged on the mounting plate for clamping the pineapple fruit, and a clamping mechanism for clamping the crown bud of the pineapple fruit; the clamping mechanism is located above the pneumatic flexible hand mechanism, and the driving end of the rotation driving device is connected to the mounting plate; wherein, The pneumatic flexible hand mechanism includes multiple groups of pneumatic flexible hand components arranged in a vertical direction, each group of pneumatic flexible hand components includes a finger fixing plate and two clamping fingers arranged on the finger fixing plate and opposite to each other; the clamping fingers include a finger fixing shell arranged on the finger fixing plate and a flexible finger arranged on the finger fixing shell, and an air cavity is arranged inside the flexible finger.
2. A pneumatic pineapple picking manipulator according to claim 1, characterized in that: The clamping mechanism is a clamping claw cylinder, which comprises a cylinder arranged on the upper end of the mounting plate and two clamping claws arranged on the cylinder.
3. A pneumatic pineapple picking manipulator according to claim 1, characterized in that: The finger fixing shell is provided with a finger air valve, one end of the finger air valve is communicated with the air cavity, and the other end of the finger air valve is connected with the air driver.
4. A pneumatic pineapple picking manipulator according to claim 1, characterized in that: The flexible finger includes a vertical portion located on an inner side and a serrated portion located on an outer side.
5. A pneumatic pineapple picking manipulator according to claim 4, characterized in that: The inner side of the flexible finger is provided with a raised texture.
6. A pneumatic pineapple picking manipulator according to claim 1, characterized in that: A connecting seat is provided between the finger fixing plate and the finger fixing shell; a conical keyway is provided at one end of the connecting seat, and the other end of the connecting seat is fixedly connected to the finger fixing shell; a sliding groove is provided on the finger fixing plate, and the conical keyway is locked and installed on the sliding groove by a fastener.
7. A pneumatic pineapple picking manipulator according to claim 2, characterized in that: A connecting plate is provided on the mounting plate, and the cylinder and the finger fixing plate are both mounted on the connecting plate.
8. The pneumatic pineapple picking manipulator according to claim 1, characterized in that: The number of the pneumatic flexible hand assemblies is two groups.
9. A pneumatic pineapple picking manipulator according to claim 2, characterized in that: A flexible body is arranged on the inner side of the clamping jaw.
10. The pneumatic pineapple picking manipulator according to claim 1, characterized in that: The rotation driving device is a blade type swing cylinder.