Fresh tomato picking execution device

Abstract

The utility model belongs to the field of fresh tomato picking, and particularly relates to a fresh tomato picking execution device which comprises a tomato grabbing mechanism, a tomato picking mechanism and a tomato picking mechanism, the tomato grabbing mechanism comprises a first sleeve, a plurality of flexible air bags and an air pump, the flexible air bags are distributed in the first sleeve in the circumferential direction, and the air pump communicates with the flexible air bags; the pedicel removing mechanism comprises a second sleeve, a first driving assembly and clamping assemblies, one end of the second sleeve is rotatably connected with the first sleeve in the axial direction of the first sleeve, the first driving assembly is used for driving the second sleeve and the first sleeve to rotate relatively, and the two clamping assemblies are symmetrically arranged at the other end of the second sleeve; the clamping assembly is used for clamping tomato pedicels. The tomato stem twisting device can be independently used, it is ensured that tomato stems are twisted down within two circles of rotation, the whole tomato branches are prevented from being excessively twisted and deformed, and therefore the whole tomato branches are prevented from being damaged; the device can be used in cooperation with a picking device and serves as a pedicle removing execution device capable of automatically clamping tomato stems, and the tomato picking efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of fresh tomato picking, and specifically relates to a fresh tomato picking execution device. Technical Background

[0002] Eating tomatoes raw can better absorb the rich vitamin C in tomatoes, and eating them raw will not cause unnecessary damage to the vitamin C in tomatoes. Sufficient intake of vitamin C can enhance the body's immune ability, protect the skin, whiten and remove freckles, protect the gums, inhibit bacteria, and enhance antioxidant capacity.

[0003] Tomatoes suitable for eating raw are called fresh tomatoes. Tomatoes with good appearance can increase people's appetite, are more suitable for eating raw, and can also stimulate consumers' desire to buy. Therefore, during the tomato picking process, it is necessary to pay attention not to damage the tomatoes and reduce their appearance.

[0004] In the prior art, there is a utility model patent with the application number CN215898430U and the patent name of a tomato picking device, which provides a tomato picking device including a telescopic adsorption component, a picking component, a first driving mechanism, and a second driving mechanism; the telescopic adsorption component includes a rear sleeve, a telescopic rod, a suction cup, and a vacuum pump. The first driving mechanism is fixedly connected to the telescopic rod. The suction cup is fixed at one end of the telescopic rod away from the first driving mechanism, and the vacuum pump is connected to the suction cup; the picking component includes a front sleeve, an airbag, and an air inflation pump. One end of the front sleeve is open. The suction cup is used to suck the tomato and enter and exit the front sleeve under the action of the first driving mechanism. The other end of the front sleeve is rotatably connected to the rear sleeve. The second driving mechanism is used to drive the front sleeve to rotate relative to the rear sleeve. The airbag is installed on the inner wall of the front sleeve, and the airbag is connected to the air inflation pump through a trachea to clamp the tomato. The tomato picking device provided by the present utility model makes the picked tomatoes intact without damage and without stems and leaves, simplifies the subsequent food processing steps, and reflects high automation and integration. However, there are still the following problems:

[0005] Although clamping the tomato by inflating the airbag can make the picked tomatoes intact without damage and without stems and leaves, and directly twisting the tomato off the tomato stem, not only may it be impossible to twist the tomato off the tomato stem, but the entire tomato branch may be sprained, affecting the tomato stem's ability to bear fruit again, but also the situation where the tomato is twisted off together with the stem and leaves may occur, and it cannot be ensured that the picked tomatoes do not have stems and leaves. Summary of the Invention

[0006] The purpose of this application is to address the problems in the prior art where the tomato stem is damaged, affecting the tomato stem's ability to bear fruit again, and the situation where the tomato is twisted off together with the stem and leaves, and it cannot be ensured that the picked tomatoes do not have stems and leaves.

[0007] To achieve the above object, the present application provides the following technical solutions:

[0008] A fresh tomato picking execution device, comprising:

[0009] A tomato grasping mechanism, the tomato grasping mechanism includes a first sleeve, a plurality of flexible air bags and an air pump, the plurality of flexible air bags are circumferentially distributed inside the first sleeve, and the air pump is communicated with the flexible air bags;

[0010] A fruit stalk removing mechanism, the fruit stalk removing mechanism includes a second sleeve, a first driving component and a clamping component, one end of the second sleeve is rotatably connected to the first sleeve along the axial direction of the first sleeve, the first driving component is used to drive the second sleeve to rotate relative to the first sleeve, and the two clamping components are symmetrically arranged at the other end of the second sleeve, and the clamping component is used to clamp the tomato fruit stalk.

[0011] Preferably, the first driving component includes an external gear ring, a rotating motor and a gear, an external gear ring is arranged on the outer side of the second sleeve, the rotating motor is arranged on the first sleeve, the gear is arranged on the output shaft of the rotating motor, and the gear meshes with the external gear ring.

[0012] Preferably, the clamping component includes a base, a multi-stage telescopic cylinder and a clamping plate, the base is arranged on one side of the second sleeve, the fixed end of the multi-stage telescopic cylinder is arranged on the base, and the telescopic end of the multi-stage telescopic cylinder can move telescopically towards the second sleeve.

[0013] Preferably, a non-slip strip is arranged on the side of the clamping plate facing the axis of the second sleeve.

[0014] Preferably, a fruit stalk cutting blade is also arranged on the clamping plate.

[0015] Preferably, the fruit stalk removing mechanism further includes a fruit stalk identification camera, and the fruit stalk identification camera is arranged on one side of the second sleeve.

[0016] Preferably, the flexible air bag is an arc-shaped air bag.

[0017] Preferably, anti-slip stripes are arranged on the surface of the flexible air bag.

[0018] Preferably, a protective retaining ring is also concentrically arranged circumferentially on the outer side of the second sleeve, and the protective retaining ring surrounds the clamping component.

[0019] Preferably, it further includes a bearing end cover and a bearing, a retaining ring is arranged at one end of the second sleeve, the bearing end cover is sleeved on the second sleeve and fixed to the second sleeve, and the bearing is sleeved on the second sleeve and is located between the bearing end cover and the retaining ring.

[0020] Beneficial effects: When used alone, the clamping assembly drives the clamped tomato stem to rotate relative to the tomato fruit, thereby twisting the fruit off the tomato stem. During this process, since the clamping assembly fixes the tomato stem when it is close to the tomato fruit, there will be no situation where the connection between the tomato stem and the tomato fruit is too tight, resulting in the entire tomato branch being distorted and damaged as a buffer when twisting off the tomato fruit. Instead, only a small torque is applied to the connection between the tomato fruit and the tomato stem, avoiding the situation where the picked tomato fruit still has stems and leaves attached. This application can ensure that the tomato stem is twisted off the tomato fruit after two rotations, preventing excessive distortion and deformation of the entire tomato branch, and thus avoiding damage to the entire tomato branch;

[0021] Moreover, when used in conjunction with existing picking devices, it can independently clamp the tomato stem. After the existing picking device places the tomato into the first sleeve and it is fixed by the flexible airbag, it can stop clamping the tomato stem and continue the picking operation. Then the clamping assembly takes over to clamp the tomato stem, and it can improve the efficiency of picking tomatoes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Isometric view of the fresh tomato picking execution device described in the embodiment;

[0023] Figure 2 Structural diagram of the fresh tomato picking execution device described in the embodiment;

[0024] Figure 3 Internal structural diagram of the fresh tomato picking execution device described in the embodiment;

[0025] Figure 4 Partial enlarged view of the first drive assembly described in the embodiment;

[0026] Figure 5 Cross-sectional view of the fresh tomato picking execution device described in the embodiment;

[0027] Figure 6 Cross-sectional view of the fruit stalk removing mechanism described in the embodiment;

[0028] In the figure: Tomato grasping mechanism 100, first sleeve 110, flexible airbag 120, air pump 130, fruit stalk removing mechanism 200, second sleeve 210, protective retaining ring 211, retaining ring 212, first drive assembly 220, external gear ring 221, rotary motor 222, gear 223, clamping assembly 230, base 231, multi-stage telescopic cylinder 232, clamping plate 233, anti-slip strip 234, fruit stalk cutting blade 235, fruit stalk recognition camera 240, bearing end cover 300, bearing 400. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] It should be noted that, without conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The following will further describe the technical solutions of the present application in conjunction with the drawings of the embodiments of the present application. The present application is not limited to the following specific embodiments.

[0030] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present application, it should be understood that if there are terms such as "upper", "lower", "front", "rear", "left", "right", "top", "bottom", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] In a specific embodiment of the present application, as Figures 1 to 6 shown, there is a fresh food tomato picking execution device, including:

[0032] A tomato grasping mechanism 100, the tomato grasping mechanism 100 includes a first sleeve 110, a plurality of flexible airbags 120 and an air pump 130. The plurality of flexible airbags 120 are circumferentially distributed inside the first sleeve 110, and the air pump 130 is communicated with the flexible airbags 120;

[0033] A fruit stalk removing mechanism 200, the fruit stalk removing mechanism 200 includes a second sleeve 210, a first driving component 220 and a clamping component 230. One end of the second sleeve 210 is rotatably connected to the first sleeve 110 along the axial direction of the first sleeve 110. The first driving component 220 is used to drive the second sleeve 210 to rotate relative to the first sleeve 110. The two clamping components 230 are symmetrically arranged at the other end of the second sleeve 210, and the clamping component 230 is used to clamp the tomato fruit stalk.

[0034] In a specific implementation process, the fresh tomato picking execution device of the present application can be used for a picking robot or any picking device with a robotic arm. The fresh tomato picking execution device of the present application is arranged at one end of the robotic arm of an existing picking robot. The fixing method is that the first sleeve 110 is fixed on the robotic arm as a picking manipulator, driving the present application from bottom to top to put the tomatoes on the branches into the second sleeve 210. After the tomato fruit is put into the first sleeve 110, the stem of the tomato is within the clamping range of the clamping component 230, and the tomato stem within the clamping range is relatively short from the tomato fruit. Then, the clamping component 230 clamps the stem of the tomato. Before or after the clamping component 230 clamps the stem, the flexible airbag 120 in the first sleeve 110 is inflated by the air pump 130 to fix the tomato fruit. Then, the first driving component 220 drives the second sleeve 210 to rotate relative to the first sleeve 110. Since the clamping component 230 is fixed to the second sleeve 210, and the tomato fruit is fixed in the first sleeve 110 by the flexible airbag 120, the clamping component 230 drives the clamped tomato stem to rotate relative to the tomato fruit, so as to twist the fruit off the tomato stem. In this process, since the clamping component 230 fixes the tomato stem when it is close to the tomato fruit, there will be no situation where the entire tomato branch is twisted and damaged as a buffer when the tomato fruit is twisted off due to the tight connection between the tomato stem and the tomato fruit. Instead, only a small torsional force is applied to the connection between the tomato fruit and the tomato stem, resulting in the situation where the picked tomato fruit still has the stem and leaves attached. The present application can ensure that the tomato stem is twisted off the tomato fruit after rotating two circles.

[0035] In another specific implementation process, the fresh tomato picking execution device of the present application is arranged vertically, that is, the axis of the first sleeve 110 is arranged along the direction of gravity. The fresh tomato picking execution device of the present application can be used in cooperation with a picking robot or any picking device with a robotic arm. The picking robot clamps the picked tomato, and the clamping part is the tomato stem, and drives the clamped tomato into the first sleeve 110 of the present application. Due to the action of gravity, the tomatoes on the branches are in the posture with the stem on top and the fruit on the bottom. After the tomato fruit is put into the first sleeve 110, the stem of the tomato is within the clamping range of the clamping component 230. Before the clamping component 230 clamps the stem, the flexible airbag 120 in the first sleeve 110 is inflated by the air pump 130 to fix the tomato fruit. Then, the picking robot releases the tomato stem, and the clamping component 230 takes over to clamp the stem of the tomato (if the picking efficiency is not considered, the clamping component 230 of the present application can also not be enabled, and the existing picking robot clamps the tomato stem throughout this implementation process). The first driving component 220 drives the second sleeve 210 to rotate relative to the first sleeve 110. Since the clamping component 230 is fixed to the second sleeve 210, and the tomato fruit is fixed in the first sleeve 110 by the flexible airbag 120, the clamping component 230 drives the clamped tomato stem to rotate relative to the tomato fruit, so as to twist the tomato stem off the fruit.

[0036] Beneficial effects: When the present application is used alone, the clamping assembly 230 drives the clamped tomato stem to rotate relative to the tomato fruit, so as to twist the fruit off the tomato stem. During this process, since the clamping assembly 230 fixes the tomato stem when approaching the tomato fruit, the situation that the entire tomato branch is distorted and damaged as a buffer when twisting off the tomato fruit due to the tight connection between the tomato stem and the tomato fruit will not occur. Instead, only a small torsional force is applied to the connection between the tomato fruit and the tomato stem, and the picked tomato fruit still has the stem and leaves attached. The present application can ensure that the tomato stem is twisted off the tomato fruit after rotating two circles.

[0037] Moreover, when used in conjunction with the existing picking device, it can independently clamp the tomato stem. After the existing picking device places the tomato into the first sleeve 110 and it is fixed by the flexible airbag 120, it can stop clamping the tomato stem and continue the picking operation. Then the clamping assembly 230 takes over to clamp the tomato stem, and the efficiency of picking tomatoes can be improved.

[0038] Further, the first driving assembly 220 includes an external gear ring 221, a rotating motor 222 and a gear 223. The external gear ring 221 is arranged on the outer side of the second sleeve 210. The rotating motor 222 is arranged on the first sleeve 110. The gear 223 is arranged on the output shaft of the rotating motor 222, and the gear 223 meshes with the external gear ring 221. This kind of transmission and meshing method has a light structure and low cost.

[0039] In the above implementation process, if a precise clamping assembly 230 is adopted, such as a mechanical gripper with visual recognition and path planning, not only the cost is high, but also in the field picking operation, it is difficult to ensure the accuracy of recognition in the complex field environment, and it may not be able to accurately clamp the tomato stem. In a possible embodiment, the clamping assembly 230 includes a base 231, a multi-stage telescopic cylinder 232 and a clamping plate 233. The base 231 is arranged on one side of the second sleeve 210. The fixed end of the multi-stage telescopic cylinder 232 is arranged on the base 231, and the telescopic end of the multi-stage telescopic cylinder 232 can telescopically move towards the second sleeve 210. By the relative movement of the two clamping plates 233 to clamp the tomato stem, it can ensure that the clamping assembly 230 clamps the tomato stem, increasing the reliability of the present application and still being able to ensure clamping the tomato stem even under complex field conditions.

[0040] In the above implementation process, the surface of the clamping plate 233 is a smooth plate structure, which easily causes the tomato stem to slip off when twisting the tomato stem, thus affecting the reliability of the tomato stem removal operation. In a possible embodiment, anti-slip strips 234 are provided on one side of the clamping plate 233 facing the axis of the second sleeve 210. The anti-slip strips 234 can be mutually meshed concave-convex tooth shapes, or anti-slip strips 234 with a rough surface. When the two clamping plates 233 approach each other, the tomato stem is clamped through the anti-slip strips 234. For example, the tomato stem is firmly fixed between the two clamping plates 233 through the mutually meshed concave-convex tooth shapes, preventing the tomato stem from slipping off, ensuring that the tomato stem can be removed from the tomato fruit, and increasing the reliability of the tomato stem removal operation.

[0041] In the above implementation process, although the tomato stem can be twisted off from the tomato fruit within one or two rotations after the clamping assembly 230 clamps the tomato stem close to the tomato fruit, avoiding the torsion of multiple rotations from being transmitted along the tomato stem to the entire tomato branch and preventing damage to the entire tomato branch, the entire tomato branch will still be twisted. In a possible embodiment, a stem-cutting blade 235 is further provided on the clamping plate 233. When the present application is used to pick tomatoes on a plant, by adding the stem-cutting blade 235, when the clamping plates 233 approach each other to clamp the tomato stem, the tomato stem can be cut off and then twisted off, and the entire tomato branch will not be damaged due to the action of torsion.

[0042] In the above implementation process, although when this application is used in conjunction with a picking robot, it can rely on the picking robot to identify tomato fruits, so as to find the positions of the tomato fruits, and use the path planning unit of the picking robot to control the robotic arm to drive the second sleeve 210 of this application to put the tomato on. However, since the lengths of the tomato stems carried on the tomato fruits are different, if the tomato stem carried by the fruit is short, it may occur that the tomato stem cannot be clamped by the clamping plate 233. In a possible embodiment, the fruit stalk removing mechanism 200 further includes a fruit stalk identification camera 240, and the fruit stalk identification camera 240 is arranged on one side of the second sleeve 210 and is in the same plane as the clamping plate 233, ensuring that all the tomato stems that can be identified can be clamped by the clamping plate 233. Connect the fruit stalk identification camera 240 to the control module of the picking robot that this application is used in conjunction with, electrically connect the multi-stage telescopic cylinder 232 to the fruit stalk identification camera 240, and connect them to the control module together. When it occurs that the tomato stem carried by the fruit is short and cannot be clamped by the clamping plate 233, the fruit stalk identification camera 240 cannot identify the fruit stalk (the fruit stalk is the tomato stem carried by the tomato fruit), and the signal is transmitted to the control module. The control module reacts and drives the robotic arm on the picking robot for clamping the tomato stalk, so that the robotic arm drives the tomato stalk to slightly move from the first sleeve 110 to the second sleeve 210 until the fruit stalk identification camera 240 identifies the fruit stalk. The control module receives the signal of identifying the fruit stalk and then controls the multi-stage telescopic cylinder 232 to extend, so that the two clamping plates 233 clamp the fruit stalk, and then drives the first driving component 220 to rotate the second sleeve 210 relative to the first sleeve 110 to twist off the fruit stalk, ensuring that in the case of a short tomato stem carried by the fruit, it can be judged whether the fruit stalk is in place (in place means that the fruit stalk is in a position where it can be clamped by the clamping plate 233), and then control the robotic arm of the robot used in conjunction with this application to adjust the position of the tomato that needs to have its stalk removed.

[0043] Further, the flexible airbag 120 is an arc-shaped airbag. The arc-shaped airbag is an airbag whose side facing the central axis of the first sleeve 110 is circular after being inflated. Although the shape of the tomato is irregular, the cross-sectional shape of the tomato is generally circular or oval. The arc-shaped airbag can better fit the cross-sectional shape of the tomato compared to airbags of other shapes. While avoiding excessive airbag pressure from squeezing and damaging the tomato, it can also use the arc surface that better fits the tomato shape to fix the tomato fruit more firmly.

[0044] Further, the surface of the flexible airbag 120 is provided with anti-slip stripes. By setting stripes or particle bands, the fixing effect of the flexible airbag 120 on the tomato fruit is further increased, avoiding the rotational displacement of the tomato fruit under the torsional force of removing the stalk, resulting in the inability to remove the tomato stalk, and also avoiding the bruising of the tomato skin when the tomato fruit rotates.

[0045] In the above implementation process, when the present application is used to pick and remove the stems of tomatoes on the plant, the clamping assembly 230 arranged at the other end of the second sleeve 210 will rotate with the second sleeve 210 during the process of removing the stems, which is easy to damage other adjacent tomatoes around the target tomato. In a possible embodiment, a protective baffle ring 211 is also concentrically arranged around the circumference of the outer side of the second sleeve 210, and the protective baffle ring 211 surrounds the clamping assembly 230. The protective baffle ring 211 is wrapped with soft material. When the present application is sleeved and the target tomato is grabbed, the adjacent tomatoes are supported to prevent them from being injured by the rotating clamping assembly 230.

[0046] Furthermore, it also includes a bearing 400 end cover 300 and a bearing 400, a retaining ring 212 is provided at one end of the second sleeve 210, the bearing 400 end cover 300 is sleeved on the second sleeve 210 and fixed to the second sleeve 210, and the bearing 400 is sleeved on the second sleeve 210 and located between the bearing 400 end cover 300 and the retaining ring 212. Through this connection method, the degree of freedom of displacement of the first sleeve 110 and the second sleeve 210 in the axial direction can be limited, and the first sleeve 110 and the second sleeve 210 can only rotate relative to each other concentrically. This connection method has a simple structure and is easy to install and use.

[0047] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation methods of the present application. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A fresh food tomato picking execution device, characterized in that, Comprising: A tomato grasping mechanism, which includes a first sleeve, a plurality of flexible air bags and an air pump. The plurality of flexible air bags are circumferentially distributed inside the first sleeve, and the air pump is communicated with the flexible air bags; A fruit stalk removing mechanism, which includes a second sleeve, a first driving component and a clamping component. One end of the second sleeve is rotatably connected to the first sleeve along the axial direction of the first sleeve. The first driving component is used to drive the second sleeve to rotate relative to the first sleeve. The two clamping components are symmetrically arranged at the other end of the second sleeve, and the clamping component is used to clamp the tomato fruit stalk.

2. The fresh food tomato picking execution device according to claim 1, characterized in that, The first driving component includes an external gear ring, a rotating motor and a gear. An external gear ring is arranged on the outer side of the second sleeve. The rotating motor is arranged on the first sleeve. The gear is arranged on the output shaft of the rotating motor, and the gear meshes with the external gear ring.

3. The fresh tomato picking execution device according to claim 1, characterized in that, The clamping component includes a base, a multi-stage telescopic cylinder and a clamping plate. The base is arranged on one side of the second sleeve. The fixed end of the multi-stage telescopic cylinder is arranged on the base, and the telescopic end of the multi-stage telescopic cylinder can telescopically move towards the second sleeve.

4. The fresh food tomato picking execution device according to claim 3, characterized in that, Anti-slip strips are arranged on one side of the clamping plate facing the axis of the second sleeve.

5. The fresh food tomato picking execution device according to claim 3, characterized in that, Cutting blades for the fruit stalk are also arranged on the clamping plate.

6. The fresh food tomato picking execution device according to claim 1, characterized in that, The fruit stalk removing mechanism further includes a fruit stalk identification camera, which is arranged on one side of the second sleeve.

7. The fresh food tomato picking execution device according to claim 1, characterized in that, The flexible air bag is an arc-shaped air bag.

8. The fresh tomato picking execution device according to claim 1, characterized in that, Anti-slip stripes are arranged on the surface of the flexible air bag.

9. The fresh tomato picking execution device according to claim 1, wherein A protective retaining ring is also concentrically arranged circumferentially on the outer side of the second sleeve, and the protective retaining ring surrounds the clamping component.

10. The fresh food tomato picking execution device according to claim 1, characterized in that, It further includes a bearing end cover and a bearing. A retaining ring is arranged at one end of the second sleeve. The bearing end cover is sleeved on the second sleeve and fixed to the second sleeve. The bearing is sleeved on the second sleeve and is located between the bearing end cover and the retaining ring.

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