Strawberry picking end effector

Abstract

The utility model belongs to the technical field of agricultural automatic picking, and particularly relates to a strawberry picking end effector which comprises a picking support, a picking mechanism used for picking strawberries is installed on the picking support, and a cleaning mechanism used for cleaning the strawberries after the strawberries are picked by the picking mechanism is further installed on the picking support. A water baffle is arranged on the side edge of the picking support and used for shielding the connecting position of the picking mechanism and the picking support. A picking mechanism and a cleaning mechanism are installed on a picking support, the picking mechanism is composed of a pneumatic parallel paw, clamping pieces, knife rests, a stem cutting blade and a stem separating plate, and the two knife rests can conveniently drive the two clamping pieces to clamp strawberry stems before the strawberry stems are sheared; according to the strawberry picking device, the two knife rests are arranged on the picking support, the two knife rests drive the two stem cutting blades to get close to each other, strawberry stems are sheared, the stems are clamped and then sheared when strawberries are picked, and the cleaning mechanism is installed on the picking support, so that after the strawberries are picked, the cleaning mechanism sprays and cleans the clamping pieces in time.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of agricultural automation picking, and particularly relates to a strawberry picking end effector. BACKGROUND

[0002] Strawberry is a perennial herbaceous plant of Rosaceae genus Fragaria, which has high nutritional value, medical value and ecological value. The berry is aromatic and juicy, rich in nutrients, vitamins, calcium, phosphorus, iron and other nutrients and numerous active substances, and has the effects of cooling, thirst-quenching, stomachic and digestion-promoting and certain medical value.

[0003] Strawberry fruit is extremely delicate, and even slight improper operation such as finger touch and extrusion during manual picking will cause damage to the fruit skin, thereby seriously affecting the appearance quality and preservation time; even if a precise cutting device is used to cut off the stem without touching the strawberry, stem sap will still seep from the cut stem, causing pollution of the cutting device; the existing picking technology lacks effective countermeasures for this problem, and the stem sap may drip onto the strawberry in the subsequent process, affecting the quality of the strawberry, and the residue of the stem sap on the cutting device also affects the normal operation of the equipment. In summary, the strawberry industry urgently needs a strawberry picking end effector that can cut the stem and properly handle the residue problem. SUMMARY

[0004] To solve the above technical problems, the utility model provides a strawberry picking end effector to solve the problems of fruit damage during manual picking, stem sap pollution and residue during picking by a cutting device, and lack of effective countermeasures in the prior art.

[0005] A strawberry picking end effector comprises a picking support, a picking mechanism for picking strawberries is installed on the picking support, a cleaning mechanism for cleaning after the picking mechanism picks strawberries is also installed on the picking support, a water baffle is arranged on the side edge of the picking support, and the water baffle is used to shield the connection between the picking mechanism and the picking support; the picking mechanism comprises a pneumatic parallel hand claw installed in the picking support, a slide block on the pneumatic parallel hand claw is fixed with a tool holder, a stem cutting blade for cutting strawberry stems is fixed on the surface of the tool holder through bolts, a clamping piece for clamping strawberry stems is installed on the inner side of the tool holder, the clamping piece is located below the stem cutting blade, and a stem separating plate for separating strawberry stems is arranged at the end of the tool holder.

[0006] Preferably, the clamping piece comprises a stem clamping silica gel plate arranged on the inner side of the tool holder, a support hard plate for support is bonded and fixed on the surface of the stem clamping silica gel plate, and a spring is fixed between the tool holder and the support hard plate.

[0007] Preferably, an arc-shaped part for guiding the stem is arranged at one end of the stem clamping silica gel plate close to the stem separating plate, and the arc-shaped part points to the tool holder.

[0008] Preferably, the stem splitting plate is a triangular plate member, and the oblique edge of the stem splitting plate is outward.

[0009] Preferably, the cleaning mechanism comprises a spray head mounted on the upper part of the picking support and a motor, an output shaft of the motor is fixed to the outer surface of the spray head, and the water spraying end of the spray head is directed to the stem clamping silica gel plate.

[0010] Compared with the prior art, the utility model has the following beneficial effects:

[0011] 1. The picking mechanism and the cleaning mechanism are mounted on the picking support, the picking mechanism is composed of a pneumatic parallel gripper, a knife holder, a stem cutting blade, a clamping piece and a stem splitting plate, the knife holder is fixed to the sliding block of the pneumatic parallel gripper, so that the two telescopic ends of the pneumatic parallel gripper can be made to approach or move away from each other with the two knife holders, the stem cutting blade and the clamping piece are mounted on the knife holder, so that the two clamping pieces can be clamped around the strawberry stem before the strawberry stem is cut by the two knife holders, the two knife holders can cut the strawberry stem when the two knife holders approach each other with the two stem cutting blades, so that the strawberry stem is clamped before being cut, thereby preventing the strawberry from falling due to direct cutting of the strawberry stem, the stem splitting plate is fixed to the end of the knife holder, so that the stem splitting plate can separate and guide multiple strawberry stems, thereby preventing the unripe strawberry stem from being cut by mistake, and the washing mechanism is mounted on the picking support, so that the clamping piece can be washed and cleaned in time after the strawberry is picked, thereby preventing the strawberry from being polluted due to accumulation of the stem liquid for a long time.

[0012] 2. The clamping piece is composed of a stem clamping silica gel plate, a supporting hard plate and a spring, the stem clamping silica gel plate is supported by the supporting hard plate, and the spring is mounted between the knife holder and the supporting hard plate, so that the spring is compressed when the two stem clamping silica gel plates approach each other due to the force of the stem clamping silica gel plate and the strawberry stem, and the spring can clamp the strawberry stem between the two stem clamping silica gel plates due to the reaction force of the spring, the supporting hard plate can increase the strength of the stem clamping silica gel plate, and the end of the stem clamping silica gel plate close to the stem splitting plate is an arc-shaped part, so that the strawberry guided by the stem splitting plate can be guided again by the arc-shaped part of the end of the stem clamping silica gel plate, thereby facilitating the clamping of the strawberry stem between the two stem clamping silica gel plates. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0014] Figure 2 It is a picking mechanism structure schematic view in the utility model;

[0015] Figure 3 It is Figure 2An enlarged structural schematic view at middle A;

[0016] Figure 4 A structure schematic view in use state one of the utility model;

[0017] Figure 5 A structure schematic view in use state two of the utility model;

[0018] Figure 6 A structure schematic view in use state three of the utility model.

[0019] In the figure: 1, picking support; 2, picking mechanism; 21, pneumatic parallel hand claw; 22, knife holder; 23, stem cutting blade; 24, stem clamping silica gel plate; 25, supporting hard board; 26, spring; 27, stem separating plate; 3, cleaning mechanism; 31, spray head; 32, rudder machine; 4, water baffle. DETAILED DESCRIPTION

[0020] The embodiment of the utility model will be further described in detail below in combination with the drawings and examples.

[0021] As Figures 1 to 6 shown:

[0022] The embodiment provides the following technical scheme: a strawberry picking end effector, including picking support 1, picking support 1 is installed with picking mechanism 2 for strawberry picking, picking support 1 is also installed with cleaning mechanism 3 for cleaning after picking mechanism 2 picks strawberries, and water baffle 4 is arranged on the side of picking support 1, and water baffle 4 is used to shield the connecting place of picking mechanism 2 and picking support 1;

[0023] Picking mechanism 2 includes pneumatic parallel hand claw 21 installed in picking support 1, the slider of parallel hand claw 21 is fixed with knife holder 22, the surface of knife holder 22 is fixed with stem cutting blade 23 for cutting strawberry stem through bolt, the inner side of knife holder 22 is installed with clamping piece for clamping strawberry stem, and the clamping piece is below stem cutting blade 23, and the end of knife holder 22 is provided with stem separating plate 27 for separating strawberry stem.

[0024] The picking mechanism 2 and the cleaning mechanism 3 are installed on the picking support 1, the picking mechanism 2 is composed of pneumatic parallel grippers 21, clamping pieces and stem separating plates 27, the knife holders 22 are fixed on the sliding blocks of the pneumatic parallel grippers 21, so that the two telescopic ends of the pneumatic parallel grippers 21 can bring the two knife holders 22 close to or away from each other, the cutting blades 23 and the clamping pieces are installed on the knife holders 22, so that the two knife holders 22 can clamp the strawberry stems before cutting, the two cutting blades 23 can cut the strawberry stems when they are close to each other, so that the strawberry stems are clamped before cutting, which prevents the strawberries from falling due to direct cutting of the strawberry stems, the stem separating plates 27 at the ends of the knife holders 22 can separate and guide multiple strawberry stems, which prevents the immature strawberry stems from being cut by mistake, the washing mechanism installed on the picking support 1 can wash and clean the clamping pieces in time after the strawberries are picked, which prevents the accumulation of stem liquid on the clamping pieces for a long time, and the water used for washing can effectively increase the moisture of the environment during the planting of strawberries, which achieves the purpose of supplementing water for the strawberry planting environment.

[0025] The clamping piece is composed of the stem clamping silica gel plates 24 arranged inside the knife holders 22, the stem clamping silica gel plates 24 are fixed with the support hard plates 25 for support, the spring 26 is fixed between the knife holders 22 and the support hard plates 25, the end of the stem clamping silica gel plates 24 close to the stem separating plates 27 is provided with an arc-shaped part for stem guiding, and the arc-shaped part points to the knife holders 22, the stem separating plates 27 are triangular plate components, and the inclined edges of the stem separating plates 27 are outward.

[0026] The clamping piece is composed of the stem clamping silica gel plates 24, the support hard plates 25 and the spring 26, the stem clamping silica gel plates 24 are supported by the support hard plates 25, and the spring 26 is installed between the knife holders 22 and the support hard plates 25, so that when the two stem clamping silica gel plates 24 are close to each other, the spring 26 is compressed due to the force of the stem clamping silica gel plates 24 and the strawberry stems, and the counterforce of the spring 26 clamps the strawberry stems between the two stem clamping silica gel plates 24, the support hard plates 25 increase the strength of the stem clamping silica gel plates 24, the end of the stem clamping silica gel plates 24 close to the stem separating plates 27 is an arc-shaped part, so that the strawberries guided by the stem separating plates 27 pass through the arc-shaped part at the end of the stem clamping silica gel plates 24 for secondary guiding, which clamps the strawberry stems between the two stem clamping silica gel plates 24, the stem separating plates 27 are triangular plate components, and the inclined edges of the stem separating plates 27 are outward, which separates the immature strawberry stems, and prevents the picking mechanism 2 from cutting too much and picking the immature strawberry stems by mistake.

[0027] The cleaning mechanism 3 includes a nozzle 31 and a servo motor 32 mounted on the upper part of the picking bracket 1. The output shaft of the servo motor 32 is fixed to the outer surface of the nozzle 31, and the water spray end of the nozzle 31 points towards the stem clamping silicone plate 24.

[0028] The cleaning mechanism 3 consists of a nozzle 31 and a servo motor 32. The output shaft of the servo motor 32 is fixed to the housing of the nozzle 31, which allows the servo motor 32 to adjust the spray angle of the nozzle 31, thereby achieving the purpose of cleaning the clamping parts and the stem cutting blade 23 by spraying water from the nozzle 31.

[0029] In use, the strawberry picking end effector moves to the side of the ripe strawberry, and the two blade holders 24 fixed on the two sliders of the pneumatic parallel gripper 21 open, as... Figure 4 As shown, the strawberry picking end effector moves onto the strawberry stem, and the stem separating plate 27 is used to separate the unripe strawberry stems; when the ripe strawberry stem is located between the two blade holders 22, the pneumatic parallel gripper 21 provides initial positive air supply. At this time, the telescopic end of the pneumatic parallel gripper 21 moves the two blade holders 22 closer to each other via the slider, as shown. Figure 5 As shown, at this time, the two clamping devices installed on the two blade holders 22 clamp the strawberry stem; when the pneumatic parallel gripper 21 provides a second positive air supply, the blade holders 22 continue to move closer, as... Figure 6 As shown, the stem-cutting blade 23 mounted on the blade holder 22 cuts the strawberry stem; when the pneumatic parallel gripper 21 disconnects the secondary positive air supply, the stem-cutting blade 23 separates from the strawberry stem, as shown. Figure 5 As shown, remove the strawberry; when the pneumatic parallel gripper 21 supplies air in the reverse direction again, as... Figure 4 As shown, the two blade holders 22 are separated; when cleaning the clamping parts and stem-cutting blades 23 of the harvesting mechanism 2, the servo motor 32 adjusts the rinsing angle of the nozzle 31, and the nozzle 31 is connected to an external water outlet pipe to rinse and clean the stem-cutting blades 23 and the clamping parts.

[0030] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A strawberry picking end effector comprising a picking cradle (1), characterized in that: The picking support (1) is provided with a picking mechanism (2) for picking strawberries, and is also provided with a cleaning mechanism (3) for cleaning after the picking mechanism (2) picks strawberries, and is provided with a water baffle (4) at the side edge of the picking support (1), which is used to shield the connection between the picking mechanism (2) and the picking support (1); the picking mechanism (2) comprises a pneumatic parallel hand claw (21) installed in the picking support (1), a knife holder (22) is fixed on the sliding block of the pneumatic parallel hand claw (21), a stem cutting blade (23) for cutting strawberry stems is fixed on the surface of the knife holder (22) through bolts, a clamping piece for clamping strawberry stems is installed on the inner side of the knife holder (22), and the clamping piece is located below the stem cutting blade (23), and a stem separating plate (27) for separating strawberry stems is arranged at the end of the knife holder (22).

2. A strawberry picking end effector according to claim 1, characterized in that: The clamping piece comprises a stem clamping silica gel plate (24) arranged on the inner side of the knife holder (22), a supporting hard plate (25) for supporting is fixed on the surface of the stem clamping silica gel plate (24), and a spring (26) is fixed between the knife holder (22) and the supporting hard plate (25).

3. A strawberry picking end effector according to claim 2, characterised in that: The stem clamping silica gel plate (24) is provided with an arc-shaped part for guiding stems at one end close to the stem separating plate (27), and the arc-shaped part points to the knife holder (22).

4. The strawberry picking end effector of claim 1, wherein: The stem separating plate (27) is a triangular plate component, and the inclined edge of the stem separating plate (27) is outward.

5. The strawberry picking end effector of claim 1, wherein: The cleaning mechanism (3) comprises a spray head (31) and a rudder (32) installed on the upper part of the picking support (1), the output shaft of the rudder (32) is fixed on the outer surface of the spray head (31), and the water spraying end of the spray head (31) points to the stem clamping silica gel plate (24).

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