Safflower picking end effector based on three-degree-of-freedom posture adjusting mechanism

Abstract

The utility model discloses a safflower picking end effector based on a three-degree-of-freedom posture adjusting mechanism, which is characterized in that a cutting mechanism is arranged below the three-degree-of-freedom posture adjusting mechanism connected in series, a pair of sliding cutting blades is arranged in the cutting mechanism, a diameter-adjustable positioning device is arranged below the cutting mechanism, and a diameter-adjustable conical flower inlet is arranged in the diameter-adjustable positioning device. The posture adjusting mechanism adjusts the space postures of the cutting mechanism and the diameter-adjustable positioning device, the flower inlet is sleeved along the growth axes of safflowers with different inclined postures, the diameter-adjustable positioning device adjusts the diameter of the flower inlet in a self-adaptive mode according to the diameter of the flower buds and positions the filament cutting positions of the flower buds with different diameters, and the blades cut the filaments in a sliding mode. The negative pressure system generates a negative pressure effect at the flower inlet and the cutting area to comb and shape the filaments before cutting and collect and convey the filaments after cutting, and the problems that a traditional end effector cuts flower buds of inclined safflowers by mistake, cutting is insufficient, the chopping rate is high and the picking effect is poor are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to safflower picking equipment technical field more specifically, the utility model relates to a kind of safflower picking end effector based on three degrees of freedom posture adjusting mechanism. BACKGROUND

[0002] Safflower is an important economic crop, widely used in pharmaceutical, food, cosmetics and other industries, especially in traditional Chinese medicine has an important position. The growth characteristics of safflower put forward higher requirements for its picking work, so that traditional manual picking is faced with many challenges in efficiency, quality control and cost control.

[0003] The patent number CN117480942A in the existing public literature introduces a kind of safflower picking mechanical arm based on five degrees of freedom, which can realize the picking of different inclined posture safflower. The mechanical arm is provided with a fixed-diameter flower guide cover at the flower inlet, which can realize the positioning and cutting of flower buds to some extent, but due to the fixed diameter of the flower guide cover, it is difficult to accurately position and cut the flower filaments grown on flower buds of different diameters, which may cause a certain degree of damage to flower buds and flower filaments during picking. SUMMARY

[0004] To improve the positioning accuracy of cutting position of flower filaments of different diameter flower buds and improve the picking effect, the utility model provides a kind of safflower picking end effector based on three degrees of freedom posture adjusting mechanism, which can realize the positioning of cutting position of flower filaments of different diameter flower buds, improve the picking adaptability of inclined posture safflower, and solve the problems of traditional end effector, such as mis-cutting flower buds, insufficient cutting and high cutting rate, etc.

[0005] The technical scheme adopted by the utility model to solve its technical problems is: a kind of safflower picking end effector based on three degrees of freedom posture adjusting mechanism, including cutting mechanism, negative pressure system, a pair of sliding cutting blades are arranged in the cutting mechanism, the lower part is provided with a conical flower inlet, the upper part is provided with a flower outlet, the periphery is provided with a shell, the negative pressure system is connected to the flower outlet through the flower conveying hose, and the negative pressure effect is generated, the flower filaments are combed and shaped at the flower inlet, and cutting and collection and transportation are carried out.

[0006] The above-mentioned safflower picking end effector based on three degrees of freedom posture adjusting mechanism, the posture adjusting mechanism includes heading shaft motor, horizontal roll shaft motor, pitch shaft motor, connecting assembly, first U-shaped arm, second U-shaped arm, third U-shaped arm; each motor is movably connected with the U-shaped arm through the connecting assembly; the heading shaft motor drives the first U-shaped arm to realize the vertical direction Z-axis rotary motion; the horizontal roll shaft motor and the pitch shaft motor drive the second U-shaped arm and the third U-shaped arm to realize the side vertical direction X-axis horizontal roll motion and the normal vertical direction Y-axis pitch motion through the connecting assembly.

[0007] The red safflower picking end effector based on the three-degree-of-freedom posture adjusting mechanism has a cutting blade adopting a sliding cutting principle, and a blade line in a trapezoidal, arc or herringbone shape.

[0008] The red safflower picking end effector based on the three-degree-of-freedom posture adjusting mechanism has an adjustable-diameter positioning device provided with an adjustable-diameter positioner, a micro electric push rod, a handle sleeve, a connecting rod, and a micro electric push rod fixing seat.

[0009] The adjustable-diameter positioner is composed of a driving disc, a fixed disc, a flower guide cover, a driving rod and six groups of synchronous adjusting modules.

[0010] It is to be noted that the arc-shaped guide groove provided on the driving disc has an inner end close to the inner circumferential edge of the driving disc and an outer end close to the outer circumferential edge of the driving disc.

[0011] It is to be noted that the radial straight groove of the fixed disc has an inner end close to the inner circumferential edge of the fixed disc and an outer end close to the outer circumferential edge of the fixed disc.

[0012] It should be noted that the included angle θ of the arc-shaped guide groove is 20°-60°; the cross angle of the arc-shaped slide groove is Δθ, which is 25°-30°; and the included angle α of the radial straight groove is 45°-90°.

[0013] It should be noted that when the sliding shaft of the positioning claw's drive disk slides to the outer end of the arc-shaped guide groove of the drive disk, the sliding block of the positioning claw's fixed disk is located at the outer end of the radial straight groove of the fixed disk, and the outer end of the positioning claw is completely retracted between the drive disk and the fixed disk, that is, located in the area between the inner and outer circumferences of the drive disk and the fixed disk; when the sliding shaft of the positioning claw's drive disk slides to the inner end of the arc-shaped guide groove of the drive disk, the sliding block of the positioning claw's fixed disk is located at the inner end of the radial straight groove of the fixed disk, and the inner end of the positioning claw reaches its minimum limit position.

[0014] It should be noted that the distance between the center of the inner end and the center of the outer end of the arc-shaped groove is the length L1 of the arc-shaped groove; the length L1 of the arc-shaped groove is less than the length L of the straight groove. 2。

[0015] The aforementioned safflower harvesting end effector based on a three-degree-of-freedom attitude adjustment mechanism includes a top plate, a sealing cover, and a bottom plate in its outer shell. The sealing cover is connected to the edge of the gap in the middle of the top plate and the bottom plate, providing a relatively sealed environment for harvesting and enhancing the airflow of the negative pressure system for combing, shaping, and conveying safflower.

[0016] The beneficial effects of this utility model are that the posture adjustment mechanism adjusts the spatial posture of the cutting mechanism and the adjustable diameter positioning device, so that the flower inlet can be inserted along the growth axis of safflower with different tilt postures. The adjustable diameter positioning device adaptively adjusts the diameter of the flower inlet according to the diameter of the flower bud, and positions the cutting position of flower buds with different diameters. The blade slides and cuts the filaments. The negative pressure system generates negative pressure in the flower inlet and the cutting area, which combs and shapes the filaments before cutting and collects and transports them after cutting. This solves the problems of poor harvesting effect caused by traditional end effectors such as miscutting flower buds, insufficient cutting, and high shredding rate of safflower with tilt posture. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the posture adjustment mechanism of this utility model.

[0019] Figure 3 This is a schematic diagram of the cutting mechanism of this utility model.

[0020] Figure 4 This is a schematic diagram of the adjustable diameter positioning device of this utility model.

[0021] Figure 5 This is an exploded view of the adjustable diameter positioner structure of this utility model.

[0022] Figure 6 It is a shell structure schematic view of the utility model.

[0023] Figure 7 (a) is the utility model adjustable diameter positioner to big diameter flower bud positioning view.

[0024] Figure 7 (b) is the utility model adjustable diameter positioner to big diameter flower bud positioning sectional view.

[0025] Figure 7 (c) is the utility model adjustable diameter positioner to small diameter flower bud positioning view.

[0026] Figure 7 (d) is the utility model adjustable diameter positioner to small diameter flower bud positioning sectional view.

[0027] Figure 8 It is the utility model adjustable diameter positioner drive plate structure schematic view.

[0028] Figure 9 It is the utility model adjustable diameter positioner fixed plate structure schematic view.

[0029] Figure 10 It is the utility model to the inclination posture safflower picking schematic view.

[0030] Figure 11 It is the utility model red flower picking flow chart.

[0031] The reference sign is: 1, attitude adjusting mechanism;2, cutting mechanism;3, flower inlet;4, adjustable diameter positioning device;5, shell;6, flower outlet;7, flower conveying hose;8, negative pressure system;9, flower silk;10, flower bud;11, heading shaft motor;12, roll shaft motor;13, pitch shaft motor;14, connecting assembly;15, first U-shaped arm;16, second U-shaped arm;17, third U-shaped arm;21, cutting blade;22, clamping finger;23, clamping jaw;24, drive motor;25, drive motor support;41, adjustable diameter positioner;42, handle sleeve;43, connecting rod;44, micro electric push rod;45, micro electric push rod fixed seat;411, drive rod;412, fixed plate;413, drive plate;414, flower guide cover;4101, positioning claw;4102, drive plate sliding shaft;4103, fixed plate sliding block. DETAILED DESCRIPTION

[0032] Clearly and completely describe the technical scheme in the embodiments of the utility model with reference to the drawings in the embodiments of the utility model, obviously, the described embodiment is only a part of the embodiment of the utility model, and is not all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the scope of the utility model protection.

[0033] A safflower picking end effector based on a three-degree-of-freedom posture adjusting mechanism, comprising a cutting mechanism 2 and a negative pressure system 8, a pair of sliding cutting blades 21 is arranged in the cutting mechanism 2, a conical flower inlet 3 is arranged below, a flower outlet 6 is arranged above, a shell 5 is arranged around, the negative pressure system 8 is connected to the flower outlet 6 through a flower conveying hose 7 to generate a negative pressure effect, and the flower silk 9 is combed, shaped, cut and collected and conveyed at the flower inlet 3; characterized in that the cutting mechanism 2 is installed at the end of the three-degree-of-freedom series posture adjusting mechanism 1, and the flower inlet 3 is adjusted in size by the adjustable diameter positioning device 4.

[0034] As shown in Figure 2 , the posture adjusting mechanism 1 comprises a heading shaft motor 11, a horizontal roll shaft motor 12, a pitch shaft motor 13, a connecting assembly 14, a first U-shaped arm 15, a second U-shaped arm 16 and a third U-shaped arm 17; each motor is movably connected with the U-shaped arm through the connecting assembly 14; the heading shaft motor 11 drives the first U-shaped arm 15 to realize vertical direction Z-axis rotary motion; the horizontal roll shaft motor 12 and the pitch shaft motor 13 drive the second U-shaped arm 16 and the third U-shaped arm 17 to realize side vertical direction X-axis horizontal roll motion and normal vertical direction Y-axis pitch motion through the connecting assembly 14.

[0035] As shown in Figure 3 , the cutting structure 2 comprises a cutting blade 21, a clamping jaw 23, a clamping finger 22, a driving motor 24 and a driving motor support 25; the clamping finger 22 is connected with the clamping jaw 23 through bolts; the driving motor 24 is clamped by the driving motor support 25; the cutting blade 21 is connected with the clamping finger 22 through bolts; the driving motor 24 is connected with the clamping jaw 23, the output shaft of the driving motor 24 drives the clamping jaw 23 to close through gear transmission, so as to drive the cutting blade 21 to close and complete cutting of the flower silk 9; the cutting blade 21 adopts a sliding cutting principle, the required cutting torque is small, and damage to the flower silk 9 can be reduced.

[0036] It should be noted that the blade line of the cutting blade 21 is designed as a trapezoidal shape, an arc shape or a herringbone shape, and the flower silk 9 is cut by using the sliding cutting principle.

[0037] As shown in Figure 4As shown, the adjustable diameter positioning device 4 is provided with an adjustable diameter positioner 41, a micro electric push rod 44, a handle sleeve 42, a connecting rod 43, and a micro electric push rod fixing seat 45. The lower end of the connecting rod 43 penetrates the top end of the micro electric push rod 44, and the upper end extends into the linear sliding groove of the handle sleeve 42 to form a sliding fit. The tail end of the micro electric push rod 44 is installed in the micro electric push rod fixing seat 45. The micro electric push rod fixing seat 45 is connected to the rear end extension plate block of the bottom plate 53 by screws.

[0038] As shown in Figure 5 The adjustable diameter positioner 41 is composed of a driving rod 411, a fixed disc 412, a driving disc 413, a guide cover 414, and six sets of synchronous adjustment modules. The lower end face of the driving disc 413 is provided with six arc-shaped guide grooves, and the upper end face of the fixed disc 412 is provided with six radial straight grooves. Each adjustment module includes a positioning claw 4101 and a double-degree-of-freedom sliding pair, i.e., a driving disc sliding shaft (4102) and a fixed disc sliding block (4103). The driving disc sliding shaft 4102 and the fixed disc sliding block 4103 are respectively embedded in the corresponding guide grooves to form a rotary-radial linear motion conversion mechanism. The micro electric push rod 44 controls the rotation of the driving disc 413 through the driving rod 411, and the six sets of positioning claws 4101 are synchronously displaced along the center of the fixed disc 412 in the radial direction, realizing the diameter adjustment of the flower entrance 3 (diameter adjustment range Φ5-50 mm). The guide cover 414 is fixed at the center of the lower end face of the fixed disc 412 and cooperates with the six sets of synchronous adjustment modules to constrain the spatial pose of the flower bud 10 of different diameters, ensure the orthogonal cutting plane of the flower filament 9 and the axis of the flower bud 10, and realize the cutting position positioning of the flower bud 10 of different diameters.

[0039] As shown in Figure 6 The sealing cover 52 (perspective view) is connected to the edge of the middle gap of the top plate 51 and the bottom plate 53, providing a relatively sealed environment for picking, enhancing the airflow generated by the negative pressure system 8 for carding and shaping the flower filament 9, and improving the picking effect of the flower filament 9.

[0040] The use principle of the safflower picking end effector based on the three-degree-of-freedom attitude adjustment mechanism is as follows:

[0041] ①Bud 10 pose information recognition: The external vision device, binocular camera (not shown), of the safflower picking end effector based on the three-degree-of-freedom attitude adjustment mechanism recognizes the three-dimensional coordinates and spatial pose of the field safflower bud 10.

[0042] ②End effector along the bud 10 growth posture profiling: through the control system data transmission to the three degrees of freedom posture adjustment mechanism 1, the heading axis motor 11 drive first U type arm 15 around the vertical direction Z axis rotation, roll axis motor 12 drive second U type arm 16 around the side vertical direction X roll, pitch axis motor 13 drive third U type arm 17 around the positive vertical direction Y pitch, three axis linkage adjustment cutting mechanism 2 and adjustable diameter positioning device 4 space pose, make the conical flower inlet 3 with the bud 10 top end and ensure the flower inlet 3 axis and the bud 10 growth direction completely coincide, the fixed disc 412 lower end fixed guide flower cover 414 from the circumference of the bud 10, correct its space pose, make the bud 10 axis strictly perpendicular to the cutting plane.

[0043] ③The flower inlet 3 profiling positioning different diameter flower filament 10 cutting position: adjustable diameter positioning device 4 micro electric push rod 44 through the drive rod 411 drive drive disc 413 rotation around the central axis, drive disc 413 lower end six groups of arc guide groove and fixed disc 412 upper end six groups of radial straight groove respectively drive disc sliding shaft 4102 and fixed disc sliding block 4103 form the pair of motion, drive disc sliding shaft 4102 along the arc groove sliding, drive fixed disc sliding block 4103 in radial straight groove synchronous displacement, linkage six groups of positioning claw 4101 with fixed disc 412 center as the benchmark radial contraction or expansion, adjust the flower inlet 3 caliber to match the actual diameter (Φ5-50 mm) of the bud 10.

[0044] ④Negative pressure action carding shaping: negative pressure system 8 through the flower hose 7 at the flower inlet 3 form high speed directional negative pressure flow, loose flower filament 9 adsorption and traction to the conical flower inlet 3 inside, for flower filament 9 carding shaping, the semi-closed environment of sealing cover 52 and top plate 51, bottom plate 53 enhance the strength of the airflow field, make the flower filament 9 along the axial concentrated neat arrangement.

[0045] ⑤Cutting blade 21 sliding cutting flower filament 9: when the flower filament 9 root reaches the cutting area, the drive motor 24 of cutting mechanism 2 through the gear drive a pair of jaw 23 close, the end of the jaw 23 through the bolt connection of the finger 22 drive a pair of cutting blade 21 along the slide rail relative sliding, to the flower filament 9 root with sliding cutting way, cutting blade 21 inclination dynamic change in the process of sliding cutting, make the cutting force decomposed into radial pressure and tangential slip component, reduce the damage to the flower filament 9.

[0046] ⑥Negative pressure system 8 collection transport flower filament 9: after the flower filament 9 cutting, negative pressure system 8 continuous operation, the flower filament 9 under the cutting in the negative pressure through the flower outlet 6 into the flower hose 7, the inner wall of the flower hose 7 with low friction coefficient material and design tapered section accelerate airflow, ensure the efficient transport of flower filament 9, at the same time, negative pressure system 8 can according to the density of flower filament 9 real-time adjustment of negative pressure intensity, prevent the flower hose 7 blockage.

[0047] ⑦Reset into the next picking cycle: the drive motor 24 reverse to make the jaw 23 reset open, micro electric push rod 44 pull the drive plate 413 reverse rotation, six groups of positioning clamping 4101 radial retraction to the initial position, posture adjustment mechanism 1 three-axis motor coordinated motion, drive its end cutting mechanism 2 and adjustable radial positioning device 4 off the current flower 10 and positioning to the next target, complete a single picking cycle.

[0048] Finally: the above only for the preferred embodiments of the present application have, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included within the scope of the present application.

Claims

1. A safflower picking end effector based on a three-degree-of-freedom posture adjustment mechanism, comprising a cutting mechanism (2), a negative pressure system (8), a pair of sliding cutting blades (21) arranged in the cutting mechanism (2), a conical flower inlet (3) with adjustable diameter arranged below, a flower outlet (6) arranged above, and an outer shell (5) arranged around, and the negative pressure system (8) is connected to the flower outlet (6) through a flower conveying hose (7), characterized in that: The cutting mechanism (2) is installed at the end of the three-degree-of-freedom serial posture adjusting mechanism (1), and the inlet (3) is adjusted in size by the adjustable diameter positioning device (4). ​ 2. The curcuma picking end effector based on a three-degree-of-freedom attitude adjusting mechanism according to claim 1, characterized in that, The posture adjusting mechanism (1) comprises a heading shaft motor (11), a roll shaft motor (12), a pitch shaft motor (13), a connecting assembly (14), a first U-shaped arm (15), a second U-shaped arm (16) and a third U-shaped arm (17); each motor is movably connected with the U-shaped arm through the connecting assembly (14); the heading shaft motor (11) drives the first U-shaped arm (15) to realize the rotation movement in the vertical direction Z-axis; the roll shaft motor (12) and the pitch shaft motor (13) respectively drive the second U-shaped arm (16) and the third U-shaped arm (17) to realize the roll movement in the side vertical direction X-axis and the pitch movement in the normal vertical direction Y-axis through the connecting assembly (14).

3. The curcuma picking end effector based on a three-degree-of-freedom attitude adjusting mechanism according to claim 1 or 2, characterized in that, The cutting blade (21) adopts the slide cutting principle, and the blade line is trapezoidal, arc-shaped or herringbone-shaped.

4. The curcuma picking end effector based on a three-degree-of-freedom posture adjusting mechanism according to claim 3, characterized in that, The adjustable diameter positioning device (4) comprises an adjustable diameter positioner (41) and a micro electric push rod (44); the adjustable diameter positioner (41) is composed of a driving disc (413), a fixed disc (412), a flower guide cover (414), a driving rod (411) and six groups of synchronous adjustment modules; the lower end surface of the driving disc (413) is provided with six groups of arc-shaped guide grooves, and the upper end surface of the fixed disc (412) is provided with six groups of radial straight grooves; each adjustment module comprises a positioning claw (4101) and a double-degree-of-freedom sliding pair, i.e., a driving disc sliding shaft (4102) and a fixed disc sliding block (4103); the driving disc sliding shaft (4102) and the fixed disc sliding block (4103) are respectively embedded in the corresponding guide grooves, so as to form a rotation-radial linear motion conversion mechanism.

5. The safflower picking end effector of claim 1, wherein, The shell (5) comprises a top plate (51), a sealing cover (52) and a bottom plate (53); the sealing cover (52) is connected with the edges of the middle gaps of the top plate (51) and the bottom plate (53), so as to provide a relatively sealed environment for picking and enhance the airflow of the negative pressure system (8) for the red safflower carding, shaping and conveying effects.

Images