Negative-pressure cylindrical two-finger picker and robot thereof

Abstract

The picking device comprises a base, a telescopic push rod, a linkage mechanism and a finger assembly, the telescopic push rod and the linkage mechanism are in driving connection on the base, the finger assembly comprises clamping jaws and a collecting pipe, the clamping jaws are arranged in pairs, finger cylinders are arranged at the jaw ends of the clamping jaws, and the collecting pipe is connected with the telescopic push rod and the linkage mechanism. Concave cavities are formed in the finger barrels, shearing teeth are arranged on the side faces of the top ends of the finger barrels, the collecting pipe is connected with a negative pressure source and at least one finger barrel, and the clamping jaw is in transmission connection with the linkage mechanism, controlled to open / close and used for driving the pair of finger barrels to be tangent in shearing teeth and combined with the concave cavities to be communicated with the collecting pipe. Therefore, the reliability and the efficiency of crop picking and collecting are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of automated crop harvesting technology, and in particular to a negative pressure cylindrical two-finger harvester and its robot. Background Technology

[0002] Currently, agricultural harvesting operations largely rely on traditional manual labor. This traditional method is not only inefficient, labor-intensive, and produces inconsistent quality, but also faces severe challenges due to high labor costs and labor shortages, seriously hindering industrial development. Therefore, developing efficient, stable, and low-cost automated harvesting technologies and equipment to replace manual labor has become a technological trend and an urgent need in this field. Against this backdrop, various automated harvesting solutions have emerged in existing technologies, mainly including the following types:

[0003] One existing solution employs a multi-finger (e.g., three-finger) linkage clamping and cutting device. This type of device typically includes three or more gripper plates arranged around a central axis. These gripper plates are connected to a drive mechanism (such as a servo-driven slider and shaft) via a complex linkage mechanism. When the drive mechanism outputs linear motion, it is converted into the synchronous inward or outward opening of multiple gripper plates through the linkage mechanism. The ends of the gripper plates are usually designed with cutting edges to simultaneously clamp and cut the flower stalk during the closing process. The closed cavity (often described as bowl-shaped) formed by the closed gripper plates is used to contain the flower bud / fruit to prevent it from falling. This method relies on linkages to achieve multi-finger linkage and integrated clamping and cutting.

[0004] Another existing solution is a handheld, linkage-driven cutting device. These devices are designed as handheld tools with a long handle and a cutting mechanism at the end. This mechanism typically consists of two opposing cutting blades without active clamping capabilities. These blades are connected via an internal linkage system to a manually operated component (such as a pull-out telescopic rod). In operation, the user places the blades on either side of the flower stem and then operates the drive component (such as pulling the telescopic rod), causing the linkage mechanism to drive the two blades to swing inwards or translate like scissors, thus cutting the flower stem. In this method, the cut flower usually falls to a collection device (such as a collection net) below due to gravity.

[0005] However, the application of such existing technologies to the automated harvesting of small fruits such as jasmine buds and goji berries still has the following drawbacks:

[0006] ①Easily damaged: Existing mechanical methods are subject to physical squeezing by the grippers and airflow disturbance from the external rotating blades, which can easily damage delicate flower buds / fruits.

[0007] ② Unstable positioning and gripping: It is difficult to achieve precise and stable control of flower buds / fruits by relying solely on suction guidance or mechanical clamping, and it is easily affected by environmental interference.

[0008] ③ Poor cutting results: Some cutting methods (such as external rotating blades and gripper shears) have problems such as inaccurate cutting position, uneven cuts, or interference with adjacent branches and leaves.

[0009] ④Low collection reliability: Cut flower buds / fruits are prone to falling off, being lost, or suffering secondary damage during transportation or collection.

[0010] In view of this, there is an urgent need in the field for an automated crop harvesting solution to solve the problems faced by the existing technologies. Utility Model Content

[0011] Therefore, the main objective of this utility model is to provide a negative pressure cylindrical two-finger picker and its robot to improve the shortcomings of the prior art mentioned in the background section.

[0012] To achieve the above objectives, according to one aspect of the present invention, a negative pressure cylindrical two-finger picker is provided, comprising: a base, a telescopic push rod, a linkage mechanism, and a finger assembly, wherein the telescopic push rod and the linkage mechanism are drivenly connected on the base, and the finger assembly comprises: grippers and a collection tube, wherein the grippers are arranged in pairs, each gripper having a finger tube at its claw end, the finger tube having a cavity inside and scissor teeth on its top side, the collection tube being connected to a negative pressure source and at least one finger tube respectively, and the grippers being drivenly connected to the linkage mechanism and controlled to open / close, driving the scissor teeth of a pair of finger tubes to be tangent to each other, the cavity to be joined together, and to communicate with the collection tube.

[0013] Preferably, the linkage mechanism includes: a first linear guide rail, a second linear guide rail, a first connecting rod, and a pair of second, third, and fourth connecting rods. The first and second linear guide rails are arranged longitudinally and transversely on the base. The first connecting rod is fixed to the slider of the first linear guide rail, and its two ends are respectively axially connected to the telescopic push rod and the second connecting rod. The wrist end of the third connecting rod is axially connected to the base, and its tail end is axially connected to the second connecting rod. The fourth connecting rod is fixed to the slider of the second linear guide rail. The tail end of the fourth connecting rod and the front end of the third connecting rod are provided with gear teeth for meshing transmission.

[0014] Preferably, the linkage mechanism includes: a third linear guide rail, a fourth linear guide rail, a longitudinal gear, and a pair of transmission gears and transverse gears. The third and fourth linear guide rails are arranged longitudinally and transversely on the base. The longitudinal gear is fixed on the slider of the third linear guide rail and its tail end is connected to the telescopic push rod. The transverse gear is fixed on the slider of the fourth linear guide rail. The transmission gear is axially connected to the base and meshes with the transverse gear and the longitudinal gear, respectively.

[0015] Preferably, the tip of the finger cylinder is conical, and the finger cylinder is provided with an air hole that connects to the concave cavity.

[0016] Preferably, the negative pressure cylindrical two-finger picker further includes: a pipe support, which is disposed on the base, wherein the pipe support is provided with a channel for the collection pipe to pass through.

[0017] Preferably, the negative pressure cylindrical two-finger picker further includes: a depth camera and a camera bracket, wherein the depth camera is fixed above the base via the camera bracket.

[0018] On the other hand, corresponding to the above-mentioned harvester, this utility model also provides a robot, which includes: a negative pressure generating device, a robotic arm, and a harvester, wherein the harvester is made of a negative pressure cylindrical two-finger harvester as described above, wherein the harvester is disposed at the wrist end of the robotic arm and connected to the negative pressure generating device.

[0019] The beneficial effects of the negative pressure cylindrical two-finger picker and its robot provided by this utility model are as follows.

[0020] ① Effectively reduces harvesting damage and protects quality: This utility model adopts a two-finger structure, which reduces the physical contact points and potential compression of the flower bud / fruit body compared to three-finger or multi-finger solutions; combined with the unique "cylindrical" finger clamp cavity design, it can better cover the flower bud / fruit during clamping and disperse pressure, thereby significantly reducing the risk of damage to the delicate flower bud / fruit during clamping and cutting, which is conducive to maintaining the integrity and quality of the flower bud / fruit after harvesting.

[0021] ②Simplified drive structure, improved reliability and economy: By adopting a gear and rack mechanism, the linear motion of the telescopic push rod is directly converted into the synchronous opening and closing motion of the two-finger gripper. Compared with the complex multi-finger linkage mechanism in the prior art, the drive transmission chain is shorter and the structure is more compact. This not only helps to reduce the manufacturing cost and maintenance difficulty of the device and reduce the overall weight, but also improves the response speed of the action and the reliability of long-term operation.

[0022] ③ High Integration of Clamping, Cutting, and Collection: This solution integrates the cutting teeth directly into the tops of two "cylindrical" finger tubes, achieving a high degree of synchronization and integration of the two core functions—clamping and positioning, and branch cutting—in both time and space. Simultaneously, the nearly enclosed space within the finger tubes formed after the two grippers close and cut reliably accommodate and fix the cut flower buds / fruits, allowing them to be directly sucked away and collected through the collection tube, avoiding the problem of flower buds / fruits falling or being lost after cutting. This significantly improves the reliability and efficiency of crop harvesting and collection. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0024] Figures 1 to 2 This is a schematic diagram of the overall structure of the first embodiment of the negative pressure cylindrical two-finger picker of this utility model;

[0025] Figure 3 This is a schematic diagram of the linkage mechanism of the first embodiment of the negative pressure cylindrical two-finger picker of this utility model;

[0026] Figure 4 This is an enlarged schematic diagram of the finger cylinder structure of the first embodiment of the negative pressure cylindrical two-finger picker of this utility model;

[0027] Figure 5 This is a schematic diagram of the linkage mechanism of the second embodiment of the negative pressure cylindrical two-finger picker of this utility model (the collection tube is omitted, but can be referred to the first embodiment).

[0028] Figure 6 This is a partially enlarged structural diagram of the linkage mechanism of the second embodiment of the negative pressure cylindrical two-finger picker of this utility model.

[0029] Explanation of reference numerals in the attached figures

[0030] Base 1, telescopic push rod 2, linkage mechanism 3, finger assembly 4, depth camera 5, camera bracket 6, pipe bracket 12, gripper 41, collection tube 42, finger cylinder 43, cavity 44, shear tooth 45, air hole 46, first linear guide rail 31, second linear guide rail 32, first connecting rod 33, second connecting rod 34, third connecting rod 35, fourth connecting rod 36, third linear guide rail 37, fourth linear guide rail 38, longitudinal tooth condition 39, transmission gear 391, transverse tooth condition 392, slider 99. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0035] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "lay out," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances and in conjunction with existing technology. Furthermore, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. One or more of the components shown in the figures may be necessary or not, and the relative positional relationships between the components shown in the figures can be adjusted according to actual needs.

[0037] like Figures 1 to 4As shown, this utility model provides a negative pressure cylindrical two-finger picker and its robot, which includes: a base 1, a telescopic push rod 2, a linkage mechanism 3, and a finger assembly 4. The telescopic push rod 2 and the linkage mechanism 3 are mounted on the base 1, and the telescopic end of the telescopic push rod 2 is connected to the drive end of the linkage mechanism 3. The finger assembly 4 includes: grippers 41 and a collection tube 42. The grippers 41 are arranged in pairs, and each gripper 41 has a finger tube 43 at its end. The finger tube 43 has a cavity 44 and a top. The end side is provided with scissor teeth 45. The collection tube 42 is connected to a negative pressure source and at least one finger tube 43 respectively. The gripper 41 is connected to the transmission end of the linkage mechanism 3 and is controlled to open / close, thereby driving a pair of finger tubes 43 to close, so that the inner cavity of the finger tube 43 defines a cavity that connects to the collection tube 42 to wrap and position the harvested object. At the same time, it also allows the scissor teeth 45 at the top of the finger tube 43 to cut the branches, so that the harvested object is retained in the cavity of the finger tube 43 and collected by the negative pressure of the collection tube 42.

[0038] In order to convert the longitudinal movement of the telescopic push rod 2 into the opening and closing movement of the gripper 41, such as Figure 3 As shown, in the first embodiment, the linkage mechanism 3 includes: a first linear guide rail 31, a second linear guide rail 32, a first connecting rod 33, and a pair of second connecting rods 34, third connecting rods 35, and fourth connecting rods 36. The first linear guide rail 31 and the second linear guide rail 32 are arranged sequentially at intervals and are arranged in a relatively longitudinal and transverse manner on the base 1. The first connecting rod 33 is fixed to the slider 99 of the first linear guide rail 31, and its two ends are respectively axially connected to the telescopic push rod 2 and the second connecting rod 34, so as to extend and retract with the telescopic push rod 2. In the reciprocating motion, the wrist end of the third link 35 is axially connected to the base 1 and the tail end is axially connected to the second link 34, so that the pair of second links 34 and third links 35 are arranged in an M-shaped extension linkage structure. The pair of fourth links 36 are respectively fixed on the two sliders 99 of the second linear guide 32. The tail end of the fourth link 36 and the front end of the third link 35 are provided with gear teeth, which are driven to mesh with each other through the telescopic push rod 2 and the M-shaped extension linkage structure, driving the fourth link 36 to move laterally, thereby driving the gripper 41 connected to it to open and close.

[0039] In addition, in another alternative implementation, such as Figures 5 to 6As shown, in the second embodiment of this utility model, a linkage mechanism 3 is also provided, which includes: a third linear guide rail 37, a fourth linear guide rail 38, a longitudinal tooth condition 39, and a pair of transmission gears 391 and transverse tooth conditions 392. The third linear guide rail 37 and the fourth linear guide rail 38 are arranged alternately on the base 1. The longitudinal tooth condition 39 is fixed to the slider 99 of the third linear guide rail 37, and its tail end is connected to the telescopic push rod 2. A pair of transverse tooth conditions 392 are respectively fixed to the two sliders 99 of the fourth linear guide rail 38. The transmission gear 391 is axially connected to the base 1 and meshes with the transverse tooth condition 392 and the longitudinal tooth condition 39, respectively. With this arrangement, when the telescopic push rod 2 moves the longitudinal tooth condition 39 longitudinally, the transverse tooth condition 392 can be moved laterally along the fourth linear guide rail 38 via the transmission gear 391, thereby causing the gripper 41 connected to the transverse tooth condition 392 to open and close.

[0040] Furthermore, in order to accurately cut crop branches and stems and prevent accidental damage to surrounding branches, leaves, or other crops, in optional embodiments, such as Figure 4 As shown, the top of the finger cylinder 43 can be designed to be conical to reduce the cutting range and prevent accidental cutting.

[0041] Furthermore, considering that the cavity after the finger tubes 43 are combined is in a roughly closed state, the negative pressure suction of the collecting tube 42 may not be effective when sucking up the cut crops. Although the negative pressure suction effect can be improved by slightly opening the clamps 41 to allow ventilation, the additional opening and closing steps will obviously affect the harvesting efficiency. Therefore, in the optional implementation, such as Figure 4 As shown, an air hole 46 communicating with the concave cavity 44 can be provided on the finger cylinder 43 so that negative pressure suction can still be supported after the finger cylinder 43 is closed, thereby improving the harvesting and collection speed.

[0042] Furthermore, since the collection tube 42 will shake when subjected to negative pressure, in an optional embodiment, to prevent it from colliding with or obstructing the movement of the mechanism, such as... Figures 1 to 2 As shown, the negative pressure cylindrical two-finger picker further includes: a pipe support 12, which is set on the base 1, wherein the pipe support 12 is provided with a channel for the collection pipe 42 to pass through, thereby fixing the position of the collection pipe 42.

[0043] Furthermore, to facilitate the installation of machine vision devices on the harvester, in optional embodiments, such as... Figures 1 to 2 As shown, the negative pressure cylindrical two-finger picker further includes: a depth camera 5 and a camera bracket 6, wherein the depth camera 5 is fixed above the base 1 by the camera bracket 6.

[0044] On the other hand, corresponding to the above-mentioned harvester, this utility model also provides a robot, which includes: a negative pressure generating device, a robotic arm, and a harvester, wherein the harvester is made of a negative pressure cylindrical two-finger harvester as described above, wherein the harvester is disposed at the wrist end of the robotic arm and connected to the negative pressure generating device.

[0045] In summary, the negative pressure cylindrical two-finger harvester and its robot provided by this utility model ingeniously design a two-finger harvesting structure, which can effectively reduce harvesting damage and protect quality. Compared with three-finger or multi-finger solutions, it reduces the physical contact points and potential compression on the flower buds / fruits. Combined with the unique design of the "cylindrical" finger cylinder 43 gripper 41 cavity 44, it can better cover the flower buds / fruits during gripping and disperse pressure, thereby significantly reducing the risk of damage to delicate flower buds / fruits during gripping and cutting, which is conducive to maintaining the integrity and quality of flower buds / fruits after harvesting. In addition, this solution achieves a high degree of synchronization and integration of the two core functions of gripping and positioning and branch cutting by directly integrating the cutting teeth 45 at the top of the two "cylindrical" finger cylinders 43 in time and space. Meanwhile, the two grippers 41, within the nearly enclosed space of the finger tube 43 formed after the cut, can reliably accommodate and fix the cut flower buds / fruits, allowing them to be directly sucked away and collected through the collection tube 42, thus avoiding the problem of flower buds / fruits falling or being lost after cutting. This significantly improves the reliability and efficiency of crop harvesting and collection.

[0046] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

[0047] Furthermore, various different implementation methods of this utility model can be arbitrarily combined, as long as they do not violate the spirit of this utility model, they should also be regarded as the content disclosed by this utility model.

Claims

1. A negative pressure cylindrical two-finger harvester, characterized in that... include: The system comprises a base, a telescopic push rod, a linkage mechanism, and a finger assembly. The telescopic push rod and the linkage mechanism are driven and connected on the base. The finger assembly includes grippers and a collection tube. The grippers are arranged in pairs, and each gripper has a finger cylinder at its end. The finger cylinder has a cavity inside and a scissor tooth on its top side. The collection tube is connected to a negative pressure source and at least one finger cylinder. The grippers are driven and connected to the linkage mechanism, and are controlled to open / close, driving the scissor teeth of a pair of finger cylinders to be tangent to each other, the cavities to merge and connect with the collection tube.

2. The negative pressure cylindrical two-finger picker according to claim 1, characterized in that, The linkage mechanism includes: The system comprises a first linear guide rail, a second linear guide rail, a first connecting rod, and a pair of second, third, and fourth connecting rods. The first and second linear guide rails are arranged longitudinally and transversely on the base. The first connecting rod is fixed to the slider of the first linear guide rail, and its two ends are respectively axially connected to the telescopic push rod and the second connecting rod. The wrist end of the third connecting rod is axially connected to the base, and its tail end is axially connected to the second connecting rod. The fourth connecting rod is fixed to the slider of the second linear guide rail. The tail end of the fourth connecting rod and the front end of the third connecting rod are provided with gear teeth for meshing transmission.

3. The negative pressure cylindrical two-finger picker according to claim 1, characterized in that, The linkage mechanism includes: The system comprises a third linear guide, a fourth linear guide, a longitudinal tooth condition, and a pair of transmission gears and transverse tooth conditions. The third and fourth linear guides are arranged in a relatively longitudinal and transverse manner on the base. The longitudinal tooth condition is fixed on the slider of the third linear guide and its tail end is connected to the telescopic push rod. The transverse tooth condition is fixed on the slider of the fourth linear guide. The transmission gear is axially connected to the base and meshes with the transverse tooth condition and the longitudinal tooth condition, respectively.

4. The negative pressure cylindrical two-finger picker according to claim 1, characterized in that, The finger cylinder has a conical top and an air hole that connects to the concave cavity.

5. The negative pressure cylindrical two-finger picker according to claim 1, characterized in that, Also includes: A pipe support is provided on a base, wherein the pipe support has channels for the collection pipe to pass through.

6. The negative pressure cylindrical two-finger picker according to claim 1, characterized in that, Also includes: A depth camera and a camera mount, wherein the depth camera is fixed above a base via the camera mount.

7. A robot comprising: A negative pressure generating device, a robotic arm, and a harvester, characterized in that the harvester is made of a negative pressure cylindrical two-finger harvester as described in any one of claims 1 to 6, wherein the harvester is disposed at the wrist end of the robotic arm and connected to the negative pressure generating device.

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