Facility elevated strawberry small deviation position adjusting picking end effector

Abstract

The utility model provides a picking end effector for adjusting the small deviation position of facility elevated strawberries, and relates to the field of automatic harvesting of elevated strawberries in facility agriculture. The picking end effector for adjusting the small deviation position of the elevated strawberries comprises a small deviation position adjusting mechanism, a power box and a clamping and shearing mechanism. The clamping and shearing mechanism comprises a spring clamping mechanism installed on the shell and used for clamping fruit stems and a shearing mechanism used for shearing the fruit stems. The power box comprises a transmission mechanism for driving the clamping and shearing mechanism to move and an electromagnet; the small deviation position adjusting mechanism comprises an upper base connected with the power box, a lower base connected with the mechanical arm and an electric push rod connected with the two bases. After the small deviation position adjusting mechanism conveys the clamping and shearing mechanism to a designated position, the electromagnet is powered on to drive the clamping and shearing mechanism to generate closing motion, and clamping and shearing operation is completed. The strawberry picking machine is simple in structure and capable of effectively improving the automatic strawberry picking efficiency.

Description

Technical Field

[0001] This patent relates to a strawberry harvesting end effector, specifically a strawberry harvesting end effector for adjusting the small offset position of strawberries on elevated facilities. Background Technology

[0002] To facilitate production, improve operational efficiency, and simultaneously increase space utilization and yield, elevated cultivation is widely adopted for strawberries in facility agriculture. Strawberry harvesting is a crucial step in the strawberry production process, currently primarily done manually, which is time-consuming, labor-intensive, and inefficient, failing to meet the demands for automated and intelligent strawberry operations. With the expansion of the elevated strawberry industry and the increasing demand for full automation and intelligentization in facility strawberry production, and given that the harvesting end effector is a vital component of strawberry harvesting robots, the development of a small-offset position adjustment harvesting end effector for elevated strawberries is of great significance in the strawberry production process. Utilizing a small-offset position adjustment harvesting end effector for elevated strawberries can not only improve operational efficiency but also effectively promote the automation and intelligentization of the elevated strawberry production process.

[0003] While some progress has been made in the development of end effectors for harvesting strawberries in elevated greenhouses, many problems remain to be solved. Traditional mechanical clamping or shearing end effectors, due to their relatively simple design and practicality, lack adaptability in complex scenarios where strawberries are obscured and are prone to mechanical damage to the fruit surface. In contrast, flexible end effectors, with their superior flexibility and adaptability, offer advantages in reducing fruit damage. However, the positioning and harvesting capabilities of flexible end effectors in situations where strawberries are obscured are still significantly insufficient, making it difficult to fully meet the requirements for precise harvesting in elevated cultivation environments. These issues limit the widespread application of existing technologies in intelligent harvesting of greenhouse strawberries and urgently require further research and improvement.

[0004] The development of a small-offset position adjustment end effector for harvesting is of great significance to the intelligent development of facility agriculture. On the one hand, this technology significantly improves the adaptability and efficiency of harvesting operations, enabling precise response to positional deviations of strawberries in elevated growing environments, reducing mechanical adjustment time and lowering damage rates. On the other hand, it reduces the need for manual intervention, alleviating the agricultural labor shortage problem, while providing technical reference for the development of other fruit harvesting equipment, and promoting the development of modern agriculture towards high efficiency, intelligence, and sustainability. Summary of the Invention

[0005] To address the issues of low efficiency in strawberry picking operations on elevated facilities, this patent proposes a small offset position adjustment actuator for strawberry picking on elevated facilities.

[0006] This patent is achieved through the following technical solution: a strawberry harvesting end actuator for adjusting the small offset position on an elevated facility, comprising a clamping and shearing mechanism, a power box, and a small offset position adjustment mechanism. Its features are: the clamping and shearing mechanism receives power and completes the clamping and shearing action via a transmission connecting plate and a support rod; the power box moves the clamping and shearing mechanism via an electromagnet and a pull rod connector; the small offset position adjustment mechanism completes a small position offset of the clamping and shearing mechanism through the coordinated action of three identical electric push rods; the small offset position adjustment mechanism drives the power box and the clamping and shearing mechanism to complete a small offset movement to find the optimal shearing angle; the power input is completed by the action of the electromagnet in the power box, and the power is input to the clamping and shearing mechanism via the pull rod connector and the transmission connecting plate, thereby actuating the mechanism and completing the clamping and shearing operation of the strawberries.

[0007] A small offset position adjustment actuator for strawberry harvesting on elevated facilities is characterized by comprising a clamping and shearing mechanism, a power box, and a small offset position adjustment mechanism. The clamping and shearing mechanism performs the clamping and shearing motion of the strawberry stem, and includes a spring clamping plate, a blade, a shear housing, a housing connecting plate, a transmission connecting plate, and a pin. The spring clamping plate is a plate with a spring at the bottom, mounted on the shear housing via the pin. The blade is fixed to the shear housing, located above the spring clamping plate. The shear housing and the housing connecting plate are connected by bolts, and the housing connecting plate is connected to the transmission connecting plate via the pin. The housing connecting plate has holes, and the transmission connecting plate is connected to the pull rod connector in the power box via the pin and receives the transmitted power, causing the shear housing to gradually close. The spring clamping plate first contacts the strawberry stem, and under pressure, the spring clamping plate contracts, bringing the stem closer to the blade. As the shear housing closes further, the stem is cut by the blade and simultaneously held firmly by the spring clamping plate, ultimately completing the harvesting process. The strawberry stem clamping and shearing harvesting operation is performed. The power box completes the power input and transmission, including a support rod, a pull rod connector, a cylindrical electromagnet, an electromagnet fixing ring, and a power box shell. The cylindrical electromagnet is fixed in the power box by the electromagnet fixing ring installed on the power box shell. The support rod is fixed on the power box shell and passes through a hole in the transmission connecting plate to provide stable support for the transmission connecting plate. The pull rod connector is connected to the transmission connecting plate of the clamping and shearing mechanism through a pin to transmit the power generated by the electromagnet, thereby driving the clamping and shearing mechanism to achieve a closing action. The small offset position adjustment mechanism performs small position offsets of the power box and the clamping and shearing mechanism, including an upper moving platform, an upper platform connector, an electric push rod, a lower platform connector, and a lower moving platform. The upper moving platform is connected to three electric push rods through the upper platform connector, and the lower moving platform is connected to three electric push rods through the lower platform connector. After the electric push rods are energized, the extension and retraction of the three push rods work together to complete the rotation and displacement of the upper moving platform, thereby achieving a small position offset of the clamping and shearing mechanism.

[0008] Preferably, the spring clamping plate and the blade of the clamping and shearing mechanism are mounted on the shear housing, with the spring clamping plate located below the blade.

[0009] Preferably, the clamping and cutting mechanism is such that as the shear housing continues to close, the spring clamping plate first clamps the strawberry stem, and then the blade cuts the strawberry stem.

[0010] Preferably, the small offset position adjustment is accomplished by a small offset position adjustment mechanism, which adjusts the position of the upper moving platform through three coordinating electric push rods so that the clamping and shearing mechanism can achieve a small offset position adjustment.

[0011] Preferably, the spring clamping plate of the clamping and shearing mechanism is made of polyurethane (PUM) material and is covered with 2mm of EPE pearl cotton foam material on the outside, which ensures effective clamping of the fruit stem and increases the clamping friction while reducing the weight of the mechanism.

[0012] Preferably, the blade of the clamping and shearing mechanism is made of cemented carbide, which has good impact toughness and extremely high chemical inertness to meet the requirements of long-term cutting operations.

[0013] Preferably, the outer shell of the power box is made of polyurethane (PUM) material, with an outer diameter of 6cm, an inner diameter of 5cm, and a length of 8cm.

[0014] Preferably, the electric push rod of the small offset position adjustment mechanism has a stroke of 15mm and a length of 40mm, so as to minimize the overall size of the mechanism while ensuring sufficient offset.

[0015] This invention addresses the issue of slight displacement of strawberries due to environmental influences during harvesting in elevated greenhouse strawberry farms by proposing an innovative end effector for adjusting the position of the strawberries. Through precise positioning and real-time position adjustment technology, this device can quickly adapt to minute shifts in the strawberry's position without requiring additional manual calibration, thus significantly improving harvesting accuracy and speed. Compared to existing technologies, this invention features a simplified structure, making it suitable not only for strawberries in different growth stages and with varying positional displacements but also significantly reducing fruit damage rates. Furthermore, its efficient dynamic adjustment capability effectively improves the operational efficiency and intelligent level of greenhouse strawberry harvesting. Attached Figure Description

[0016] The present patent will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a small offset position adjustment end effector for strawberry picking on elevated facilities;

[0018] Figure 2 This is a schematic diagram of the small offset position adjustment mechanism;

[0019] Figure 3 This is a structural diagram of the power box;

[0020] Figure 4 This is a schematic diagram of the clamping and shearing mechanism.

[0021] The following are the component labels in the diagram: Small offset position adjustment mechanism 1, power box 2, clamping and shearing mechanism 3, upper moving platform 101, upper platform connector 102, electric push rod 103, lower platform connector 104, lower moving platform 105, power box housing 201, electromagnet fixing ring 202, cylindrical electromagnet 203, pull rod connector 204, support rod 205, pin 301, transmission connecting plate 302, housing connecting plate 303, scissor housing 304, blade 305, spring clamping plate 306. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the mechanism or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0024] like Figure 1 , 2 As shown in Figures 3 and 4, this patent discloses a small offset position adjustment actuator for strawberry harvesting at the end of a facility, comprising a small offset position adjustment mechanism 1, a power box 2, a clamping and shearing mechanism 3, an upper moving platform 101, an upper platform connector 102, an electric push rod 103, a lower platform connector 104, a lower moving platform 105, a power box housing 201, an electromagnet fixing ring 202, a cylindrical electromagnet 203, a pull rod connector 204, a support rod 205, a pin 301, a transmission connecting plate 302, a housing connecting plate 303, a shear housing 304, a blade 305, and a spring clamping plate 306.

[0025] The small offset position adjustment mechanism 1 completes the small offset movement of the power box and the clamping and shearing mechanism. It includes an upper moving platform 101, an upper platform connector 102, an electric push rod 103, a lower platform connector 104, and a lower moving platform 105. The electric push rod 103 is connected to the upper moving platform 101 and the lower moving platform 105 via the upper platform connector 102 and the lower platform connector 104, respectively. The stroke change of the electric push rod 103 causes the upper moving platform 101 to rotate and offset. The power box 2 completes the power transmission. It includes a power box housing 201, an electromagnet fixing ring 202, a cylindrical electromagnet 203, a pull rod connector 204, and a support rod 205. The support rod 205 and the cylindrical electromagnet 203 with the electromagnet fixing ring 202 are both fixed to the power box housing 201. Simultaneously, the power box housing 201 is bolted to the upper moving platform 101. The moving platform 101 is connected, and the pull rod connector 204 is installed at the end of the cylindrical electromagnet 203. When the cylindrical electromagnet 203 is energized, the pull rod connector 204 will move according to its shape to complete the power output. The clamping and shearing mechanism 3 completes the clamping and shearing action of the strawberry stem, including the pin 301, the transmission connecting plate 302, the outer shell connecting plate 303, the scissor outer shell 304, the blade 305, and the spring clamping plate 306. The blade 305 and the spring clamping plate 306 are installed inside the scissor outer shell 304. The scissor outer shell 304 and the outer shell connecting plate 303 are connected by bolts. In order to facilitate the installation of the support rod 205, a through hole is opened on the outer shell connecting plate 303. In order to ensure the normal transmission of power, the transmission connecting plate 302 and the outer shell connecting plate 303 are connected by the pin. At the same time, the pin 301 connects the pull rod connector 204 to the transmission connecting plate 302.

[0026] Specific work process:

[0027] During operation, the electric push rod 103 actuates, driving the upper platform connector 102 to move, causing the clamping and shearing mechanism 3 to reach the designated position. At this time, the cylindrical electromagnet 203 is energized, and the power is transmitted to the shear housing 304 through the pull rod connector 204, pin 301, transmission connecting plate 302, and housing connecting plate 303. Subsequently, the shear housing 304 begins to close, and the spring clamping plate 306 first contacts the strawberry stem. As the shear housing 304 continues to close, the spring clamping plate 306 contracts under pressure, and the strawberry stem contacts the blade 305. As the shear housing 304 continues to close, the strawberry stem is cut by the blade 305 and clamped by the spring clamping plate 306, completing the clamping, shearing, and harvesting operation.

[0028] The spring clamping plate 306 and the shear housing 304 of the clamping and shearing mechanism 3 are made of polyurethane (PUM) material to minimize the weight of the mechanism while ensuring strength.

[0029] The outer shell connecting plate 303 of the clamping and shearing mechanism 3 is made of aluminum, and an 8mm through hole is opened on the outer shell connecting plate to support the clamping and shearing mechanism 3 and complete the clamping and shearing action.

[0030] The transmission connecting plate 302 of the clamping and shearing mechanism 3 is made of aluminum, and two 6mm through holes are opened on the transmission connecting plate 303, so that the transmission connecting plate 303 and the pull rod connector 204 can be connected more effectively.

[0031] The spring clamping plate 306 of the clamping and shearing mechanism 3 is made of polyurethane (PUM) material and is covered with 2mm of EPE pearl cotton foam material on the outside, which ensures effective clamping of the fruit stem and increases the friction of clamping while reducing the weight of the mechanism.

[0032] The blade 305 of the clamping and shearing mechanism 3 is made of cemented carbide, which has good impact toughness and extremely high chemical inertness, and can meet the requirements of long-term cutting operations.

[0033] The springs of the spring clamping plate 306 of the clamping and shearing mechanism 3 are made of 0.3mm×3mm×30mm stainless steel and are installed at the bottom of the spring clamping plate 306 to ensure the smooth movement of the spring clamping plate 306.

[0034] The support rod 205 of the power box 2 is made of Q235 steel, and its mass is minimized as much as possible while ensuring structural hardness and toughness.

[0035] The power box shell 201 of the power box 2 is made of polyurethane material (PUM), with an outer diameter of 6cm, an inner diameter of 5cm, and a length of 8cm.

[0036] The pull rod connector 204 of the power box 2 is made of Q235 steel and has a through hole in the middle. While ensuring structural hardness and toughness, its weight is reduced as much as possible.

[0037] The electromagnet fixing ring 202 of the power box 2 is made of polyurethane material (PUM) to minimize its mass while ensuring that the cylindrical electromagnet 203 is fixed.

[0038] The upper moving platform 101 and lower moving platform 105 of the small offset position adjustment mechanism 1 are made of polyurethane (PUM) material, which minimizes the mass while ensuring structural hardness and toughness.

[0039] The electric push rod 103 of the small offset position adjustment mechanism 1 has a stroke of 15mm and a length of 40mm, so that the overall size of the mechanism is as small as possible while ensuring sufficient offset.

[0040] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A harvesting end effector for adjusting the small offset position of strawberries on elevated facilities, characterized in that, A small offset position adjustment actuator for picking strawberries on an elevated facility includes a clamping and shearing mechanism, a power box, and a small offset position adjustment mechanism. The clamping and shearing mechanism performs the clamping and shearing motion of the strawberry stem. It includes a spring clamping plate, a blade, a shear housing, a housing connecting plate, a transmission connecting plate, and pins. The spring clamping plate is a plate with a spring at the bottom, mounted on the shear housing via pins. The blade is fixed to the shear housing, located above the spring clamping plate. The shear housing and the housing connecting plate are connected by bolts. The housing connecting plate is connected to the transmission connecting plate via pins, and the housing connecting plate has holes. The transmission connecting plate is connected to a pull rod connector in the power box via pins and receives transmitted power, causing the shear housing to gradually close. The spring clamping plate first contacts the strawberry stem. Under pressure, the spring clamping plate contracts, bringing the stem closer to the blade. As the shear housing closes further, the stem is cut by the blade and simultaneously held firmly by the spring clamping plate, ultimately completing the clamping and shearing picking operation of the strawberry stem. The power box completes the input and transmission of power, including a support rod, a pull rod connector, a cylindrical electromagnet, an electromagnet fixing ring, and a power box housing. The cylindrical electromagnet is fixed in the power box by the electromagnet fixing ring installed on the power box housing. The support rod is fixed on the power box housing and passes through a hole in the transmission connecting plate to provide stable support for the transmission connecting plate. The pull rod connector is connected to the transmission connecting plate of the clamping and shearing mechanism through a pin to transmit the power generated by the electromagnet, thereby driving the clamping and shearing mechanism to achieve a closing action. The small offset position adjustment mechanism performs small position offsets of the power box and the clamping and shearing mechanism, including an upper moving platform, an upper platform connector, an electric push rod, a lower platform connector, and a lower moving platform. The upper moving platform is connected to three electric push rods through the upper platform connector, and the lower moving platform is connected to three electric push rods through the lower platform connector. After the electric push rods are energized, the extension and retraction of the three push rods work together to complete the rotation and displacement of the upper moving platform, thereby achieving a small position offset of the clamping and shearing mechanism.

2. The strawberry harvesting end effector with small offset position adjustment for elevated facilities as described in claim 1, characterized in that: The spring clamping plate and the blade of the clamping and shearing mechanism are mounted on the shear housing, with the spring clamping plate located below the blade.

3. The strawberry harvesting end effector with small offset position adjustment for elevated facilities as described in claim 1, characterized in that: The clamping and cutting mechanism works by having a spring clamping plate first clamp the strawberry stem as the shear housing continues to close, and then the blade cuts the strawberry stem.

4. The strawberry harvesting end effector with small offset position adjustment for elevated facilities as described in claim 1, characterized in that: The small offset position adjustment is accomplished by the small offset position adjustment mechanism, which adjusts the position of the upper moving platform through three coordinated electric push rods, thereby enabling the clamping and shearing mechanism to achieve a small offset position adjustment.

5. The strawberry harvesting end effector with small offset position adjustment for elevated facilities as described in claim 1, characterized in that: The spring clamping plate of the clamping and shearing mechanism is made of polyurethane material and is covered with 2mm thick EPE pearl cotton foam material on the outside. This increases the clamping friction while reducing the weight of the mechanism and ensuring effective clamping of the fruit stem.

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