Suction-type picking actuator of picking robot

Abstract

The utility model provides a kind of suction type picking executive mechanism of picking robot, including rotary disc, suction sleeve, more than one rotating piece and end cap;Wherein, the rotary disc, the suction sleeve and the end cap are all hollow structure, each rotating piece is located in the suction sleeve, one side of each rotating piece is respectively movably connected with the rotary disc, the other side of each rotating piece is respectively movably connected with the end cap;Gas extraction device is arranged on the side of the rotary disc away from the end cap to generate suction force at the opening of end cap for suction to be picked fruit;The rotary disc is connected rotary drive component, the rotary drive component actuation drives rotary disc rotation to drive each rotating piece to move to adjust the aperture of internal hollow. Through the suction type picking executive mechanism of picking robot of the utility model, the strength of suction force can be dynamically adjusted, and the success rate of picking various picking objects is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of machinery, and in particular to a suction-type harvesting actuator for a harvesting robot. Background Technology

[0002] Current harvesting robots typically use suction cups to first attach to the fruit and then pull it away from the fruit bunch, separating the stems through suction to complete the harvesting operation.

[0003] However, in actual harvesting operations, the varying degrees of vigor, hardness, and thickness of the vines in different harvesting environments increase the difficulty of fruit picking. Existing suction-cup technology, when used with thicker or harder vines, often fails to properly grip the vines, leading to harvesting failure. Utility Model Content

[0004] This utility model is proposed in view of the above-mentioned technical problems, and provides a suction-type harvesting execution mechanism for a harvesting robot. It has a simple structure, adjustable suction force, and can stably clamp the harvested object without affecting the surrounding fruit during the harvesting process, thus improving its practicality.

[0005] According to a first aspect of the present invention, a suction-type harvesting actuator for a harvesting robot is provided, comprising a rotating disk, a suction sleeve, one or more rotating plates, and an end cap.

[0006] The rotating disk, the adsorption sleeve, and the end cap are all hollow structures. Each rotating plate is located inside the adsorption sleeve. One side of each rotating plate is movably connected to the rotating disk, and the other side of each rotating plate is movably connected to the end cap. An air extraction device is provided on the side of the rotating disk away from the end cap so that an adsorption force is generated at the opening of the end cap to suck up the fruit to be picked.

[0007] The rotating disk is connected to a rotation drive assembly. The rotation drive assembly drives the rotating disk to rotate, thereby moving each rotating plate to adjust the diameter of the internal hollow hole.

[0008] According to a second aspect of the present invention, a suction-type harvesting actuator for a harvesting robot as described in the first aspect is provided, wherein the rotation drive assembly includes a drive motor, the output shaft of which is connected to a first gear, the first gear meshing with a second gear; the rotating disk is connected to a hollow inner cylinder, a toothed ring is provided on the outer periphery of the hollow inner cylinder, and an opening is provided on the side wall of the suction sleeve, the toothed ring meshing with the second gear at the opening.

[0009] According to a third aspect of the present invention, a suction-type harvesting actuator for a harvesting robot as described in the second aspect is provided, wherein the rotating disk has 10 inclined first slots, the end cap has 10 inclined second slots, and 10 rotating plates are movably connected between the rotating disk and the end cap.

[0010] According to a fourth aspect of the present invention, a suction-type harvesting actuator for a harvesting robot as described in the third aspect is provided, wherein each rotating plate has a first protrusion on one side and a second protrusion on the other side, each first protrusion being respectively embedded in a slot of the rotating disk, and each second protrusion being respectively embedded in a slot of the end cap.

[0011] According to a fifth aspect of the present invention, a suction-type harvesting actuator, as in the fourth aspect of the harvesting robot, is provided, wherein each rotating plate forms a hollow disc-shaped structure, and the rotation of the disc drives each rotating plate to move along its respective slot to adjust the aperture of the hollow disc-shaped structure formed by the rotating plates.

[0012] The beneficial effects of this utility model are as follows: by driving the rotating disk to rotate through the rotation drive component, the rotating plates are moved to adjust the diameter of the internal hollow holes, thereby adjusting the adsorption force at the end cap opening. The adsorption force can be dynamically increased according to the condition of the harvested object, thereby improving the success rate of harvesting operations.

[0013] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be adopted.

[0014] It should be understood that the embodiments of this utility model are not limited thereto. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0015] The accompanying drawings, which form part of the specification, are provided to further understand the present invention and illustrate preferred embodiments of the present invention. Together with the text description, they serve to explain the principles of the present invention, wherein the same reference numerals are used to denote the same elements throughout.

[0016] In the attached diagram:

[0017] Figure 1 This is a schematic diagram of the suction-type harvesting mechanism of the harvesting robot of this utility model;

[0018] Figure 2This is an enlarged image of the suction-type harvesting actuator of the harvesting robot of this utility model;

[0019] Figure 3 This is a front view of the pre-harvesting state of the suction-type harvesting actuator of the harvesting robot of this utility model;

[0020] Figure 4 This is a front view of the picking robot of this utility model in the state of picking during the picking process;

[0021] Figure 5 This is a schematic diagram of the structure of each rotating plate in the suction-type harvesting actuator of the harvesting robot of this utility model;

[0022] Figure 6 yes Figure 5 A diagram showing the state of the rotating plates forming a hollow disk-shaped structure. Detailed Implementation

[0023] Referring to the accompanying drawings, the foregoing and other features of this utility model will become apparent from the following description. Specific embodiments of this utility model are specifically disclosed in the description and drawings, illustrating some implementations in which the principles of this utility model can be adopted. It should be understood that this utility model is not limited to the described embodiments.

[0024] This utility model provides a suction-type harvesting actuator for a harvesting robot. Figure 1 This is a schematic diagram of the suction-type harvesting mechanism of the harvesting robot of this utility model. Figure 2 It's a picture of a burst of light. For example... Figures 1-2 As shown, the suction-type harvesting mechanism of this harvesting robot includes a rotating disk 1, an adsorption sleeve 2, and one or more rotating plates. One rotating plate 01 and an end cap 3 are marked in the figure. The rotating disk 1, adsorption sleeve 2, and end cap 3 are all hollow structures. Each rotating plate is located inside the adsorption sleeve 2, with one side of each rotating plate movably connected to the rotating disk 1 and the other side movably connected to the end cap 2. An air extraction device (not shown in the figure) is provided on the side of the rotating disk 1 away from the end cap 2 to generate suction force at the opening of the end cap 3 for sucking up the fruit 001 to be harvested. The rotating disk 1 is connected to a rotation drive assembly 4. The rotation drive assembly 4 drives the rotating disk 1 to rotate, thereby moving each rotating plate to adjust the internal hollow aperture. Therefore, when encountering fruits of different sizes or fruits with thicker stems during the harvesting process, the aperture size can be dynamically adjusted to adjust the suction force. For example, before harvesting, the aperture formed by each rotating plate is as follows: Figure 3 As shown, the pore size is relatively large and the adsorption force is relatively small at this time. During harvesting, the rotation drive component 4 drives the rotating disk 1 to rotate, which in turn drives each rotating piece to move. At this time, the pore size becomes smaller and the adsorption force increases, and the harvesting operation is successfully completed.

[0025] According to a preferred embodiment of the present invention, see below Figures 1-2 The rotation drive assembly 4 includes a drive motor 41, the output shaft of which is connected to a gear 42, which meshes with a gear 43. A rotating disk 1 is connected to a hollow inner cylinder 11, and a gear ring 12 is arranged around the outer circumference of the hollow inner cylinder 11. An opening 21 is provided on the side wall of the adsorption sleeve 2, and the gear ring 12 meshes with the gear 43 at the opening 21. Thus, the drive motor 41 drives the gear 42 to rotate, which in turn drives the gear 43 to rotate, thereby rotating the rotating disk 1 connected to the hollow inner cylinder 11.

[0026] According to a preferred embodiment of the present invention, see below Figure 2 The rotating disk 1 has 10 inclined slots, one of which is marked as slot 12 in the figure. Correspondingly, the end cover 3 has 10 inclined slots, one of which is marked as slot 21 in the figure. 10 rotating plates are movably connected between the rotating disk 1 and the end cover 3. Figure 5 This is a schematic diagram of the structure of each rotating plate in the suction-type harvesting actuator of the harvesting robot of this utility model. Figure 6 yes Figure 5 A diagram showing the state of the rotating plates forming a hollow disk-shaped structure. (See diagram below.) Figures 5-6 As shown, each rotating plate has a first protrusion on one side (protrusion 011 is shown in the example), and a second protrusion on the other side (protrusion 012 is shown in the example). Each first protrusion is embedded in a slot of the rotating disk 1, and each second protrusion is embedded in a slot of the end cap 3. When the protrusions on both sides of each rotating plate are embedded in their respective slots, and the rotating plates are movably connected to the rotating disk 1 and the end cap 3, the rotating plates form a hollow disk-shaped structure (e.g., ...). Figure 6 As shown, when the rotating disk 1 rotates, it drives each rotating plate to move along its respective slot to adjust the aperture of the hollow disk-shaped structure formed by the rotating plates. When the harvesting process requires increased adsorption force, the drive motor 41 drives the rotating disk 1 to rotate, thereby driving each rotating plate to move and making the aperture of the hollow disk-shaped structure formed by the rotating plates smaller.

[0027] Preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and many features and advantages of these embodiments become apparent from this detailed description. Furthermore, since many modifications and alterations will readily occur to those skilled in the art, the embodiments of the present invention are not intended to be limited to the precise structures and operations illustrated and described, but rather to encompass all suitable modifications and equivalents.

Claims

1. A suction-type harvesting actuator for a harvesting robot, characterized in that, The picking robot's suction-type picking mechanism includes a rotating disk, a suction sleeve, one or more rotating plates, and an end cap. The rotating disk, the adsorption sleeve, and the end cap are all hollow structures. Each rotating plate is located inside the adsorption sleeve. One side of each rotating plate is movably connected to the rotating disk, and the other side of each rotating plate is movably connected to the end cap. The rotating disk is connected to a rotation drive assembly. The rotation drive assembly drives the rotating disk to rotate, thereby moving each rotating plate to adjust the diameter of the internal hollow hole.

2. The suction-type harvesting mechanism of the harvesting robot according to claim 1, characterized in that, The rotation drive assembly includes a drive motor, the output shaft of which is connected to a first gear, which meshes with a second gear; the rotating disk is connected to a hollow inner cylinder, a toothed ring is provided on the outer circumference of the hollow inner cylinder, and the side wall of the adsorption sleeve is provided with an opening, at which the toothed ring meshes with the second gear.

3. The suction-type harvesting mechanism of the harvesting robot according to claim 2, characterized in that, The rotating disk has 10 inclined first slots, and the end cover has 10 inclined second slots. Ten rotating plates are movably connected between the rotating disk and the end cover.

4. The suction-type harvesting mechanism of the harvesting robot according to claim 3, characterized in that, Each rotating plate has a first protrusion on one side and a second protrusion on the other side. Each first protrusion is embedded in a slot of the rotating disk, and each second protrusion is embedded in a slot of the end cap.

5. The suction-type harvesting actuator of the harvesting robot according to claim 4, characterized in that, Each rotating plate forms a hollow disc-shaped structure. The rotation of the disc drives each rotating plate to move along its respective slot to adjust the aperture of the hollow disc-shaped structure formed by the rotating plates.

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