End effector applied to pineapple picking

Abstract

The end effector comprises an installation plate, a shell and a controller, the shell is arranged on the top face of the installation plate, a cavity is formed in the shell, T-shaped sliding grooves are oppositely formed in the side faces of the shell, T-shaped sliding blocks are arranged in the T-shaped sliding grooves in a sliding mode, racks are arranged on the bottom face and the top face of the upper T-shaped sliding block and the bottom face and the top face of the lower T-shaped sliding block respectively, and the controller is arranged on the top face of the upper T-shaped sliding block and the bottom face of the lower T-shaped sliding block. A driving mechanism is arranged on the bottom face of the mounting plate, an L-shaped plate is arranged on the side face of the driving mechanism, a photoelectric sensor is arranged on the side face of the mounting plate and used for sensing the position of the L-shaped plate, and a frame is arranged on the bottom face of the driving mechanism. A second motor is arranged in the frame, and an output shaft of the second motor is in driving connection with a circular saw. The initial position of the circular saw can be adjusted by adjusting the position of the photoelectric sensor, and the circular saw does not need to complete the maximum stroke of the driving mechanism every time, so that the pineapple picking efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of pineapple harvesting technology, and in particular to an end effector used in pineapple harvesting. Background Technology

[0002] Pineapple is a well-known tropical fruit, widely distributed in tropical regions between the Tropic of Cancer and the Tropic of Capricorn. Its sweet and fragrant fruit can be eaten raw or processed into canned goods or preserves, making it a popular consumer choice. With the development of agricultural mechanization, pineapple harvesting has gradually become mechanized. The machine harvesting process typically includes steps such as identification and positioning, robotic arm extension, end effector grasping, and fruit collection. Among these, the end effector, as a key component that directly contacts the pineapple, directly affects harvesting efficiency and quality.

[0003] However, existing end effectors still have some problems in the pineapple harvesting process. Existing end effectors are equipped with a 3D camera system, which first identifies the shape and position of the pineapple fruit and stem, then drives the gripper to grab and fix the pineapple fruit and stem, and then starts the circular saw to move and cut off the stem. However, during the movement of the circular saw, the stroke of the circular saw is fixed. Each harvesting operation requires the circular saw to move the entire stroke, resulting in low harvesting efficiency. Utility Model Content

[0004] In view of this, the present invention proposes an end effector for pineapple harvesting in order to solve the problems mentioned above.

[0005] The technical solution of this utility model is implemented as follows:

[0006] An end effector for pineapple harvesting includes a mounting plate, a housing, and a controller. The housing is located on the top surface of the mounting plate and has a cavity inside. T-shaped grooves are provided on opposite sides of the housing, and T-shaped sliders slide within these grooves. Racks are provided on the bottom and top surfaces of the upper and lower T-shaped sliders, respectively, with a gear meshing between the two racks. The gear drives a first motor located within the cavity. L-shaped brackets connect claws to the sides of both the upper and lower T-shaped sliders. A drive mechanism is located on the bottom surface of the mounting plate, and an L-shaped plate is located on the side of the drive mechanism. A photoelectric sensor is located on the side of the mounting plate for sensing the L-shaped plate. A frame is located on the bottom surface of the drive mechanism, and a geared motor is located within the frame. The output shaft of the geared motor drives a circular saw. The controller is located within the cavity and is electrically connected to the first motor, drive mechanism, photoelectric sensor, and geared motor.

[0007] Preferably, the driving mechanism includes a support plate, a second motor, a lead screw, and a moving block. The two support plates are disposed opposite each other on the bottom surface of the mounting plate. The lead screw is rotatably disposed between the two support plates, with one end rotatably connected to the support plate and the other end passing through the support plate and driving the second motor. The second motor is disposed on the side of the support plate. The moving block is disposed on the lead screw and slidably connected to the bottom surface of the mounting plate.

[0008] Preferably, it also includes a slide rail, which is located on the side of the mounting plate and has a T-shaped slide rail. A slide plate is slidably mounted in the T-shaped slide rail, and the slide plate is connected to a bracket by fastening bolts. The photoelectric sensor is mounted on the bracket.

[0009] Preferably, the claw has an arc-shaped portion, and the concave side of the arc-shaped portion has a strip-shaped protrusion.

[0010] Preferably, it also includes a U-shaped bracket and a 3D camera, wherein the U-shaped bracket is located on the top surface of the housing, the 3D camera is located in the middle of the U-shaped bracket, and the 3D camera is electrically connected to the controller.

[0011] Preferably, the U-shaped bracket has two opposite sidewalls with strip holes, and flange bolts are provided in the strip holes. The flange bolts pass through the grooves and are connected to the 3D camera.

[0012] Preferably, it also includes a connecting plate and a reinforcing plate. The connecting plate is disposed on the top surface of the mounting plate and its top is connected to the side of the housing through the reinforcing plate. The connecting plate is provided with mounting holes.

[0013] Preferably, it also includes a protective cover and a connecting block, wherein the connecting block is located on the bottom surface of the frame, and the protective cover is located on the bottom surface of the connecting block and covers half of the circular saw.

[0014] Preferably, it also includes a fixing member, which is disposed on the top surface of the mounting plate and its top is used to install the housing.

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

[0016] 1. Equipped with an L-shaped plate and a photoelectric sensor, the drive mechanism moves the circular saw to a certain position to cut off the fruit stem and then returns. When the L-shaped plate reaches the position of the photoelectric sensor, the drive mechanism stops and completes the initial position reset. The position of the photoelectric sensor can be manually adjusted along the trajectory of the L-shaped plate, which can reduce the circular saw's travel distance and the time required to cut off the fruit stem. The circular saw does not need to complete the maximum travel distance of the drive mechanism every time, thereby improving the pineapple harvesting efficiency.

[0017] 2. The curved part of the claw can better fit the surface of the pineapple, increasing the contact area between the claw and the pineapple. When gripping, it can distribute the pressure on the pineapple more evenly, avoiding damage to the pineapple skin due to excessive local pressure. The strip-shaped protrusion can increase the anti-slip ability, making it suitable for harvesting operations in rainy conditions.

[0018] 3. Set up a U-shaped bracket. The U-shaped bracket serves as the mounting base for the 3D camera. The two side walls are symmetrically equipped with strip holes. After loosening the flange bolts, the 3D camera can be slid along the holes, thereby realizing the adjustment of the height and angle of the 3D camera. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of an end effector for pineapple harvesting according to the present invention;

[0021] Figure 2 This is a cross-sectional structural diagram of an end effector for pineapple harvesting according to the present invention;

[0022] Figure 3 This is a side view of the end effector of the present invention, which is used for pineapple harvesting.

[0023] Figure 4 for Figure 3 Cross-sectional view at point AA;

[0024] Reference numerals: 1. Mounting plate; 2. Housing; 3. Fixing component; 4. Cavity; 5. T-shaped slide; 6. T-shaped slider; 7. Rack; 8. Gear; 9. First motor; 10. L-shaped bracket; 11. Claw; 12. L-shaped plate; 13. Photoelectric sensor; 14. Frame; 15. Gear motor; 16. Circular saw; 17. Support plate; 18. Second motor; 19. Lead screw; 20. Controller; 21. Moving block; 22. Slide rail; 23. T-shaped slide; 24. Slide plate; 25. Fastening bolt; 26. Bracket; 27. Protective cover; 28. Strip boss; 29. ​​U-shaped bracket; 30. 3D camera; 31. Strip hole; 32. Flange bolt; 33. Connecting plate; 34. Reinforcing plate; 35. Mounting hole; 36. Connecting block. Detailed Implementation

[0025] To better understand the technical content of this utility model, a specific embodiment is provided below, and the utility model will be further described in conjunction with the accompanying drawings.

[0026] See Figures 1 to 4 This utility model provides an end effector for pineapple harvesting, comprising a mounting plate 1, a housing 2, and a controller 20. The housing 2 is located on the top surface of the mounting plate 1, and a cavity 4 is provided inside the housing 2. T-shaped grooves 5 are provided on opposite sides of the housing 2, and T-shaped sliders 6 are slidably arranged in the T-shaped grooves. Racks 7 are respectively provided on the bottom and top surfaces of the upper and lower T-shaped sliders 6, and a gear 8 meshes between the two racks 7. The gear 8 drives a first motor 9, which is located inside the cavity 4. The sides of the upper and lower T-shaped sliders 6 are connected to claws 11 via L-shaped brackets 10. The bottom surface of the mounting plate 1 is provided with a drive mechanism. The drive mechanism has an L-shaped plate 12 on its side and a photoelectric sensor 13 on its side for sensing the L-shaped plate 12. The bottom surface of the drive mechanism has a frame 14, and a geared motor 15 is installed inside the frame 14. The output shaft of the geared motor 15 drives a circular saw 16. The geared motor 15 is composed of a DC motor with a right-angle reducer installed at the front end, which can increase the cutting force output by the circular saw 16. The controller 20 is located inside the cavity 4 and is electrically connected to the first motor 9, the drive mechanism, the photoelectric sensor 13, and the geared motor 15. The controller 20 uses a low-power microprocessor of model STM32-L0.

[0027] When the end effector is working, the first motor 9 is started first. The rotation of the first motor 9 drives the gear 8 to rotate. The rotation of the gear 8 simultaneously drives the upper and lower racks 7 to move synchronously in opposite directions, thereby driving the grippers 11 to separate from each other. Then the grippers 11 are moved to both sides of the pineapple. The first motor 9 is started again and rotated in the opposite direction. The rotation of the gear 8 simultaneously drives the upper and lower racks 7 to move synchronously in opposite directions, thereby driving the grippers 11 to clamp the pineapple fruit. After the grippers 11 have completed the clamping operation of the pineapple, the drive mechanism and the circular saw 16 are started at the same time. The drive mechanism drives the circular saw 16 to move. During the movement, the rotating circular saw 16 cuts off the pineapple stem. Then the drive mechanism drives the circular saw 16 to return. When the L-shaped plate 12 reaches the position of the photoelectric sensor 13, the drive mechanism stops and completes the initial position reset. Then, by moving the end effector, the pineapple fruit can be moved into the storage frame, thereby completing the pineapple harvesting operation. When it is necessary to improve harvesting efficiency, the position of the photoelectric sensor 13 can be manually adjusted along the trajectory of the L-shaped plate 12, which can reduce the travel of the circular saw 16 and reduce the time required to cut the fruit stem. The circular saw 16 does not need to complete the maximum travel of the drive mechanism every time, thereby improving the pineapple harvesting efficiency.

[0028] Preferably, the driving mechanism includes a support plate 17, a second motor 18, a lead screw 19, and a moving block 21. The two support plates 17 are disposed opposite each other on the bottom surface of the mounting plate 1. The lead screw 19 is rotatably disposed between the two support plates 17, with one end rotatably connected to the support plate 17 and the other end passing through the support plate 17 and driving the second motor 18. The second motor 18 is disposed on the side of the support plate 17. The second motor 18 is a stepper motor, and its rotation angle can be controlled by outputting different numbers of pulses. The moving block 21 is disposed on the lead screw 19 and is slidably connected to the bottom surface of the mounting plate 1.

[0029] After the chuck 11 clamps the pineapple, the second motor 18 is started. The rotation of the second motor 18 drives the lead screw 19 to rotate, thereby driving the moving block 21 to move along the axis of the lead screw 19. The moving block 21 can drive the circular saw 16 to move, thereby cutting off the pineapple stem.

[0030] Preferably, it also includes a slide rail 22, which is located on the side of the mounting plate 1. The side of the slide rail is provided with a T-shaped slide rail 23. A slide plate 24 is slidably arranged in the T-shaped slide rail 23. The slide plate 24 is connected to a bracket 26 by fastening bolts 25. The photoelectric sensor 13 is located on the bracket 26.

[0031] The bracket 26 is connected to the slide plate 24 by the fastening bolt 25. When it is necessary to adjust the stroke of the circular saw 16, first loosen the fastening bolt 25, then slide the slide plate 24 and the bracket 26 on the slide rail 22 to a suitable position, and then rotate the fastening bolt 25 to fix the bracket 26 on the slide plate 24. When the drive mechanism drives the circular saw 16 to move to cut the fruit stem, the moving block 21 moves and drives the L-shaped plate 12 to move. When the L-shaped plate 12 and the photoelectric sensor 13 coincide, the photoelectric sensor 13 senses the L-shaped plate 12 and transmits the signal to the controller 20. The controller 20 will stop the drive mechanism.

[0032] Preferably, the claw 11 has an arc-shaped portion, and the concave side of the arc-shaped portion has a strip-shaped protrusion 28.

[0033] The pineapple fruit is approximately spherical or ellipsoidal in shape. The claw 11 has an arc-shaped part that can better fit the surface of the pineapple, increasing the contact area between the claw 11 and the pineapple. When gripping, the pressure on the pineapple can be distributed more evenly, avoiding damage to the pineapple skin due to excessive local pressure. The strip-shaped protrusion 28 can increase the anti-slip ability, making it suitable for harvesting operations in rainy weather.

[0034] Preferably, it also includes a U-shaped bracket 29 and a 3D camera 30. The U-shaped bracket 29 is disposed on the top surface of the housing 2, and the 3D camera 30 is disposed in the middle of the U-shaped bracket 29. The 3D camera 30 is electrically connected to the controller 20.

[0035] The 3D camera 30 is used to capture images of the pineapple and transmit the image information to the controller 20 for processing, recognizing the shape and spatial position of the pineapple and its stem. The U-shaped bracket 29 is located on the top surface of the housing 2, providing a mounting position for the 3D camera 30.

[0036] Preferably, the U-shaped bracket 29 has two opposite sidewalls with strip holes 31, and flange bolts 32 are provided in the strip holes 31. The flange bolts 32 pass through the groove and are connected to the 3D camera 30.

[0037] The U-shaped bracket 29 serves as the mounting base for the 3D camera 30. It has symmetrical slotted holes 31 on both sides. After loosening the flange bolts 32, the 3D camera 30 can be slid along the holes, thereby adjusting the height and angle of the 3D camera 30.

[0038] Preferably, it also includes a connecting plate 33 and a reinforcing plate 34. The connecting plate 33 is disposed on the top surface of the mounting plate 1 and its top is connected to the side of the housing 2 through the reinforcing plate 34. The connecting plate 33 is provided with mounting holes 35.

[0039] The reinforcing plate 34 is used to enhance structural rigidity and reduce deformation caused by vibration or impact during harvesting. The connecting plate 33 is rigidly connected to the robotic arm through the mounting holes 35.

[0040] Preferably, it also includes a protective cover 27 and a connecting block 36. The connecting block 36 is located on the bottom surface of the frame 14, and the protective cover 27 is located on the bottom surface of the connecting block 36 and covers half of the circular saw 16.

[0041] The protective cover 27 covers half of the circular saw 16. When the rotating circular saw 16 cuts the pineapple stem, the protective cover 27 can prevent sawdust from flying around and improve safety.

[0042] Preferably, it also includes a fixing member 3, which is disposed on the top surface of the mounting plate 1, and its top is used to install the housing 2.

[0043] The fixing component 3 secures the shell 2 to the mounting plate 1 by bolt connection. The fixing component 3 has high strength and can withstand the impact of the pineapple fruit during the harvesting process, thus preventing deformation.

[0044] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An end effector for pineapple harvesting, characterized in that, The device includes a mounting plate, a housing, and a controller. The housing is located on the top surface of the mounting plate and has a cavity inside. T-shaped grooves are provided on opposite sides of the housing, and T-shaped sliders slide within these grooves. Racks are provided on the bottom and top surfaces of the upper and lower T-shaped sliders, with a gear meshing between the two racks. The gear drives a first motor located within the cavity. L-shaped brackets connect the sides of both the upper and lower T-shaped sliders to grippers. A drive mechanism is located on the bottom surface of the mounting plate, and an L-shaped plate is located on the side of the drive mechanism. A photoelectric sensor is located on the side of the mounting plate for sensing the L-shaped plate. A frame is located on the bottom surface of the drive mechanism, and a geared motor is located within the frame. The output shaft of the geared motor drives a circular saw. The controller is located within the cavity and is electrically connected to the first motor, the drive mechanism, the photoelectric sensor, and the geared motor.

2. The end effector for pineapple harvesting according to claim 1, characterized in that, The driving mechanism includes a support plate, a second motor, a lead screw, and a moving block. The two support plates are disposed opposite each other on the bottom surface of the mounting plate. The lead screw is rotatably disposed between the two support plates, with one end rotatably connected to the support plate and the other end passing through the support plate and driving the second motor. The second motor is disposed on the side of the support plate. The moving block is disposed on the lead screw and is slidably connected to the bottom surface of the mounting plate.

3. The end effector for pineapple harvesting according to claim 1, characterized in that, It also includes a slide rail, which is located on the side of the mounting plate. The side of the slide rail has a T-shaped slide rail, and a slide plate is slidably mounted in the T-shaped slide rail. The slide plate is connected to a bracket by fastening bolts, and the photoelectric sensor is mounted on the bracket.

4. The end effector for pineapple harvesting according to claim 1, characterized in that, The claw has an arc-shaped portion, and the concave side of the arc-shaped portion has a strip-shaped protrusion.

5. The end effector for pineapple harvesting according to claim 1, characterized in that, It also includes a U-shaped bracket and a 3D camera. The U-shaped bracket is located on the top surface of the housing, and the 3D camera is located in the middle of the U-shaped bracket. The 3D camera is electrically connected to the controller.

6. The end effector for pineapple harvesting according to claim 5, characterized in that, The U-shaped bracket has two opposite sidewalls with strip-shaped holes, and flange bolts are installed in the strip-shaped holes. The flange bolts pass through the strip-shaped holes and are connected to the 3D camera.

7. The end effector for pineapple harvesting according to claim 1, characterized in that, It also includes a connecting plate and a reinforcing plate. The connecting plate is located on the top surface of the mounting plate and its top is connected to the side of the housing through the reinforcing plate. The connecting plate is provided with mounting holes.

8. The end effector for pineapple harvesting according to claim 1, characterized in that, It also includes a protective cover and a connecting block. The connecting block is located on the bottom surface of the frame, and the protective cover is located on the bottom surface of the connecting block and covers half of the circular saw.

9. An end effector for pineapple harvesting according to claim 1, characterized in that, It also includes a fixing component, which is located on the top surface of the mounting plate and its top is used to mount the housing.

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