Picking end executing mechanism
By designing a picking end actuator with a telescopic cylinder and a flexible clamping layer, the problem of difficulty in stably clamping the fruits in traditional picking equipment is solved, and stable clamping and efficient picking of the fruits are achieved.
Patent Information
- Application Number
- CN202421822988.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-30
- Publication Date
- 2025-05-02
- Estimated Expiration
- 2034-07-30
AI Technical Summary
Traditional fruit picking has problems such as high labor intensity, high labor costs and low picking efficiency. Existing auxiliary devices are difficult to stably clamp fruits of different sizes, which can easily cause the fruit to slide and damage.
A picking end actuator is designed, including a mounting base, a first casing and a second casing, and the casing is opened and closed by a telescopic cylinder, and the fruit is clamped with an elastically stretched flexible cladding layer to ensure stable contact and adapt to fruits of different sizes.
It effectively avoids the fruit slip or damage, improves the stability of clamping, and is suitable for picking fruits of different sizes.
Smart Images
Figure CN222814900U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of picking equipment, in particular to a picking terminal execution mechanism. Background Art
[0002] Traditional fruit picking is mostly done by workers manually, which has the problems of high labor intensity, high labor costs and low picking efficiency. At present, auxiliary devices are usually used for picking, but the existing auxiliary devices are difficult to stably clamp fruits of different sizes, which easily causes the fruits to slip and be damaged, and the picking stability is poor; at the same time, it is easy to damage the fruit skin, affecting the fruit storage. Utility Model Content
[0003] The utility model aims to provide a picking end execution mechanism to solve the above technical problems, avoid fruit sliding or damage, and improve the stability of clamping.
[0004] The embodiment of the utility model is realized through the following technical scheme: a picking end actuator, including a mounting seat, a first basket body and a second basket body, the openings of the first basket body and the second basket body are abutted and closed, a feed hopper is fixed on the mounting seat, the first basket body and the second basket body are both rotatably connected to the feed hopper, a telescopic cylinder is respectively arranged between the mounting seat and the first basket body and the second basket body, one end of the telescopic cylinder is hinged to the first basket body or the second basket body, and the other end of the telescopic cylinder is hinged to the mounting seat, and the openings of the first basket body and the second basket body are elastically stretched with a flexible interlayer for wrapping and clamping the outer surface of the fruit.
[0005] Furthermore, a cylinder is provided at the outer edges of the openings of the first and second housings, a center rod is coaxially fixed in the cylinder, a coil spring is provided in the cylinder, one end of the coil spring is fixed on the center rod, and one end of the coil spring is connected to the outer edge of the flexible sandwich layer.
[0006] Furthermore, the lower ends of the first basket and the second basket are both provided with a through opening for conveying the fruit to the feed hopper, and the lower edge of the flexible sandwich layer is provided with a notch for avoiding the feed hopper.
[0007] Furthermore, the lower ends of the first housing and the second housing are rotatably connected via a hinge, and one end of the rotating shaft of the hinge is inserted into and clamped in the feed hopper.
[0008] Furthermore, the flexible sandwich layer may be made of cloth or mesh material.
[0009] Furthermore, a buffer hole for alleviating the impact of the fruit is provided on the feed hopper, and the feed hopper is connected with a bellows.
[0010] Furthermore, cutters for cutting fruit stems are detachably connected to the tops of the first housing and the second housing.
[0011] The utility model has at least the following advantages and beneficial effects: the telescopic cylinder drives the first basket and the second basket to open and close, so that the flexible sandwich layer elastically stretched on the openings of the first basket and the second basket clamps the fruit, thereby preventing the fruit from slipping or being damaged and improving the stability of clamping. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0013] Figure 1 A schematic diagram of the structure of a picking end actuator in a closed state provided by the utility model;
[0014] Figure 2 A schematic diagram of the structure of a picking end actuator provided by the utility model in an open state;
[0015] Figure 3 A bottom view of a first housing and a second housing of a picking end actuator provided by the utility model;
[0016] Figure 4 A front view of a first basket or a second basket of a picking end actuator provided by the utility model;
[0017] Figure 5 For this utility model Figure 1 A partial enlarged view of the middle A;
[0018] Figure 6 For this utility model Figure 4 A partial enlarged view of point B in the middle;
[0019] Icons: 1-mounting seat, 2-first basket, 20-cylinder, 21-center rod, 22-coil spring, 23-through port, 3-second basket, 4-feed hopper, 40-buffer hole, 5-telescopic cylinder, 6-flexible interlayer, 60-notch, 7-hinge, 70-rotating shaft, 8-bellows, 9-cutter. DETAILED DESCRIPTION
[0020] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Generally, the components of the embodiment of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.
[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0022] Example
[0023] like Figure 1-6 As shown, in this embodiment, a picking end actuator is mainly disclosed, which is particularly suitable for picking operations of stone fruits, pome fruits and citrus fruits. Its main structure includes a mounting base 1, a first basket 2 and a second basket 3, the openings of the first basket 2 and the second basket 3 are abutted and closed, a feed hopper 4 is fixed on the mounting base 1, the first basket 2 and the second basket 3 are both rotatably connected to the feed hopper 4, and a telescopic cylinder 5 is respectively arranged between the mounting base 1 and the first basket 2 and the second basket 3, one end of the telescopic cylinder 5 is hinged to the first basket 2 or the second basket 3, and the other end of the telescopic cylinder 5 is hinged to the mounting base 1, and the openings of the first basket 2 and the second basket 3 are elastically stretched with a flexible interlayer 6 for wrapping and clamping the outer surface of the fruit; specifically, the telescopic cylinder 5 can be electrically driven, and the lower ends of the first basket 2 and the second basket 3 are both rotatably connected to the feed hopper 4, and the mutual opening and closing of the first basket 2 and the second basket 3 is realized by the drive of the telescopic cylinder 5; when the telescopic cylinder 5 is retracted , the first basket 2 and the second basket 3 are opened, and the actuator is placed under the fruit to be picked, so that the fruit is located between the first basket 2 and the second basket 3, the telescopic rod is driven to extend, the first basket 2 and the second basket 3 are closed, and the flexible sandwich layer 6 of the first basket 2 and the second basket 3 tightly wraps the fruit. Since the flexible sandwich layer 6 is elastically stretched on the openings of the first basket 2 and the second basket 3, it is suitable for clamping fruits of different sizes. When clamping, it always maintains stable contact with the outer surface of the fruit, effectively preventing the fruit from slipping and being damaged, and improving the stability of clamping; it should be noted that the actuator can be carried on unmanned vehicles or unmanned aerial vehicles and other equipment, and move to the bottom of the fruit to be picked through the existing walking mechanism and telescopic structure to perform the picking operation; the first basket 2 and the second basket 3 can be welded with plastic materials, and the surface of the structure is provided with lightening holes, which effectively reduces the weight and manufacturing cost of the actuator and reduces the driving force required for the telescopic cylinder 5.
[0024] Furthermore, in the specific implementation, Figure 1 , 2 As shown in Figures 4 and 5, the outer edges of the openings of the first housing 2 and the second housing 3 provided in the embodiment of the utility model are both provided with a cylinder 20, a center rod 21 is coaxially fixed in the cylinder 20, a coil spring 22 is provided in the cylinder 20, one end of the coil spring 22 is fixed to the center rod 21, and one end of the coil spring 22 is connected to the outer edge of the flexible sandwich layer 6; specifically, the cylinder 20 is a hollow cylindrical structure, a center rod 21 is coaxially fixed in the center position of the cylinder 20, a plurality of coil springs 22 are evenly spaced and fixed on the center rod 21, and the center end of the coil spring 22 can be fixedly connected to the center rod 21. It is fixed in the center rod 21, and the outer edge end is connected to the outer edge of the flexible sandwich layer 6 by means of a hook or the like; in the initial state, the coil spring 22 is naturally relaxed, and the flexible sandwich layer 6 is flat and taut; when clamping the fruit, the flexible sandwich layer 6 is depressed by the force, and the coil spring 22 is pulled to deform and tighten, so that the outer surface of the fruit always maintains a stable clamping force; after separating the fruit from the fruit stalk, the first basket body 2 and the second basket body 3 are gradually opened, and the flexible sandwich layer 6 and the coil spring 22 gradually return to their initial state, and the fruit gradually slides down along the flexible sandwich layer 6 until it falls into the feed port.
[0025] Furthermore, in the specific implementation, Figure 3 , 4 As shown, the lower ends of the first basket body 2 and the second basket body 3 provided in the embodiment of the utility model are both provided with a through opening 23 for conveying fruits to the feed hopper 4, and a notch 60 for avoiding the feed hopper 4 is provided at the lower edge of the flexible interlayer 6. It should be noted that the through opening 23 of the first basket body 2 and the through opening 23 of the second basket body 3 are aligned and arranged together to form a fruit falling channel. It should be ensured that the through opening 23 can adapt to the size of conventional fruits to ensure smooth passage of the fruits. The notch 60 at the lower edge of the flexible interlayer 6 is arranged so that the lower edge of the flexible interlayer 6 is divided into two sections by the notch 60, which are respectively connected to the coil spring 22 in the cylinder 20.
[0026] Furthermore, in the specific implementation, Figure 1-4 As shown in , 6, the lower ends of the first frame 2 and the second frame 3 provided in the embodiment of the utility model are rotatably connected by a hinge 7, and one end of the rotating shaft 70 of the hinge 7 is penetrated and clamped in the feed hopper 4; it should be noted that the hinge 7 can adopt the existing technology, and two hinge 7 plates are rotated in series by a rotating shaft 70, and the two hinge 7 plates are respectively bolted to the first frame 2 and the second frame 3. The utility model inserts one end of the rotating shaft 70 into the feed hopper 4 to limit the position, so that the first frame 2 and the second frame 3 are connected to the feed hopper 4 as a whole, and the rotating shaft 70 of the hinge 7 is the center of the rotating shaft 70 of the first frame 2 and the second frame 3.
[0027] Furthermore, in a specific implementation, the flexible interlayer 6 provided in the embodiment of the utility model can be made of cloth or mesh material, which has good ductility, achieves flexible contact with the outer surface of the fruit, and reduces damage to the fruit.
[0028] Furthermore, in the specific implementation, Figure 1 , 2 As shown in , 4, a buffer hole 40 for mitigating the impact of the fruit is opened on the above-mentioned feed hopper 4 provided in the embodiment of the utility model, and the feed hopper 4 is connected with a bellows 8; specifically, the inlet hopper can be made of soft plastic, which can be bent and deformed under force, and the setting of the buffer hole 40 can make the feed hopper 4 easier to deform and absorb the impact force when the fruit is locally hit; after passing through the feed hopper 4, the fruit enters the bellows 8 to further mitigate the impact force of the fruit falling and avoid damage to the fruit.
[0029] Furthermore, in the specific implementation, Figure 1 , 2 As shown in Figures 4 and 5, the top ends of the first basket 2 and the second basket 3 provided in the embodiment of the utility model are detachably connected with a cutter 9 for cutting fruit stems. Specifically, the cutter 9 is connected to the top edges of the openings of the first basket 2 and the second basket 3 by bolts. When the first basket 2 and the second basket 3 are closed, the fruit stems are cut to separate the fruit stems from the fruits.
[0030] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A picking end actuator, characterized in that: The invention comprises a mounting seat (1), a first basket (2) and a second basket (3), wherein the openings of the first basket (2) and the second basket (3) are abutted against each other, a feed hopper (4) is fixed on the mounting seat (1), and the first basket (2) and the second basket (3) are both rotatably connected to the feed hopper (4), a telescopic cylinder (5) is respectively arranged between the mounting seat (1) and the first basket (2) and the second basket (3), one end of the telescopic cylinder (5) is hinged to the first basket (2) or the second basket (3), and the other end of the telescopic cylinder (5) is hinged to the mounting seat (1), and the openings of the first basket (2) and the second basket (3) are both elastically stretched with a flexible sandwich layer (6) for wrapping and clamping the outer surface of the fruit.
2. A picking end effector as claimed in claim 1, characterized in that: The outer edges of the openings of the first housing (2) and the second housing (3) are both provided with a cylinder (20), a center rod (21) is coaxially fixed inside the cylinder (20), a coil spring (22) is provided inside the cylinder (20), one end of the coil spring (22) is fixed to the center rod (21), and one end of the coil spring (22) is connected to the outer edge of the flexible sandwich layer (6).
3. A picking end effector as claimed in claim 1, characterized in that: The lower ends of the first basket (2) and the second basket (3) are both provided with a through opening (23) for conveying fruits to the feed hopper (4), and the lower edge of the flexible sandwich layer (6) is provided with a notch (60) for avoiding the feed hopper (4).
4. A picking end effector as claimed in claim 1, characterized in that: The lower ends of the first housing (2) and the second housing (3) are rotatably connected via a hinge (7), and one end of a rotating shaft (70) of the hinge (7) is inserted into and clamped in the feed hopper (4).
5. A picking end effector as claimed in claim 1, characterized in that: The flexible sandwich layer (6) can be made of cloth or mesh material.
6. A picking end effector as claimed in claim 1, characterized in that: The feed hopper (4) is provided with a buffer hole (40) for mitigating the impact of the fruit, and the feed hopper (4) is connected to a bellows (8).
7. A picking end effector as claimed in claim 1, characterized in that: The tops of the first basket (2) and the second basket (3) are both detachably connected with cutters (9) for cutting fruit stems.