Impact type multi-connecting-rod small fruit stem picking end effector

Abstract

The utility model discloses an impact type multi-connecting-rod small fruit stem picking end effector which achieves efficient and accurate fruit stem shearing through cooperative work of an elastic piece, a multi-connecting-rod mechanism, a guide roller controlled by a steering engine and a blade set. A rubber band is introduced to serve as a force storage device, pretightening force is provided when the blade is closed, and when the guide roller is driven by the steering engine to move forwards, the elastic piece is further stretched to store energy; when hindering is met or the maximum stroke is reached, stored energy is instantly released to form impact force, the blade is promoted to rapidly complete shearing, the problem that fruit stems cannot be cut off due to insufficient clamping force is avoided, meanwhile, pulling of the fruit stems in the shearing process is reduced, the risk of fiber tearing is reduced, and the possibility of disease and pest infection is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to picking end effector technical field, concretely is a percussion type multi-connecting rod small fruit stem picking end effector. BACKGROUND

[0002] Agricultural end effectors are tools or devices installed at the end of agricultural robots or automated equipment, which directly interact with crops or the environment. These effectors are designed specifically to perform certain agricultural tasks, such as planting, harvesting, spraying pesticides, weeding, pruning, etc. They can significantly improve the efficiency and precision of agricultural production, reduce the need for manual labor, and help achieve precision agriculture.

[0003] The design and application of agricultural end effectors directly affect the efficiency, precision, and damage to crops during crop handling. However, there are still some problems in the existing technology that need to be solved. Traditional fruit stem shearing end effectors are mainly driven by servo motors, which are difficult to operate flexibly in complex environments and are prone to collision with plant branches. Moreover, the clamping force of traditional small fruit stem picking end effectors is difficult to control accurately, which can cause the fruit stem to be unable to cut normally, and the shearing efficiency is limited by the design of the mechanical structure. Due to the lack of power enhancement mechanism, the shearing process may be too slow, causing unnecessary pulling of the fruit stem during shearing, which can cause fiber tearing due to incomplete shearing of the fruit stem, leading to the generation of cutting surface pests. SUMMARY

[0004] Therefore, in order to solve the above problems, the purpose of the utility model is to provide a percussion type multi-connecting rod small fruit stem picking end effector, comprising:

[0005] The base includes a force storage mounting seat, a first traction rotating end, and a second traction rotating end. The base is installed with a rudder machine.

[0006] The guide rod cooperates with the output end of the rudder machine. The rudder machine controls the forward and backward movement of the guide rod.

[0007] The blade set includes a first blade seat and a second blade seat. The first blade seat and the second blade seat are respectively provided with a first blade and a second blade. The first blade and the second blade are arranged in a staggered manner to form a cutting station.

[0008] The connecting rod set includes a first traction rod, a second traction rod, a first connecting rod, and a second connecting rod. The two ends of the first traction rod are respectively rotatably connected to the first traction rotating end of the first blade seat. The two ends of the second traction rod are respectively rotatably connected to the second traction rotating end of the second blade seat. The two ends of the first connecting rod are respectively movably connected to the first blade seat and the guide rod. The two ends of the second connecting rod are respectively movably connected to the second blade seat and the guide rod.

[0009] a resilient member, two ends of the resilient member are connected to the force storage mounting seat and the guide stick respectively;

[0010] The front and back movement of the guide stick can drive the first connecting rod member and the second connecting rod member to control the first blade seat and the second blade seat to move away from or close to each other.

[0011] Preferably, the first connecting rod member comprises a first position adjusting end and is movably connected to the guide stick through the first position adjusting end, the second connecting rod member comprises a second position adjusting end and is movably connected to the guide stick through the second position adjusting end, and the first connecting rod member and the second connecting rod member are symmetrically arranged along the guide stick.

[0012] Preferably, one end of the guide stick close to the blade set is provided with a position adjusting rod, and two ends of the position adjusting rod are movably connected to the first connecting rod member and the second connecting rod member through connecting rods.

[0013] Preferably, the two rudders are symmetrically arranged, the output end of the rudder is connected with a rudder arm, the rudder controls the rotation of the rudder arm, one end of the rudder arm is provided with a control rod, and the control rod cooperates with the guide stick.

[0014] Preferably, one end of the guide stick close to the rudder is rotatably connected with a one-way pawl, and the one-way pawl cooperates with the control rod.

[0015] Preferably, the one-way pawl is symmetrically arranged, and a reset spring is arranged between the two one-way pawls.

[0016] Preferably, the lower end of the guide stick is provided with a force storage cooperation seat, and two ends of the resilient member are connected to the force storage mounting seat and the force storage cooperation seat respectively.

[0017] The utility model discloses the beneficial effects are:

[0018] The impact type multi-connecting rod small fruit stem picking end effector cooperates with the guide stick and the blade set controlled by the resilient member and the rudder, realizes efficient and accurate fruit stem shearing. The design solves the problems of inflexible operation and difficult to control clamping force of the traditional fruit stem shearing end effector, improves the shearing efficiency and precision. The rudder drives the guide stick to move forward and backward, converts linear motion into relative motion between the blade seats by the connecting rod set, makes the first blade and the second blade quickly close to complete cutting, ensures accurate cutting of the target fruit stem in the complex environment, reduces the risk of accidentally touching the plant branches.

[0019] The elastic member (rubber band) is introduced as a force storage device, and provides pre-tightening force when the blade is closed, and the elastic member is further stretched to store energy when the guide rod is driven by the steering engine to move forward; when obstacles are encountered or the maximum stroke is reached, the stored energy is released instantaneously to form impact force, so that the blade quickly completes shearing, the problem that the fruit stem cannot be cut off due to insufficient clamping force is avoided, the fruit stem is less pulled during shearing, the risk of fiber tearing is reduced, and the possibility of disease and pest infection is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 It is an upper side structure schematic view of the present application.

[0022] Figure 2 It is a lower side structure schematic view of the present application.

[0023] Figure 3 It is a top view structure schematic view of the present application.

[0024] Figure 4 It is a bottom view structure schematic view of the present application.

[0025] Figure 5 It is a sectional view structure schematic view of the one-way pawl.

[0026] Explanation of reference numerals: 1, base; 11, force storage mounting seat; 12, first traction rotating end; 13, second traction rotating end; 2, steering engine; 21, steering engine arm; 22, control rod; 3, guide rod; 31, position adjusting rod; 32, one-way pawl; 33, reset spring; 34, force storage matching seat; 35, connecting rod; 4, blade group; 41, first blade seat; 42, second blade seat; 43, first blade; 44, second blade; 5, connecting rod group; 51, first traction rod; 52, second traction rod; 53, first connecting rod member; 54, second connecting rod member; 55, first position adjusting end; 56, second position adjusting end.

[0027] The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application.

[0029] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] Unless otherwise expressly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] Embodiment 1:

[0032] Figures 1-5 The utility model provides a kind of impact type multi-connecting rod small fruit stem picking end effector, including base 1, guide stick 3, blade group 4, connecting rod group 5 and elastic piece, base 1 middle part is equipped with guide stick 3 installation site, guide stick 3 is installed at this place, limited by the shape of base 1, only can move back and forth, power storage mounting seat 11, first traction rotating end 12 and second traction rotating end 13 are arranged on base 1, base 1 is installed on still installed with steering wheel 2, guide stick 3 is cooperated with the output end of steering wheel 2, and steering wheel 2 is used to control guide stick 3 to move back and forth.

[0033] Blade group 4 includes first blade seat 41 and second blade seat 42, and first blade 43 and second blade 44 are respectively arranged on first blade seat 41 and second blade seat 42, and first blade 43 and second blade 44 are arranged in staggered manner to form cutting station, although first blade 43 and second blade 44 are staggered, but the distance therebetween is small, when first blade 43 and second blade 44 are quickly close, fruit stem can be cut.

[0034] The base 1, the guide stick 3 and the blade group 4 are connected through the connecting rod set 5, the connecting rod set 5 comprises a first traction rod 51, a second traction rod 52, a first connecting rod 53 and a second connecting rod 54, both ends of the first traction rod 51 are respectively rotatably connected to the first traction rotating end 12 of the first blade seat 41, both ends of the second traction rod 52 are respectively rotatably connected to the second traction rotating end 13 of the second blade seat 42, both ends of the first connecting rod 53 are respectively rotatably connected to the first blade seat 41 and the guide stick 3, both ends of the second connecting rod 54 are respectively rotatably connected to the second blade seat 42 and the guide stick 3, the traction rod is used for ensuring that the blade seat is kept connected with the base 1 and does not deviate from the base 1, and the connecting rod is affected by the forward and backward movement of the guide stick 3, so as to drive the first blade seat 41 and the second blade seat 42 to move away from or close to each other.

[0035] The elastic member is connected to the force storage mounting seat 11 and the guide stick 3 at both ends, the elastic member can be selected according to requirements, and in the embodiment, a rubber band is used as the elastic member, and the force storage mounting seat 11 is provided with a force storage matching seat 34 in the form of a hook, so that the rubber band is wound, and the force storage mounting seat 11 is provided with a convex edge, so that the rubber band is prevented from slipping off.

[0036] The first connecting rod 53 comprises a first position adjusting end 55 and is rotatably connected to the guide stick 3 through the first position adjusting end 55, the second connecting rod 54 comprises a second position adjusting end 56 and is rotatably connected to the guide stick 3 through the second position adjusting end 56, the first connecting rod 53 and the second connecting rod 54 are symmetrically arranged along the guide stick 3, the rotation supporting points of the connecting rods are adjusted to be relatively far away from the guide stick 3 and relatively fixed, so as to ensure that the guide stick 3 can accurately control the rotation of the first connecting rod 53 to drive the blade seat to move, improve the operation reliability of the mechanism, and avoid the connecting rod from being stuck.

[0037] The end of the guide stick 3 close to the blade group 4 is provided with a position adjusting rod 31, both ends of the position adjusting rod 31 are movably connected to the first connecting rod 53 and the second connecting rod 54 through a connecting rod 35, the position adjusting rod 31 is arranged to facilitate the symmetric arrangement of the two connecting rods, the rotation connecting points of the connecting rods and the guide stick 3 are separately arranged, the overall structure is clearer, easy to understand and convenient to manufacture.

[0038] In the embodiment, two steering gears 2 are arranged symmetrically along the guide stick 3, one end of the guide stick 3 close to the steering gears 2 is rotatably connected to two symmetrically arranged one-way pawls 32, the output end of the steering gear 2 is rotatably connected to a steering gear arm 21, the middle part of the steering gear arm 21 is connected to the steering gear 2, the steering gear 2 is used for controlling the rotation of the steering gear arm 21, one end of the steering gear arm 21 is provided with a control rod 22, the control rod 22 is matched with the one-way pawl 32, when the steering gear arm 21 is controlled to rotate by the steering gear 2, the control rod 22 abuts against the one-way pawl 32 and pushes the one-way pawl 32 to move forward and backward together with the guide stick 3.

[0039] A reset spring 33 is installed between the two one-way pawls 32 to ensure that the two pawls are kept in a suitable position and can touch the control rod 22.

[0040] Operation flow:

[0041] Before starting the cutting action, the end effector is in standby state, at this time the first blade 43 and the second blade 44 are staggered and overlapped, like a rubber band in a natural or slightly pre-tightened state, to ensure that it is correctly wound between the force storage mounting seat 11 and the force storage matching seat 34 on the guide stick 3.

[0042] When the end effector's visual system recognizes the target fruit stem and is ready for cutting, the control system sends instructions to the rudder 2, causing the output end of the rudder 2 to rotate. The rudder arm 21 then rotates and pushes the one-way pawl 32 through the control rod 22, driving the guide stick 3 to move forward. The linkage set 5 (including the traction rod and the linkage piece) converts this movement into the separation action of the first blade seat 41 and the second blade seat 42, causing the first blade 43 and the second blade 44 to gradually move away, while stretching the rubber band to store energy.

[0043] As the guide stick 3 moves forward, the elastic member is continuously stretched, storing more energy. In this process, the first blade 43 and the second blade 44 maintain an open state until the visual system confirms that it has aligned with the target fruit stem. This stage ensures that the blades can be accurately positioned to avoid damaging surrounding plant structures.

[0044] The visual system confirms the alignment of the target, and the control system stops powering the rudder 2, causing the rudder 2 to lose power. At this time, the energy stored in the rubber band is rapidly released, causing the guide stick 3 to be quickly pulled backward by the rubber band, which drives the first blade seat 41 and the second blade seat 42 to move rapidly through the linkage set 5. Due to the small distance between the blades and the staggered arrangement, this high-speed approach can achieve efficient and clean cutting of the fruit stem.

[0045] After the cutting is completed, the blade set 4 continues to maintain the closed state for a period of time to hold the cut fruit stem, preventing it from falling or moving, ensuring the safety and effectiveness of the operation.

[0046] The above is only an optional embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by utilizing the contents of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A percussion multi-link small boll stalk picking end effector, characterized in that, The utility model relates to a cutting device for cutting the rubber sheet, which comprises a base (1), a guide stick (3), a blade group (4) and a connecting rod group (5). The base (1) comprises a force storage mounting seat (11), a first traction rotating end (12) and a second traction rotating end (13), and a steering wheel (2) is mounted on the base (1). The guide stick (3) is matched with the output end of the steering wheel (2), and the steering wheel (2) controls the forward and backward movement of the guide stick (3). The blade group (4) comprises a first blade seat (41) and a second blade seat (42), and a first blade (43) and a second blade (44) are arranged on the first blade seat (41) and the second blade seat (42) respectively. The connecting rod group (5) comprises a first traction rod (51), a second traction rod (52), a first connecting rod (53) and a second connecting rod (54). The two ends of the first traction rod (51) are respectively rotationally connected to the first traction rotating end (12) of the first blade seat (41). The two ends of the second traction rod (52) are respectively rotationally connected to the second traction rotating end (13) of the second blade seat (42).

2. The impact multi-link burr picking end effector of claim 1, wherein, The two ends of the first connecting rod (53) are movably connected to the first blade seat (41) and the guide stick (3).

3. The impact multi-link burr picking end effector of claim 2, wherein, The two ends of the second connecting rod (54) are movably connected to the second blade seat (42) and the guide stick (3).

4. The impact multi-link burr picking end effector of claim 1, wherein, The forward and backward movement of the guide stick (3) can drive the first connecting rod (53) and the second connecting rod (54) to control the first blade seat (41) and the second blade seat (42) to move away from or close to each other.

5. The impact multi-link burr picking end effector of claim 4, wherein, The first connecting rod (53) comprises a first position adjusting end (55) movably connected to the guide stick (3).

6. The impact multi-link burr picking end effector of claim 5, wherein, The second connecting rod (54) comprises a second position adjusting end (56) movably connected to the guide stick (3).

7. The impact multi-link burr picking end effector of claim 1, wherein, The first connecting rod (53) and the second connecting rod (54) are symmetrically arranged along the guide stick (3). The end of the guide stick (3) close to the blade group (4) is provided with a position adjusting rod (31). The two ends of the position adjusting rod (31) are movably connected to the first connecting rod (53) and the second connecting rod (54) through connecting rods (35). The two steering wheels (2) are symmetrically arranged. The output end of the steering wheel (2) is connected with a steering wheel arm (21). The steering wheel (2) controls the rotation of the steering wheel arm (21). One end of the steering wheel arm (21) is provided with a control rod (22) matched with the guide stick (3). The end of the guide stick (3) close to the steering wheel (2) is rotationally connected with a one-way pawl (32) matched with the control rod (22). The one-way pawl (32) is symmetrically arranged. Two one-way pawls (32) are arranged between which a reset spring (33) is arranged. The lower end of the guide stick (3) is provided with a force storage matching seat (34). The two ends of the elastic member are respectively connected to the force storage mounting seat (11) and the force storage matching seat (34).

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