Negative-pressure inserting piece self-breaking type picker and robot thereof
By using a negative pressure insert self-cutting harvester and its robot, the problems of damage and unstable positioning in jasmine flower harvesting are solved by utilizing negative pressure airflow and insert-type cutting mechanism, achieving efficient and high-quality automated harvesting results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI DALUO INFORMATION TECH CO LTD
- Filing Date
- 2025-05-26
- Publication Date
- 2026-05-12
AI Technical Summary
Existing technologies for automated harvesting of small fruits such as jasmine suffer from problems such as easy damage, unstable positioning and gripping, poor cutting effect, and low collection reliability, resulting in low harvesting efficiency and unstable quality.
The negative pressure insert self-cutting harvester uses negative pressure airflow positioning and insert-type cutting mechanism to achieve gentle positioning, stable suction and reliable collection. Combined with insert controller and cutting insert, it surrounds the front end of the harvesting tube in both directions to accurately cut the branch petiole.
It enables efficient and high-quality automated harvesting of jasmine flowers and other harvested items, reducing damage during the harvesting process and ensuring the stability and integrity of the harvested items during cutting and collection.
Smart Images
Figure CN224218941U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automated crop harvesting technology, and in particular to a negative pressure insert self-breaking harvester and its robot. Background Technology
[0002] As an important economic crop, the timely and high-quality harvesting of jasmine buds is crucial for industries such as jasmine tea. However, harvesting still largely relies 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 the industry's development. Therefore, developing efficient, stable, and low-cost automated harvesting technologies and equipment to replace manual labor has become a technological trend and urgent need in this field. Against this backdrop, various automated harvesting solutions have emerged in existing technologies, mainly including the following types:
[0003] One approach combines suction and cutting. These devices typically utilize negative pressure airflow generated by suction to help locate flower buds or collect flowers after cutting. Such devices have two symmetrical cutting blades, driven by independent rotary motors, mounted on a mounting plate around the outer periphery of the picking head (suction inlet). During operation, the flower is sucked into the opening of the picking head, and then the two rotary motors are activated, driving their respective cutting blades to rotate and cut the flower stalk located in the center of the opening. The cut flower is then transported by airflow into a collection container.
[0004] Another approach involves using mechanical grippers or clamping cutting structures. These devices are typically designed with multiple finger-like grippers or clamping plates with cutting edges that can open and close simultaneously. During operation, these components retract inward to close, and the cutting edges at their ends simultaneously cut the flower stalk. The closed structure itself also forms a temporary holding space to hold the cut flower bud and prevent it from falling off.
[0005] Another type of solution utilizes comb-like or hook-like structures in conjunction with cutting. These devices use comb-like components inserted beneath the flower stem for combing, positioning, and support, or hook-like components to catch the flower, then work with a separate, drivable cutting blade (such as a linear reciprocating blade) to sever the stem. The cut flowers typically fall to a collection device below by gravity, or may be collected with the assistance of airflow.
[0006] 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:
[0007] 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.
[0008] 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.
[0009] ③ Poor cutting results: Some cutting methods (such as external rotating blades and clamp shears) have problems such as inaccurate cutting position, uneven cuts, or interference with adjacent branches and leaves.
[0010] ④Low collection reliability: Cut flower buds / fruits are prone to falling off, being lost, or being damaged again during transportation or collection.
[0011] 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
[0012] Therefore, the main objective of this utility model is to provide a negative pressure insert self-cutting harvester and its robot, which uses negative pressure airflow to achieve gentle positioning, stable suction and reliable collection of the harvested material, and combines insert-type cutting mechanism to complete precise and low-damage branch and stem cutting, thereby achieving efficient and high-quality automated harvesting of the harvested material.
[0013] To achieve the above objectives, according to one aspect of this utility model, a negative pressure insert self-cutting harvester is provided, comprising: a base, a telescopic push rod, a harvesting tube, an insert controller, and a cutting insert, wherein the harvesting tube and the telescopic push rod are respectively connected to the base, the tail end of the harvesting tube is connected to a negative pressure source, the insert controller is sleeved on the outside of the harvesting tube and connected to the telescopic push rod, the front end of the harvesting tube is provided with an insert channel to connect the inside and outside of the harvesting tube, the tail end of the cutting insert is fixed on the insert controller and the front end is inserted into the insert channel so as to move with the insert controller, controlling the cutting insert to extend and retract at the front end of the harvesting tube, encircling the harvested material and cutting off the branch.
[0014] Preferably, the negative pressure insert self-breaking harvester further includes: a positioning insert, the tail end of which is fixed on the insert controller and the front end is inserted into the insert channel, wherein the insert channels are distributed at equal intervals on the harvesting tube, and the cutting insert and the positioning insert are alternately inserted into each insert channel so as to surround the front end of the harvesting tube with the displacement of the insert controller.
[0015] Preferably, the front end of the harvesting tube is provided with a barrier wall, and the insert controller is sleeve-shaped with a barrier part on its inner tube wall. The insert controller is displaced by a telescopic push rod, and when the cutting insert and positioning insert are extended to their limit at the front end of the harvesting tube, the barrier part of the insert controller abuts against the barrier wall of the harvesting tube.
[0016] Preferably, the cutting inserts are arranged in at least pairs, wherein the front section of the cutting insert is curved in an arc shape and has cutting teeth at the end of the front section. When each cutting insert is extended to its limit, the cutting teeth clamp together, and the front section surrounds the outer contour of the harvested object.
[0017] Preferably, the positioning inserts are arranged in at least a pair, wherein the front section of the positioning insert is curved in an arc shape, and when the positioning insert is extended to its limit, it blocks the side of the cutting insert so as to cooperate with the cutting insert to form a shape that fits the outer contour of the harvested object.
[0018] Preferably, the two ports of the insert channel are located at the inner wall of the front port of the harvesting tube and the outer wall of the harvesting tube, respectively, wherein the port of the insert channel near the inside of the harvesting tube has an arc-shaped transition.
[0019] Preferably, the outer tube of the harvesting tube has a round section at the front and a square section at the rear, with the diameter of the round section being greater than the diagonal length of the square section. The sleeve of the insert controller is adapted to the shape of the outer tube of the harvesting tube, with a round section at the front and a square section at the rear. The insert controller is sleeved on the outside of the harvesting tube, and the square section of the insert controller sleeve abuts against the round section of the harvesting tube, limiting the limit stroke of the insert controller.
[0020] Preferably, the tube body near the front end of the harvesting tube has an arc-shaped constriction.
[0021] To achieve the above objectives, according to another aspect of the present invention, a robot is also provided, comprising: a negative pressure generating device, a robotic arm, and a harvester, wherein the harvester is made of a negative pressure insert self-breaking 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.
[0022] The negative pressure insert self-cutting harvester and its robot provided by this utility model ingeniously incorporate an insert-type cutting mechanism within the harvesting tube. This mechanism allows the harvested material to be guided into the tube and positioned using negative pressure suction. With the assistance of the cutting insert, the harvested material is surrounded and its position is stably controlled. This allows for precise cutting of the stem without damaging the harvested material, and the cut material is then sucked away by the negative pressure through the harvesting tube, preventing it from falling to the ground and causing damage during harvesting. Furthermore, in a corresponding embodiment, the positioning insert further assists the cutting insert in surrounding the harvested material at the front end of the harvesting tube, both horizontally and vertically, to further stabilize and control its position, enabling more precise cutting of the stem and protecting the harvested material. This achieves gentle positioning, stable suction, and reliable collection of the harvested material, combined with the insert-type cutting mechanism for precise and low-damage stem cutting, thus enabling efficient and high-quality automated harvesting. 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 negative pressure insert self-breaking type harvester of this utility model.
[0025] Figure 3 This is a partial structural perspective view of the negative pressure insert self-breaking harvester of this utility model.
[0026] Figures 4 to 5 This is a schematic diagram of the harvesting tube structure of the negative pressure insert self-breaking harvester of this utility model;
[0027] Figure 6 This is a schematic diagram of the half-section structure of the picking tube of the negative pressure insert self-breaking type picking device of this utility model.
[0028] Figure 7 This is a schematic diagram of the side half-section structure of the cutting insert of the negative pressure insert self-breaking harvester of this utility model;
[0029] Figure 8 This is a side half-section diagram of the positioning insert structure of the negative pressure insert self-breaking harvester of this utility model;
[0030] Figure 9 This is a schematic diagram of the connection structure of the cutting insert, positioning insert, and insert controller of the negative pressure insert self-breaking harvester of this utility model.
[0031] Figure 10 This is a schematic diagram of the insert controller of the negative pressure insert self-breaking type harvester of this utility model;
[0032] Figure 11 This is a half-sectional structural diagram of the insert controller of the negative pressure insert self-breaking type harvester of this utility model.
[0033] Explanation of reference numerals in the attached figures
[0034] Base 1, telescopic push rod 2, picking tube 3, insert controller 4, cutting insert 5, positioning insert 6, insert channel 31, cutting tooth 51. Detailed Implementation
[0035] 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.
[0036] 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.
[0037] 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.
[0038] 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.
[0039] 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.
[0040] 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.
[0041] To achieve efficient and high-quality automated harvesting of harvested materials, such as Figures 1 to 11 As shown, one aspect of this utility model provides a negative pressure insert self-cutting harvester, an example of which includes: a base 1, a telescopic push rod 2, a harvesting tube 3, an insert controller 4, and a cutting insert 5, wherein... Figures 1 to 3 As shown, the picking tube 3 and the telescopic push rod 2 are respectively connected to the base 1, wherein the base 1 can be used to connect with the wrist end of the robotic arm. The tail end of the picking tube 3 passes through the base 1 and can be connected to a negative pressure source (such as a suction fan). The insert controller 4 is in the shape of a sleeve, which is sleeved on the outside of the picking tube 3 and is connected to the telescopic push rod 2 for transmission.
[0042] Among them, such as Figures 4 to 6 As shown, the front end of the harvesting tube 3 is provided with a blade channel 31 to connect the inside and outside of the harvesting tube 3. Specifically, the two ends of the blade channel 31 are located at the inner tube wall of the front end of the harvesting tube 3 and the outer tube wall of the harvesting tube 3, respectively. The end of the blade channel 31 near the inside of the harvesting tube 3 is arc-shaped to facilitate the arc-shaped outward extension of the front end of the cut blade 5 inserted therein.
[0043] Among them, such as Figure 7 As shown, the tail end of the cutting insert 5 is fixed to the insert controller 4, and the front end is inserted into the insert channel 31. When the insert controller 4 is moved by the telescopic push rod 2, the cutting insert 5 is moved to extend or retract at the front end of the harvesting tube 3. Figure 7 As shown, in a preferred example, the cutting inserts 5 are arranged in at least pairs. The front section of the cutting insert 5 is curved in an arc shape, and the front end is provided with a cutting tooth 51. When each cutting insert 5 is extended to its limit, the cutting tooth 51 clamps together, so that the front section of the cutting insert 5 surrounds the harvested object in the harvesting tube 3 to fit the outer contour of the harvested object, thereby surrounding the harvested object and cutting the branch and stem through the cutting tooth 51 of the cutting insert 5.
[0044] Furthermore, to better position the harvested material within the harvesting tube 3, facilitating precise cutting of the branch stalks, such as... Figure 3 , Figures 8 to 9 As shown, in an optional example, the negative pressure insert self-cutting harvester further includes: a positioning insert 6, the tail end of which is fixed to the insert controller 4 and the front end is inserted into the insert channel 31. The insert channel 31 can be provided in four places, evenly spaced on the harvesting tube 3. The positioning inserts 6 are provided in at least pairs. The front section of the positioning insert 6 is curved. When the positioning insert 6 is extended to its limit, it can block the side of the cutting insert 5 to cooperate with the cutting insert 5 in enclosing the outer contour of the harvested object. With this configuration, when the cutting insert 5 and the positioning insert 6 are alternately inserted into each insert channel 31, they can, with the displacement of the insert controller 4, enclose the harvested object at the front end of the harvesting tube 3 to form a positioning, thereby facilitating more precise cutting of the branches and stems below the harvested object.
[0045] Furthermore, in alternative implementations, such as Figure 3 As shown, the tube body near the front end of the picking tube 3 can be set in an arc-shaped constriction, which, combined with the front arc-shaped structure of the positioning insert 6 and the cutting insert 5, can better conform to the shape of the picking object, so as to better surround and position the picking object.
[0046] Furthermore, in order to control the travel limit of the insert controller 4, in an optional embodiment, the front end of the harvesting tube 3 is provided with a barrier wall, and the insert controller 4 is sleeve-shaped with a barrier part on its inner tube wall. When the insert controller 4 is displaced by the telescopic push rod 2, and the cutting insert 5 and the positioning insert 6 are extended to their limit at the front end of the harvesting tube 3, the barrier part of the insert controller 4 abuts against the barrier wall of the harvesting tube 3, thereby limiting the travel of the insert controller 4.
[0047] Furthermore, in order to control the travel limits of the insert controller 4, in an optional embodiment, such as Figures 4 to 5 , Figures 10 to 11 As shown, the outer tube of the harvesting tube 3 has a round tube section at the front and a square tube section at the rear, and the diameter of the round tube section is greater than the diagonal length of the square tube section. The sleeve of the insert controller 4 is adapted to the shape of the outer tube of the harvesting tube 3, with a round tube section at the front and a square tube section at the rear. With this arrangement, when the insert controller 4 is sleeved on the outside of the harvesting tube 3, when the insert controller 4 is moved by the telescopic push rod 2, the square tube section of the insert controller 4 sleeve can abut against the round tube section of the harvesting tube 3, thereby limiting the limit stroke of the insert controller 4.
[0048] The working process of the negative pressure insert self-breaking type harvester of this utility model is shown in the following example:
[0049] Taking the picking of jasmine flower buds as an example, firstly, the picking tube 3 is aligned with the flower bud, and a negative pressure source is turned on to attract the flower bud for initial positioning. At this time, under the action of negative pressure, the flower bud automatically moves towards the picking opening and is stably attracted until it enters the inside of the picking tube 3. Then, the telescopic push rod 2 is activated, which drives the insert controller 4 to move, so that the cutting insert 5 and the positioning insert 6 slide out into the inner tube of the picking tube 3, thereby surrounding the flower bud to form positioning and support. It is worth mentioning that the setting of the positioning insert 6 and the cutting insert 5 can help control the posture of the flower bud during the picking process, keeping it in the central area of the inner tube of the picking tube 3 (controlling the concentration of the stamens), and preventing the flower bud from accidentally falling or shifting before and after cutting. Then, as the cutting insert 5 moves to its limit, its cutting teeth 51 abut against each other to accurately cut off the flower stem below the jasmine flower bud.
[0050] After cutting, the flower buds are collected. The telescopic push rod 2 moves in the opposite direction, causing the insert controller 4 to retract, which in turn causes the cutting insert 5 and positioning insert 6 to retract. At this time, the cut flower buds are sucked into the rear collection system by the harvesting tube 3 under the action of negative pressure airflow. The above process is then repeated to enter the next cycle, preparing for the next harvest. This achieves automated, low-damage, and high-efficiency harvesting of flower buds.
[0051] Furthermore, it should be noted that although this example uses the picking of jasmine flower buds as an example, those skilled in the art will understand that, without exceeding the scope of the inventive concept, they can also use the picker of this example to pick other types of flower buds or small fruits similar to goji berries. Therefore, this utility model does not limit the scope of application of the picker. Thus, any type of harvestable crop that can be supported by the structural scope of this utility model example is within the scope of disclosure of this utility model example.
[0052] On the other hand, corresponding to the above examples, 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 insert self-breaking 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.
[0053] In summary, the negative pressure insert self-cutting harvester and its robot provided by this utility model ingeniously incorporate an insert-type cutting mechanism within the harvesting tube 3. This mechanism allows the harvested material to be guided into the tube and positioned using negative pressure suction. With the assistance of the cutting insert 5, the harvested material is surrounded, stabilizing its position. This allows for precise cutting of the stem without damaging the harvested material, and the cut material is then sucked away by the negative pressure through the harvesting tube 3, preventing it from falling to the ground and causing damage during harvesting. Furthermore, in a corresponding embodiment, the positioning insert 6 further assists the cutting insert 5 in surrounding the harvested material at the front end of the harvesting tube 3, further stabilizing its position and enabling more precise cutting of the stem to protect the harvested material. This achieves gentle positioning, stable suction, and reliable collection of the harvested material, combined with the insert-type cutting mechanism for precise, low-damage stem cutting, thus enabling efficient and high-quality automated harvesting.
[0054] 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.
[0055] 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 insert self-breaking type harvester, characterized in that... include: The system comprises a base, a telescopic push rod, a harvesting tube, an insert controller, and a cutting insert. The harvesting tube and the telescopic push rod are connected to the base. The tail end of the harvesting tube is connected to a negative pressure source. The insert controller is sleeved on the outside of the harvesting tube and connected to the telescopic push rod. The front end of the harvesting tube has an insert channel to connect the inside and outside of the harvesting tube. The tail end of the cutting insert is fixed to the insert controller, and the front end is inserted into the insert channel so that it moves with the insert controller, controlling the cutting insert to extend and retract at the front end of the harvesting tube to surround the harvested material and cut the branch.
2. The negative pressure insert self-breaking harvester according to claim 1, characterized in that, Also includes: The positioning insert has its tail end fixed to the insert controller and its front end inserted into the insert channel. The insert channels are distributed at equal intervals on the picking tube. The cutting insert and the positioning insert are alternately inserted into each insert channel so that they surround the front end of the picking tube as the insert controller moves.
3. The negative pressure insert self-breaking harvester according to claim 2, characterized in that, The harvesting tube has a barrier wall at the front end. The insert controller is sleeve-shaped with a barrier part on its inner tube wall. The insert controller is moved by the telescopic push rod. When the cutting insert and positioning insert are extended to the limit at the front end of the harvesting tube, the barrier part of the insert controller abuts against the barrier wall of the harvesting tube.
4. The negative pressure insert self-breaking harvester according to claim 2, characterized in that, The cutting inserts are arranged in at least pairs, wherein the front section of the cutting insert is curved in an arc shape and has cutting teeth at the end of the front section. When each cutting insert is extended to its limit, the cutting teeth clamp together, and the front section surrounds the outer contour of the harvested object.
5. The negative pressure insert self-breaking harvester according to claim 2, characterized in that, The positioning inserts are arranged in at least a pair, wherein the front section of the positioning insert is curved, and when the positioning insert is extended to its limit, it blocks the side of the cutting insert to cooperate with the cutting insert to form a shape that fits the outer contour of the harvested object.
6. The negative pressure insert self-breaking harvester according to claim 1, characterized in that, The two ports of the insert channel are located on the inner wall of the front port of the harvesting tube and on the outer wall of the harvesting tube, respectively, with the port of the insert channel near the inside of the harvesting tube having an arc-shaped transition.
7. The negative pressure insert self-breaking harvester according to claim 1, characterized in that, The outer tube of the harvesting tube has a round section at the front and a square section at the rear, with the diameter of the round section being larger than the diagonal length of the square section. The sleeve of the insert controller is adapted to the shape of the outer tube of the harvesting tube, with a round section at the front and a square section at the rear. The insert controller is sleeved on the outside of the harvesting tube, and the square section of the insert controller sleeve abuts against the round section of the harvesting tube, limiting the limit stroke of the insert controller.
8. The negative pressure insert self-breaking type harvester according to claim 1, characterized in that, The tube body near the front end of the harvesting tube has an arc-shaped constriction.
9. 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 insert self-breaking harvester as described in any one of claims 1 to 8, wherein the harvester is disposed at the wrist end of the robotic arm and connected to the negative pressure generating device.