End execution structure of picking robot

By using the flow-guiding buffer plate and shearing component of the end effector structure of the harvesting robot, the problem of fruit injury during harvesting is solved, and multi-level buffering and rapid cutting of the fruit are achieved, thereby improving harvesting efficiency and fruit quality.

CN223987439UActive Publication Date: 2026-03-13JIANGSU PIVOT ROBOT CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2025-02-28
Publication Date
2026-03-13

AI Technical Summary

Technical Problem

Existing robots cannot buffer the output when picking fruit, causing the fruit to fall and get damaged, affecting its quality. They also cannot quickly cut the fruit off the branches, reducing picking efficiency.

Method used

An end effector structure for a harvesting robot was designed, comprising a fruit storage sleeve and an export component. It utilizes a flow-guiding buffer plate and an elastic buffer pad to absorb the impact force of the fruit in multiple stages, and quickly cuts off the fruit branches through a shearing component. The structure includes a flow-guiding buffer plate, an arc-shaped guide rod, a return spring, and a transmission structure for the shearing component.

Benefits of technology

It achieves multi-level buffering and absorption of the fruit, prevents damage from falls, ensures fruit quality, and improves fruit harvesting efficiency.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses a picking robot end execution structure which comprises a fruit storage sleeve, the fruit storage sleeve is arranged on one side of an installation base, and a guiding-out assembly used for protecting and buffering fruits is arranged on one side of the installation base. The guiding-out assembly comprises a longitudinal hole, the longitudinal hole is formed in the mounting base in the fruit storage sleeve and communicates with the discharging groove, a flow guide buffer plate is arranged in the discharging groove on the right lower side of the longitudinal hole, an elastic buffer pad is arranged on the flow guide buffer plate, one end of the flow guide buffer plate extends into the adjusting groove, and the other end of the flow guide buffer plate extends into the adjusting groove. According to the fruit picking device, impact force of fruits can be buffered and absorbed in a multi-stage mode, the fruits are automatically guided out, the appearance quality of the fruits is guaranteed, branches on the upper portions of the fruits can be rapidly cut off, and the fruit picking efficiency is greatly improved.
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Description

Technical Field

[0001] This utility model belongs to the field of harvesting robot technology, specifically relating to an end effector structure for a harvesting robot. Background Technology

[0002] In agricultural production, the harvesting of crops and fruits is the most time-consuming and labor-intensive link in the production chain. Harvesting operations are highly seasonal, labor-intensive, and costly. Therefore, ensuring timely harvesting of fruits and reducing harvesting costs are important ways to increase agricultural income. Currently, robots can be used to harvest fruits (such as apples, pears, oranges, tangerines, etc.).

[0003] Existing robots cannot buffer the output of harvested fruits, which can easily cause the fruits to fall and damage them, affecting the quality of the fruits. At the same time, they cannot quickly cut the fruit branches, which reduces the efficiency of fruit harvesting. To address this, we propose an end effector structure for a fruit harvesting robot. Utility Model Content

[0004] The purpose of this utility model is to provide an end effector structure for a harvesting robot to solve the problems mentioned in the background art, such as the inability of existing robots to buffer the output of harvested fruits, which easily causes the fruits to be damaged and affects the quality of the fruits, and the inability to quickly cut off the fruit branches, which reduces the efficiency of fruit harvesting.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an end effector structure for a harvesting robot, including a fruit storage sleeve, the fruit storage sleeve being disposed on one side of a mounting base, and an export component for protecting and buffering the fruit being disposed on one side of the mounting base;

[0006] The export component includes a longitudinal hole, which is set on the mounting base inside the fruit storage sleeve and communicates with the discharge trough. The discharge trough is set on one side inside the mounting base. A flow guide buffer plate is set in the discharge trough directly below the longitudinal hole. An elastic buffer pad is set on the flow guide buffer plate. One end of the flow guide buffer plate extends into the adjustment trough. The adjustment trough is set on one side surface inside the discharge trough.

[0007] The guide buffer plate is provided with an auxiliary buffer section at one end, and the fruit storage sleeve is provided with a cutting component at the top.

[0008] Preferably, the auxiliary buffer includes a connecting ear, which is disposed on one side of the bottom of the flow guide buffer plate. One end of the connecting ear is connected to the bearing shaft, which is rotatably disposed in the mounting groove. The mounting groove is disposed at the bottom of the unloading groove. When the fruit falls, it can drive the flow guide buffer plate to rotate, thereby reducing the potential energy of the fruit.

[0009] Preferably, an arc-shaped guide rod is provided on the other side of the bottom of the flow guide buffer plate. The arc-shaped guide rod is movably disposed in an arc-shaped guide groove, which is disposed on one side of the adjustment groove, and can guide the rotation of the flow guide buffer plate.

[0010] Preferably, a return spring is provided on one side of the arc-shaped guide groove, and one end of the return spring is connected to the arc-shaped guide rod, which can absorb the impact force of the fruit a second time and ensure the integrity of the outer surface of the fruit.

[0011] Preferably, the cutting assembly includes a drive box disposed on one side of the outer surface of the fruit storage sleeve. A first support arm and a second support arm are disposed on both sides of the top of the fruit storage sleeve. A first connecting rod is disposed on one side of the first support arm, and a second connecting rod is disposed on one side of the second support arm. One end of the first connecting rod and the second connecting rod are disposed inside the drive box. The drive box is also provided with a transmission structure for controlling the opposing rotation of the first connecting rod and the second connecting rod. The opposing rotation of the first support arm and the second support arm cuts off the fruit branch.

[0012] Preferably, the transmission structure includes a central gear, which is rotatably mounted on a central shaft. The central shaft is rotatably mounted inside a drive box. A first gear and a second gear mesh on both sides of the central gear. The first gear is located on one side of a first rotating shaft, and the second gear is located on one side of a second rotating shaft. The first and second rotating shafts are rotatably mounted on both sides inside the drive box, enabling simultaneous control of the opposing rotation of the first and second gears.

[0013] Preferably, the first rotating shaft is also connected to the first connecting rod, and the second rotating shaft is also connected to the second connecting rod, which can simultaneously drive the first connecting rod and the second connecting rod to rotate in opposite directions.

[0014] Preferably, a first cutter is provided on one side of the first support arm and a second cutter is provided on one side of the second support arm, which further improves the efficiency of cutting fruit branches.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] (1) This application can absorb the impact force of the fruit in multiple stages during fruit picking and automatically remove the fruit, thus ensuring the quality of the fruit surface and preventing the fruit surface from being injured or damaged.

[0017] (2) This application can quickly cut off the branches at the top of the fruit, which greatly improves the fruit picking efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a half-sectional view of the exported component in this utility model;

[0020] Figure 3 for Figure 2 Enlarged structural diagram at point A;

[0021] Figure 4 for Figure 2 Enlarged structural diagram at point B;

[0022] Figure 5 This is a schematic diagram of the shearing component in this utility model;

[0023] Figure 6 for Figure 5 Enlarged structural diagram at point C;

[0024] In the diagram: 1. Export component; 2. Cutting component; 3. Fruit storage sleeve; 4. Mounting base; 101. Longitudinal hole; 102. Unloading chute; 103. Adjustment chute; 104. Flow guide plate; 105. Elastic buffer pad; 106. Mounting groove; 107. Bearing shaft; 108. Connecting ear; 109. Arc-shaped guide rod; 110. Arc-shaped guide groove; 111. Return spring; 201. Drive box; 202. Drive motor; 203. First support arm; 204. First cutter; 205. Second cutter; 206. Second support arm; 207. Central gear; 208. First rotating shaft; 209. First gear; 210. First connecting rod; 211. Second connecting rod; 212. Second rotating shaft; 213. Second gear. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figures 1-4 This utility model provides a technical solution: a harvesting robot end effector structure, including a fruit storage sleeve 3, the fruit storage sleeve 3 is disposed on one side of the mounting base 4, and an export component 1 is disposed on one side of the mounting base 4;

[0027] The export component 1 includes a longitudinal hole 101, which is located on the mounting base 4 inside the fruit storage sleeve 3 and communicates with the discharge trough 102. The discharge trough 102 is located on one side inside the mounting base 4 and is at a downward angle of 10°-30°, enabling automatic export of the fruit. A flow guide buffer plate 104 is installed in the discharge trough 102 directly below the longitudinal hole 101, and an elastic buffer pad 105 is installed on the flow guide buffer plate 104. When the fruit falls onto the elastic buffer pad 105, the elastic buffer pad 105 buffers the impact force of the fruit. One end of the flow guide buffer plate 104 extends into the adjustment groove 103, which is located on one side surface inside the discharge trough 102. An auxiliary buffer part is also provided at one end of the flow guide buffer plate 104.

[0028] The auxiliary buffer section includes a connecting ear 108, which is located on one side of the bottom of the flow guide buffer plate 104. One end of the connecting ear 108 is connected to the bearing shaft 107, which is rotatably mounted in the mounting groove 106. The mounting groove 106 is located at the bottom of the unloading groove 102. When the fruit falls, it can drive the flow guide buffer plate 104 to rotate, thereby reducing the potential energy of the fruit.

[0029] Please see Figure 4 An arc-shaped guide rod 109 is provided on the other side of the bottom of the flow guide buffer plate 104. The arc-shaped guide rod 109 is movably disposed in the arc-shaped guide groove 110. The arc-shaped guide groove 110 is disposed on one side of the adjustment groove 103, which can guide the rotation of the flow guide buffer plate 104. A return spring 111 is provided on one side of the arc-shaped guide groove 110. One end of the return spring 111 is connected to the arc-shaped guide rod 109, which can absorb the impact force of the fruit a second time and ensure the integrity of the outer surface of the fruit.

[0030] First, the robotic arm of the harvesting robot moves the device to the fruit location and places the fruit storage sleeve 3 on the fruit. Then, the cutting component 2 cuts off the branches on the fruit, and the fruit falls through the longitudinal hole 101 onto the elastic buffer pad 105. The elastic buffer pad 105 cushions the impact of the fruit. At the same time, under the action of potential energy, the flow guide buffer plate 104 drives the bearing shaft 107 to rotate through the connecting ear 108. The flow guide buffer plate 104 drives the arc-shaped guide rod 109 to move within the arc-shaped guide groove 110. The arc-shaped guide rod 109 moves and compresses the return spring 111. The return spring 111 absorbs the potential energy of the fruit again, ensuring that the fruit is not damaged or broken. Then, the fruit is output through the unloading chute 102.

[0031] Please see Figure 5 as well as Figure 6The fruit storage sleeve 3 is also equipped with a cutting component 2 at the top. The cutting component 2 includes a drive box 201, which is located on one side of the outer surface of the fruit storage sleeve 3. A first support arm 203 and a second support arm 206 are provided on both sides of the top of the fruit storage sleeve 3. Specifically, the first support arm 203 and the second support arm 206 are both arc-shaped structures, and their curvature is the same as that of the top of the fruit storage sleeve 3. A second connecting rod 211 is provided on one side of the first support arm 203, and a first connecting rod 210 is provided on one side of the second support arm 206. One end of the first connecting rod 210 and the second connecting rod 211 is located inside the drive box 201. The drive box 201 is also equipped with a transmission structure that controls the opposing rotation of the first connecting rod 210 and the second connecting rod 211. Through the opposing rotation of the first support arm 203 and the second support arm 206, the fruit branch is cut off.

[0032] The transmission structure includes a central gear 207, which is rotatably mounted on a central shaft. The central shaft is rotatably mounted inside a drive box 201, and one end of the central shaft is connected to a drive motor 202 located at the bottom of the drive box 201. The two sides of the central gear 207 are respectively meshed with a first gear 209 and a second gear 213. The first gear 209 is located on one side of a first rotating shaft 208, and the second gear 213 is located on one side of a second rotating shaft 212. The first rotating shaft 208 and the second rotating shaft 212 are rotatably mounted on both sides inside the drive box 201, which can simultaneously control the opposing rotation of the first gear 209 and the second gear 213. The first rotating shaft 208 is also connected to a first connecting rod 210, and the second rotating shaft 212 is also connected to a second connecting rod 211, which can simultaneously drive the first connecting rod 210 and the second connecting rod 211 to rotate in opposite directions.

[0033] Once the fruit is fully placed inside the fruit storage sleeve 3, the drive motor 202 drives the central shaft to rotate, which in turn drives the central gear 207 to rotate. The rotation of the central gear 207 simultaneously drives the first gear 209 and the second gear 213 to rotate in opposite directions. The first gear 209 and the second gear 213 drive the first rotating shaft 208 and the second rotating shaft 212 to rotate in opposite directions. The first rotating shaft 208 and the second rotating shaft 212 drive the first connecting rod 210 and the second connecting rod 211 to rotate in opposite directions. The first connecting rod 210 and the second connecting rod 211 drive the first support arm 203 and the second support arm 206 to rotate in opposite directions. The rotation of the first support arm 203 and the second support arm 206 generates a shearing force and cuts off the branch tip.

[0034] Furthermore, a first cutter 204 is provided on one side of the first support arm 203, and a second cutter 205 is provided on one side of the second support arm 206. When the first support arm 203 and the second support arm 206 rotate in opposite directions, they drive the first cutter 204 and the guide cutter to rotate in opposite directions. Through the shearing force of the first cutter 204 and the second cutter 205, the branch tip is cut off, which further improves the cutting efficiency of the fruit branch tip.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A picking robot end effector, characterized by: Includes a fruit storage sleeve (3), which is disposed on one side of the mounting base (4), and an export component (1) for protecting and buffering the fruit is disposed on one side of the mounting base (4). The export component (1) includes a longitudinal hole (101), which is located on the mounting base (4) inside the fruit storage sleeve (3) and is connected to the discharge trough (102). The discharge trough (102) is located on one side inside the mounting base (4). A flow guide buffer plate (104) is located in the discharge trough (102) directly below the longitudinal hole (101). An elastic buffer pad (105) is located on the flow guide buffer plate (104). One end of the flow guide buffer plate (104) extends into the adjustment groove (103). The adjustment groove (103) is located on one side surface inside the discharge trough (102). Among them, an auxiliary buffer section is provided at one end of the flow guide buffer plate (104), and a cutting component (2) is provided at the top of the fruit storage sleeve (3).

2. The picking robot end effector structure according to claim 1, characterized in that: The auxiliary buffer section includes a connecting ear (108), which is located on one side of the bottom of the flow guide buffer plate (104). One end of the connecting ear (108) is connected to the bearing shaft (107), which is rotatably located in the mounting groove (106). The mounting groove (106) is located at the bottom of the unloading groove (102).

3. The picking robot end effector structure of claim 2, wherein: An arc-shaped guide rod (109) is provided on the other side of the bottom of the flow guide buffer plate (104). The arc-shaped guide rod (109) is movably disposed in the arc-shaped guide groove (110), which is disposed on one side of the adjustment groove (103).

4. The picking robot end effector structure of claim 3, wherein: A reset spring (111) is provided on one side of the arc-shaped guide groove (110), and one end of the reset spring (111) is connected to the arc-shaped guide rod (109).

5. The picking robot end effector structure of claim 1, wherein: The shearing assembly (2) includes a drive box (201), which is disposed on one side of the outer surface of the fruit storage sleeve (3). The top two sides of the fruit storage sleeve (3) are provided with a first support arm (203) and a second support arm (206). A first connecting rod (210) is provided on one side of the first support arm (203), and a second connecting rod (211) is provided on one side of the second support arm (206). One end of the first connecting rod (210) and the second connecting rod (211) are both disposed inside the drive box (201). The drive box (201) is also provided with a transmission structure for controlling the first connecting rod (210) and the second connecting rod (211) to rotate in opposite directions.

6. The picking robot end effector structure of claim 5, wherein: The transmission structure includes a central gear (207), which is rotatably mounted on a central shaft. The central shaft is rotatably mounted inside a drive box (201). The two sides of the central gear (207) are respectively meshed with a first gear (209) and a second gear (213). The first gear (209) is located on one side of a first rotating shaft (208), and the second gear (213) is located on one side of a second rotating shaft (212). The first rotating shaft (208) and the second rotating shaft (212) are rotatably mounted on both sides inside the drive box (201).

7. The picking robot end effector of claim 6, wherein: The first rotating shaft (208) is further connected with a first connecting rod (210), and the second rotating shaft (212) is further connected with a second connecting rod (211).

8. The picking robot end effector structure of claim 5, wherein: The first support arm (203) is provided with a first cutter (204) on one side, and the second support arm (206) is provided with a second cutter (205) on one side.