Picking executing mechanism

Abstract

The utility model provides a picking executing mechanism, and relates to the technical field of automatic picking. The executing mechanism comprises a mounting part; the rotating part is rotatably arranged on the mounting part; the power structure is used for driving the rotating part to rotate; the connecting assembly comprises a plurality of connecting parts and a plurality of connecting curved bars which are equal in number, the connecting parts are arranged on the mounting part and arranged around the same circumferential direction with the rotating part as the circle center, each connecting part is in sliding fit with the mounting part, one ends of the connecting curved bars are hinged to the rotating part at the same time, and the other ends of the connecting curved bars are hinged to the rotating part. The other ends of the connecting rods are respectively hinged with the connecting parts one by one; the number of the tail end execution assemblies is equal to that of the connecting parts, and the tail end execution assemblies are connected with the connecting parts in a one-to-one correspondence mode. The execution mechanism not only improves the operation flexibility of equipment in a complex agricultural scene, but also optimizes space management in an idle state.

Description

Technical Field

[0001] This utility model relates to the field of automated harvesting technology, and more specifically, to an execution structure for an automated harvesting machine. Background Technology

[0002] Automated agricultural harvesting technology integrates knowledge from multiple disciplines such as mechanical engineering, electronic technology, computer science, sensor technology, and artificial intelligence. It is a cutting-edge technology dedicated to automating the harvesting of fruits, vegetables, and other agricultural products in agricultural production. This technology relies on automated harvesting equipment equipped with various sensors and actuators to accurately identify key information such as the maturity, location, and shape of crops. It then precisely controls robotic arms or other harvesting devices to perform harvesting operations, successfully replacing traditional manual harvesting methods. This significantly improves harvesting efficiency, reduces labor intensity, and minimizes human-induced damage to agricultural products, powerfully promoting the development of agricultural production towards large-scale, standardized, and efficient operations.

[0003] As a key component of the harvester, the actuator's main function is to precisely and accurately complete the harvesting of crops according to the instructions issued by the control system. It generally consists of a robotic arm, end effectors (such as harvesting grippers and cutters), and a drive unit. The robotic arm can move flexibly and freely in three-dimensional space, precisely positioning the end effector to the location of the crop to be harvested. The drive unit provides power to the robotic arm and end effectors, ensuring they operate according to preset trajectories and forces. The end effectors are specifically designed according to the characteristics of the crops and harvesting requirements. For example, harvesting grippers for fruits can gently and firmly grasp the fruits and separate them from the plant through appropriate movements, while cutters are mainly used for harvesting vegetables and other crops. With precise motion control, the actuator achieves efficient and accurate crop harvesting, making it the core link in translating the concept of automated harvesting into practical operation.

[0004] In existing technologies, to improve the harvesting efficiency of actuators, a common approach is to install multiple end effectors on the actuator to work together in harvesting operations. However, existing designs have significant drawbacks. These end effectors are all fixed in layout and lack a flexible retraction and deployment mechanism. This not only leads to numerous limitations during the harvesting process due to the layout's inability to adapt to the complex and ever-changing crop growing environment, making it difficult to fully utilize the advantages of multiple actuators, but also causes significant inconvenience when the equipment needs to be stored away, as the layout cannot be changed and each end effector occupies a large amount of space. This severely impacts the ease of use and space utilization of the equipment. Utility Model Content

[0005] The purpose of this utility model is to provide an execution structure for an automated harvesting machine, which aims to solve the technical problems in the background art mentioned above.

[0006] The embodiments of this utility model are implemented as follows:

[0007] This application provides a picking mechanism, comprising: a mounting part; a rotating part rotatably disposed on the mounting part; a power structure for driving the rotating part to rotate; a connecting assembly comprising a plurality of connecting parts and a plurality of connecting cranks of equal number, wherein the plurality of connecting parts are disposed on the mounting part and arranged around the rotating part in the same circumferential direction, each of the connecting parts being slidably engaged with the mounting part, one end of each of the plurality of connecting cranks being hinged to the rotating part, and the other end being hinged to each of the plurality of connecting parts; when the rotating part rotates in a first direction, the plurality of connecting parts simultaneously converge toward the rotating part, and when the rotating part rotates in a second direction, the plurality of connecting parts simultaneously disperse toward the rotating part; and an end effector assembly, the number of which is equal to the number of the connecting parts, and each of which is connected to each of the plurality of connecting parts.

[0008] Furthermore, based on the aforementioned scheme, the mounting portion is circular, and the rotating portion is located at the center of the mounting portion; any of the connecting portions is slidably disposed along the radial direction of the mounting portion.

[0009] Furthermore, based on the aforementioned scheme, a groove is radially provided on one side of the mounting part, and the number of the grooves is equal to the number of the connecting parts, with each groove corresponding to and fitting one-to-one with the other connecting parts.

[0010] Furthermore, based on the aforementioned scheme, the number of the aforementioned connecting parts is an even number; the aforementioned power structure is a hydraulic telescopic rod, and the two ends of the aforementioned hydraulic telescopic rod are respectively connected to two of the aforementioned connecting parts, and the two connected connecting parts are symmetrically arranged about the aforementioned rotating part.

[0011] Furthermore, based on the aforementioned scheme, any of the aforementioned end effector components includes: a robotic arm having a mounting end and a driving end, the mounting end being connected to the aforementioned connecting portion; and an automatic gripper disposed at the driving end of the robotic arm.

[0012] Furthermore, based on the aforementioned solution, the automatic gripper includes a connector, one end of which is connected to the drive end of the robotic arm, and the other end is provided with a triangular gripper structure; wherein, the connector is also provided with a cylinder for driving the triangular gripper structure to grasp or release.

[0013] Furthermore, based on the aforementioned scheme, each claw hook of the triangular gripper structure is equipped with a silicone sleeve.

[0014] Furthermore, based on the aforementioned solution, the robotic arm includes a first connecting seat, a second connecting seat, and a third connecting seat. The first connecting seat is disposed at the connecting portion, the second connecting seat is rotatably disposed at the first connecting seat, and the third connecting seat is rotatably disposed at the second connecting seat. The rotation plane of the second connecting seat relative to the first connecting seat is perpendicular to the rotation plane of the third connecting seat relative to the second connecting seat. The first connecting seat is provided with a first drive motor for driving the second connecting seat to rotate, and the second connecting seat is provided with a second drive motor for driving the third connecting seat to rotate.

[0015] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:

[0016] The harvesting actuator provided in this application uses a power structure as the driving source to drive the rotating part. Through the linkage mechanism of the connecting crank, multiple connecting parts can move in tandem. When the rotating part rotates in the first direction, the connecting crank pulls the connecting parts toward the rotating part; when rotating in the second direction, the connecting crank pushes the connecting parts apart, realizing the free switching of the end-effector layout. Its advantages are fully demonstrated in many scenarios: during operation, facing complex environments such as intertwined crop branches and leaves and uneven fruit distribution, the unfolding form of the end-effector can be flexibly adjusted, allowing each actuator to accurately adapt to the working space, breaking the constraints of fixed layout on harvesting actions, and fully releasing the efficiency potential of multi-actuator collaborative operation; when the equipment is idle, by manipulating the rotating part to bring the connecting parts together, the end-effector is compactly assembled, greatly reducing space occupation and completely solving the pain point of inconvenient storage of traditional fixed layout. This design not only improves the operational flexibility of the equipment in complex agricultural scenarios, but also optimizes space management in the idle state, achieving a dual breakthrough in functional practicality and ease of use. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 An isometric view of a picking actuator according to an embodiment of this utility model. Figure 1 ;

[0019] Figure 2 An isometric view of a picking actuator according to an embodiment of this utility model. Figure 2 ;

[0020] Figure 3This is an isometric view of a picking actuator with the motor structure removed, according to an embodiment of the present invention.

[0021] Figure 4 This is an isometric view of the end effector component according to an embodiment of the present invention;

[0022] Figure 5 This is a cross-sectional view of the end-effector component according to an embodiment of the present invention.

[0023] Icons: 1- Mounting part, 2- Robotic arm, 3- Automatic gripper, 301- Connector, 302- Cylinder, 303- Triangular gripper structure, 4- Connecting part, 5- Slide groove, 6- Connecting crank, 7- Power structure, 8- Rotating part, 9- First connecting seat, 10- Second connecting seat, 11- Third connecting seat, 12- First drive motor, 13- Second drive motor. Detailed Implementation

[0024] The embodiments of this application will now be described in detail with reference to the accompanying drawings. Example

[0025] Please refer to Figures 1-5 This application provides a harvesting actuator, comprising: a mounting part 1; a rotating part 8 rotatably disposed on the mounting part 1; a power structure 7 for driving the rotating part 8 to rotate; a connecting assembly comprising a plurality of connecting parts 4 and a plurality of connecting cranks 6 of equal number, wherein the plurality of connecting parts 4 are disposed on the mounting part 1 and arranged around the rotating part 8 in the same circumferential direction, each of the connecting parts 4 being slidably engaged with the mounting part 1, one end of each of the plurality of connecting cranks 6 being simultaneously hinged to the rotating part 8, and the other end being respectively hinged to each of the plurality of connecting parts 4; when the rotating part 8 rotates in a first direction, the plurality of connecting parts 4 simultaneously converge toward the rotating part 8, and when the rotating part 8 rotates in a second direction, the plurality of connecting parts 4 simultaneously disperse toward the rotating part 8; and an end effector assembly, the number of which is equal to the number of the connecting parts 4, and each of which is respectively connected to each of the plurality of connecting parts 4.

[0026] The harvesting actuator provided in this embodiment uses a power structure 7 as the driving source to drive the rotating part 8. Through the linkage mechanism of the connecting crank 6, multiple connecting parts 4 generate coordinated movement. When the rotating part 8 rotates in the first direction, the connecting crank 6 pulls the connecting parts 4 towards the rotating part 8; when rotating in the second direction, the connecting crank 6 pushes the connecting parts 4 outward, realizing the free switching of the end-effector layout. Its advantages are fully demonstrated in multiple scenarios: during operation, facing complex environments such as intertwined crop branches and leaves and uneven fruit distribution, the unfolding form of the end-effector can be flexibly adjusted, allowing each actuator to accurately adapt to the working space, breaking the constraints of fixed layout on harvesting actions, and fully releasing the efficiency potential of multi-actuator collaborative operation; when the equipment is idle, by manipulating the rotating part 8 to bring the connecting parts 4 together, the end-effector is compactly assembled, greatly reducing space occupation and completely solving the pain point of inconvenient storage of traditional fixed layout. This design not only improves the operational flexibility of the equipment in complex agricultural scenarios, but also optimizes space management in the idle state, achieving a dual breakthrough in functional practicality and ease of use.

[0027] In a preferred embodiment, the mounting portion 1 is circular, and the rotating portion 8 is disposed at the center of the mounting portion 1; any of the connecting portions 4 is slidably disposed along the radial direction of the mounting portion.

[0028] In the above embodiments, the symmetrical nature of the circular mounting portion 1 ensures more uniform power transmission when the rotating portion 8 operates at the center, guaranteeing the stability of the structural movement. Furthermore, the regular radial sliding trajectory of the connecting portion 4 allows multiple connecting portions 4 to maintain high coordination during convergence or divergence, precisely achieving layout adjustments and improving operational efficiency.

[0029] In a preferred embodiment, a groove 5 is provided radially on one side of the mounting part 1. The number of grooves 5 is equal to the number of connecting parts 4, and the multiple grooves 5 are adapted to the multiple connecting parts 4 in a one-to-one correspondence.

[0030] In the above embodiments, the slide 5 provides a precise and stable sliding track for the connecting part 4, enabling the connecting part 4 to maintain a precise radial movement path during the sliding process, which greatly improves the accuracy and controllability of the movement of the connecting part 4, thereby ensuring the accuracy of the entire picking execution mechanism during layout adjustment.

[0031] Optionally, the slide 5 extends through both sides of the mounting part 1, and the two sides of the connecting part 4 also extend to both sides of the mounting part 1. The connecting crank 6 and the rotating part 8 are provided on one side of the mounting part 1, and multiple end effector components are provided on the other side of the mounting part 1.

[0032] In a preferred embodiment, the number of the connecting parts 4 is even; the power structure 7 is a hydraulic telescopic rod, and the two ends of the hydraulic telescopic rod are respectively connected to two of the connecting parts 4, and the two connected connecting parts 4 are symmetrically arranged about the rotating part 8.

[0033] In the above embodiments, the even number of connecting parts 4, in conjunction with symmetrically connected hydraulic telescopic rods, ensures that the rotating part 8 experiences balanced force on both sides during the driving process. This makes the rotation of the rotating part 8 smoother and more stable, avoiding jamming or deviation caused by uneven force, and greatly improving the stability of the actuator. Simultaneously, the hydraulic telescopic rods possess powerful driving force and precise telescopic control capabilities, enabling them to quickly and efficiently push the symmetrical connecting parts 4, driving other connecting parts 4 to collaboratively complete the gathering or dispersing actions. This allows for rapid adjustment of the end-effector layout, effectively improving the efficiency of harvesting operations and the response speed to complex environments, thus enhancing the practicality and reliability of the entire actuator.

[0034] In a preferred embodiment, any of the above-mentioned end effector components includes: a robotic arm 2 having a mounting end and a driving end, the mounting end being connected to the connecting part 4; and an automatic gripper 3 disposed at the driving end of the robotic arm 2.

[0035] In the above embodiments, the cooperation between the robotic arm 2 and the automatic gripper 3 gives the automatic gripper 3 multi-dimensional adjustability in space, enabling it to accurately locate and harvest crops in complex farmland environments based on their specific growth position and posture, effectively expanding the harvesting operation range.

[0036] In a preferred embodiment, the automatic gripper 3 includes a connector 301, one end of which is connected to the drive end of the robotic arm 2, and the other end is provided with a triangular gripper structure 303; wherein, the connector 301 is also provided with a cylinder 302, which is used to drive the triangular gripper structure 303 to grip or release.

[0037] In the above embodiment, the connector 301 securely connects the triangular gripper structure 303 to the drive end of the robotic arm 2, ensuring efficient and stable power transmission. With its unique triangular layout, the triangular gripper structure 303 provides a more balanced gripping force compared to ordinary grippers when grasping objects. During harvesting, it can firmly and stably grasp agricultural products of different shapes and sizes, reducing the risk of slippage. The cylinder 302 significantly improves the response speed and control precision of the gripper's movements. It allows for rapid adjustment of the opening and closing state of the triangular gripper structure 303 according to actual harvesting needs, achieving precise and efficient gripping and releasing operations, and significantly improving harvesting efficiency and quality.

[0038] Optionally, the connecting part 4 adopts a cylindrical structure. The three claw hooks of the triangular gripper are hinged to one end of the cylindrical body, while the other end of the cylindrical body is securely connected to the drive end of the robotic arm 2. A cylinder 302 is housed within the cylindrical body, with its movable end hinged to the three claw hooks simultaneously. When the cylinder 302 operates, the extension and retraction of the movable end precisely drives the three claw hooks to work synchronously, realizing the opening and closing action of the triangular gripper and efficiently completing the gripping and releasing tasks.

[0039] As a preferred embodiment, each claw hook of the above-mentioned triangular claw structure 303 is provided with a silicone sleeve.

[0040] In the above embodiments, the silicone sleeve is soft and elastic, which can effectively buffer the pressure of the claw hook on the fruit surface when grasping agricultural products, avoid scratching or bruising the fruit peel due to improper gripping force, greatly protect the integrity of agricultural products, and reduce the loss rate during the harvesting process.

[0041] In a preferred embodiment, the robotic arm 2 includes a first connecting seat 9, a second connecting seat 10, and a third connecting seat 11. The first connecting seat 9 is disposed on the connecting portion 4. The second connecting seat 10 is rotatably disposed on the first connecting seat 9. The third connecting seat 11 is rotatably disposed on the second connecting seat 10. The rotation plane of the second connecting seat 10 relative to the first connecting seat 9 is perpendicular to the rotation plane of the third connecting seat 11 relative to the second connecting seat 10. The first connecting seat 9 is provided with a first drive motor 12 for driving the second connecting seat 10 to rotate. The second connecting seat 10 is provided with a second drive motor 13 for driving the third connecting seat 11 to rotate.

[0042] In the above embodiments, the robotic arm 2 adopts a first connecting seat 9, a second connecting seat 10, and a third connecting seat 11. The second connecting seat 10 rotates relative to the first connecting seat 9, and the third connecting seat 11 rotates relative to the second connecting seat 10 in mutually perpendicular planes. With the cooperation of the first drive motor 12 and the second drive motor 13 driving it respectively, the robotic arm 2 can achieve multi-dimensional, flexible and precise movement, which greatly improves the picking range and operation accuracy of the automatic gripper 3 in complex agricultural environments.

[0043] Furthermore, unless otherwise explicitly specified or limited, the terms "installation" and "connection" in this application embodiment should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. The terms "upper," "lower," "left," "right," "inner," "outer," and "side," etc., are merely for reference to the direction in the accompanying drawings or the usual placement of the product during use. They are only for clearly describing this application and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limitations on this application. The terms "first," "second," etc., are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance; "multiple" refers to at least two. In this application embodiment, the limitations on relative positional relationships such as parallel, perpendicular, and aligned are all relative to the current technological level and are not absolutely strict limitations. Slight deviations are allowed; approximations of parallel, perpendicular, and aligned are all acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 degrees and 10 degrees.

[0044] The above are only some embodiments and implementation methods of this application. The protection scope of this application is not limited thereto. In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. Any combination of features in different embodiments is also within the protection scope of this application. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A picking actuator, characterized by The utility model relates to a kind of multi-robot arm, including: Mounting portion (1); Rotary portion (8), rotatable setting in the mounting portion (1); Power structure (7), for driving the rotary portion (8) rotation; Connecting assembly, including equal number of multiple connecting portions (4) and multiple connecting curved rods (6), multiple the connecting portion (4) is set in the mounting portion (1), and with the rotary portion (8) as center around the same circumferential direction setting, each the connecting portion (4) is slidably connected with the mounting portion (1), multiple the connecting curved rod (6) one end is simultaneously hinged with the rotary portion (8), and the other end is respectively hinged with multiple the connecting portion (4) one by one, when the rotary portion (8) rotates towards first direction, multiple the connecting portion (4) simultaneously gathers towards the direction close to the rotary portion (8), when the rotary portion (8) rotates towards second direction, multiple the connecting portion (4) simultaneously disperses towards the direction away from the rotary portion (8);And End execution assembly, its number is equal to the number of the connecting portion (4), and it is connected with multiple the connecting portion (4) one by one correspondingly.

2. A picking actuator according to claim 1, wherein, The mounting portion (1) is circular, and the rotary portion (8) is arranged at the center of the mounting portion (1);Any the connecting portion (4) is slidably arranged along the radial direction of the mounting portion (1).

3. A picking actuator according to claim 2, wherein, One side of the mounting portion (1) is provided with a sliding groove (5) along the radial direction, and the number of the sliding groove (5) is equal to the number of the connecting portion (4), and the sliding groove (5) is matched with the connecting portion (4) one by one.

4. A picking actuator according to any one of claims 1-3, characterized in that The number of the connecting portion (4) is even. Wherein, the power structure (7) is a hydraulic telescopic rod, and the two ends of the hydraulic telescopic rod are connected with two connecting portions (4) respectively, and the two connected connecting portions (4) are symmetrically arranged about the rotary portion (8).

5. A picking actuator according to claim 1, wherein Any the end execution assembly includes: Mechanical arm (2) having a mounting end and a driving end, the mounting end is connected with the connecting portion (4); Automatic gripper (3) arranged at the driving end of the mechanical arm (2).

6. A picking actuator according to claim 5, wherein, The automatic gripper (3) includes a connecting piece (301), one end of the connecting piece (301) is connected with the driving end of the mechanical arm (2), and the other end is provided with a triangular gripper structure (303); Wherein, the connecting piece (301) is also provided with a cylinder (302) for driving the triangular gripper structure (303) to grab or release.

7. A picking actuator according to claim 6, wherein, Each claw hook of the triangular gripper structure (303) is provided with a silica gel sleeve.

8. A picking actuator according to claim 6, wherein, The mechanical arm (2) includes a first connecting seat (9), a second connecting seat (10) and a third connecting seat (11), the first connecting seat (9) is arranged on the connecting portion (4), the second connecting seat (10) is rotatably arranged on the first connecting seat (9), and the third connecting seat (11) is rotatably arranged on the second connecting seat (10), and the rotation plane of the second connecting seat (10) relative to the first connecting seat (9) is perpendicular to the rotation plane of the third connecting seat (11) relative to the second connecting seat (10). The first connecting seat (9) is provided with a first driving motor (12) for driving the second connecting seat (10) to rotate, and the second connecting seat (10) is provided with a second driving motor (13) for driving the third connecting seat (11) to rotate.

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