A negative pressure spherical cutter type picker and a robot thereof

Abstract

The utility model provides a kind of negative pressure spherical cutter formula picker and its robot, wherein the picker includes: pedestal, picking pipe, telescopic push rod, connecting rod mechanism, spherical cutter, wherein the picking pipe and telescopic push rod are arranged on pedestal, the picking pipe tail end is communicated with negative pressure source, the spherical cutter is received in picking pipe and is connected with the picking pipe rotating shaft, the telescopic push rod is connected with spherical cutter transmission by connecting rod mechanism, drives spherical cutter to rotate in close to the picking pipe mouth, to enclose picking target and cut off flower handle. High efficiency, high quality automation picking is realized in this way.

Description

Technical Field

[0001] This utility model relates to the field of automated harvesting technology, and in particular to a negative pressure spherical cutter harvester and its robot. Background Technology

[0002] Jasmine is an important economic crop, and its flower buds are a key raw material for industries such as jasmine tea. The harvesting process is complex and requires high timeliness and quality. Traditionally, it relies heavily on skilled manual labor to select buds of suitable maturity. However, this traditional manual method is not only inefficient and labor-intensive, resulting in inconsistent harvest quality, but also faces severe challenges due to high labor costs and labor shortages, seriously hindering industry development. Therefore, developing technologies and equipment that can replace manual labor for efficient, stable, and low-cost automated harvesting 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 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 and 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 jasmine buds still has the following drawbacks:

[0006] ① Flower buds are easily damaged: Existing mechanical methods (especially multi-finger grippers) can easily cause squeezing damage to delicate flower buds.

[0007] ② Complex structure / inconvenient operation: Some existing solutions (such as multi-finger linkage mechanisms) are complex in structure, large in size, and high in cost, and are not flexible in operation in dense environments.

[0008] ③ The integration effect of clamping and cutting needs to be improved: There is still room for improvement in achieving the integration effect of stable clamping and efficient, low-damage cutting.

[0009] ④ Insufficient collection reliability: Some methods (such as handheld or gravity collection) have the problem that flower buds are easy to fall off or be lost after cutting.

[0010] In view of this, there is an urgent need in the field for an automated harvesting solution for picking targets such as flower buds, fruits, and plant shoots, in order 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 spherical cutter-type harvester 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 spherical cutter harvester is provided, comprising: a base, a harvesting tube, a telescopic push rod, a linkage mechanism, and a spherical cutter. The harvesting tube and the telescopic push rod are mounted on the base. The tail end of the harvesting tube is connected to a negative pressure source. The spherical cutter is housed within the harvesting tube and connected to the shaft of the harvesting tube. The telescopic push rod is connected to the spherical cutter via the linkage mechanism, driving the spherical cutter to rotate near the opening of the harvesting tube to encircle and cut the target.

[0013] Preferably, the spherical cutter has a spherical shell-shaped blade to define a cavity on the back of the blade to accommodate the harvested target, wherein at least one edge of the spherical cutter blade is provided with a cutting edge.

[0014] Preferably, the width of the spherical cutter is smaller than the opening size of the harvesting tube.

[0015] Preferably, at least one edge of the spherical cutter body is provided with a ventilation notch.

[0016] Preferably, the vent is located at the center of the edge of the blade body.

[0017] Preferably, the opening of the harvesting tube is gradually narrowed, and the inner wall of the tube opening has a spherical concave shape similar to that of a spherical cutter.

[0018] Preferably, the opening of the harvesting tube is gradually narrowed, and a guide wall with an inner chamfered ring is provided at the opening.

[0019] Preferably, the linkage mechanism includes: a transmission rod and a swing rod, wherein the two ends of the transmission rod are respectively connected to the transmission end of the telescopic push rod and one end of the swing rod, the spherical cutter has a rotating shaft on its blade body, and the other end of the swing rod is connected to the rotating shaft of the spherical cutter.

[0020] 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, characterized in that the harvester is made of a negative pressure spherical cutter 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.

[0021] The negative pressure spherical cutter harvester and its robot provided by this utility model ingeniously design a collaborative harvester structure that supports negative pressure adsorption and spherical rotary cutting. The harvesting tube sucks in the target (such as flower buds, fruits, and other agricultural products) for initial positioning. Then, the spherical cutter rotates and cooperates with the inner tube of the harvesting tube to clamp and hold the target, achieving precise positioning. This allows the spherical cutter to further rotate and cut, ensuring a tight rhythm between positioning and cutting throughout the harvesting process. It effectively positions the target, improves cutting accuracy, and prevents damage to the target. Compared to traditional mechanical clamping structures, it avoids squeezing damage to the target during harvesting. Furthermore, after being cut, the target can be further sucked away and collected with the harvesting tube, preventing loss or damage from falling targets. This achieves efficient, high-quality, and automated harvesting. Attached Figure Description

[0022] 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:

[0023] Figures 1 to 2 This is a schematic diagram of the overall structure of the negative pressure spherical cutter-type harvester of this utility model.

[0024] Figure 3 This is a partial structural perspective view of the negative pressure spherical cutter-type harvester of this utility model;

[0025] Figure 4 This is a schematic diagram of the assembly structure of the negative pressure spherical cutter-type harvester of this utility model.

[0026] Figures 5 to 6 This is a schematic diagram of the spherical cutter structure of the negative pressure spherical cutter harvester of this utility model;

[0027] Figure 7 This is a schematic diagram of the cap structure at the front end of the harvesting tube of the negative pressure spherical cutter harvester of this utility model.

[0028] Figures 8 to 10 This is a schematic diagram of the structure of the negative pressure spherical cutter harvester of this utility model, showing the opening and rotary cutting process of the spherical cutter inside the harvesting tube.

[0029] Explanation of reference numerals in the attached figures

[0030] Base 1, picking tube 2, telescopic push rod 3, linkage mechanism 4, spherical cutter 5, clamping part 11, shaft hole 21, tube body 22, cap 23, guide wall 24, transmission rod 41, swing rod 42, rotating shaft 51, cavity 52, cutting blade 53, ventilation notch 54, spherical concave surface 55. 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] This example uses jasmine flower bud harvesting as an example. The aim is to achieve efficient and high-quality automated harvesting of flower buds and to solve the problems mentioned in the background technology, such as... Figures 1 to 4 As shown, this utility model provides a negative pressure spherical cutter harvester, which includes: a base 1, a harvesting tube 2, a telescopic push rod 3, a linkage mechanism 4, and a spherical cutter 5. The base 1 is provided with a clamping part 11, through which the harvesting tube 2 is connected to the clamping part 11, so that the tail end of the harvesting tube 2 is connected to a negative pressure source. The telescopic push rod 3 is located on one side of the clamping part 11 near the harvesting tube 2. The spherical cutter 5 has rotating shafts 5 on both sides. 1. The harvesting tube 2 has a shaft hole 21 at its front end. The spherical cutter 5 is housed inside the harvesting tube 2 and is connected to the shaft hole 21 of the harvesting tube 2 via its rotating shaft 51. In an optional embodiment, to facilitate the installation of the spherical cutter 5, the harvesting tube 2 can be composed of a tube body 22 and a cap 23. The rear end of the cap 23 and the front end of the tube body 22 have semi-circular holes. The cap 23 is connected to the front end of the tube body 22 to form the harvesting tube 2 and the shaft hole 21. The telescopic push rod 3 is connected to the spherical cutter 5 via a linkage mechanism 4, driving the spherical cutter 5 to rotate near the opening of the harvesting tube 2, so as to cooperate with the inner wall of the harvesting tube 2 to surround the flower bud to form a position and cut the flower stem accordingly.

[0038] Specifically, such as Figures 1 to 4As shown, the linkage mechanism 4 in this example includes: a transmission rod 41 and a swing rod 42. The two ends of the transmission rod 41 are respectively connected to the transmission end of the telescopic push rod 3 and the rotating shaft 51 of one end of the swing rod 42. The other end of the swing rod 42 is connected to the rotating shaft 51 of the spherical cutter 5 to form a crank-connecting rod transmission structure. Thus, the spherical cutter 5 is controlled to rotate inside the harvesting tube 2 by the extension and retraction of the telescopic push rod 3.

[0039] Furthermore, such as Figures 4 to 6 As shown, in a preferred embodiment, the spherical cutter 5 has a spherical shell-shaped blade body, defining a cavity 52 on the back of the blade body to accommodate the flower bud. At least one edge of the spherical cutter 5 is sharpened to provide a cutting edge 53. With this configuration, when the picking tube 2 sucks in the flower bud, rotating the spherical cutter 5 can smoothly wrap around the flower bud and control it within the cavity 52. ​​At the same time, it works in conjunction with the inner wall of the picking tube 2 to surround the flower bud, thereby achieving precise positioning of the flower bud from multiple directions and preventing it from shifting. Continuing to rotate the spherical cutter 5 at this point allows its cutting edge 53 to form a shearing structure with the inner wall of the picking tube 2, thereby precisely and cleanly cutting the flower stalk without damaging the flower bud. At the same time, the cut is flush and there are no issues with the bud being pulled along.

[0040] Furthermore, in order to better utilize the negative pressure inside the picking tube 2 to continuously position the flower buds throughout the picking and cutting process, in an optional embodiment, the width of the spherical cutter 5 can be set to be smaller than the opening size of the picking tube 2. With this setting, no matter how the spherical cutter 5 rotates, it cannot completely close the opening of the picking tube 2, so that the suction inside the picking tube 2 can continuously anchor the flower buds and prevent them from shifting, thereby ensuring the accuracy when finally cutting the flower stem.

[0041] Furthermore, in order to better utilize the negative pressure inside the harvesting tube 2 to continuously position the flower bud throughout the harvesting and cutting process, in another optional embodiment, at least one side edge of the spherical cutter 5 may be provided with a ventilation notch 54. With this ventilation notch 54, the spherical cutter 5 can not completely seal the opening of the harvesting tube 2 no matter how it rotates, thus achieving a pressure relief function. This allows the suction inside the harvesting tube 2 to continuously anchor the flower bud, preventing it from shifting, thereby ensuring the accuracy when finally cutting the flower stalk.

[0042] Furthermore, in order to better utilize the suction force inside the harvesting tube 2 to anchor the flower buds, in an optional embodiment, the ventilation notch 54 is preferably located at the center of the edge of the blade body. This allows the suction force transmitted by the ventilation notch 54 to anchor the flower buds from the cavity 52 of the spherical cutter 5 near the central area, thereby anchoring the position of the flower buds as close as possible to the longitudinal axis of the harvesting tube 2. In this way, the flower bud stems are also restricted to the longitudinal axis area. At this time, since the opening of the entire harvesting tube 2 gradually becomes smaller, the negative pressure inside the tube can be further increased, so as to facilitate the subsequent precise cutting of the flower buds and accelerate the suction of the flower buds, thereby improving the harvesting efficiency.

[0043] Furthermore, such as Figure 7 As shown, in an optional embodiment, in order to facilitate the picking tube 2 to be aligned with the flower bud, the opening of the picking tube 2, i.e. the cap 23, is gradually narrowed. In addition, in order to improve the compatibility between the opening of the picking tube 2 and the spherical cutter 5, enhance the sealing performance, and obtain a more stable negative pressure lifting effect, the inner wall of the cap 23 is shaped like a spherical concave surface 55 similar to that of the spherical cutter 5.

[0044] Furthermore, in order to better guide the flower buds into the harvesting tube 2, in optional embodiments, such as... Figure 1 or Figure 4 As shown, the cap 23 has a guide wall 24 with an inner chamfered ring at the opening, which guides the flower buds into the picking tube 2 to improve picking efficiency.

[0045] The following example uses picking jasmine flower buds for reference. Figures 8 to 10 As shown, the working process of the negative pressure spherical cutter harvester of this utility model is illustrated below:

[0046] First, the picking tube 2 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 adsorbed until it enters the interior of the picking tube 2. At this time, the spherical cutter 5 is in the initial rotation position, with its back opening facing the opening of the picking tube 2 and the flower bud, ready for containment.

[0047] Then, the telescopic push rod 3 drives the linkage mechanism 4 to rotate the spherical cutter 5. At this time, the spherical cutter 5 rotates around its axis, and during the rotation, its concave cavity 52 naturally wraps around the flower bud to form a position. After continued rotation, the sharp cutting edge 53 of the blade can contact and cut the jasmine flower stem. During this process, as the spherical cutter 5 continues to rotate (or rotates to a predetermined angle), its concave cavity 52 with the flower bud will align with the suction channel in the picking tube 2. At this time, the blade of the spherical cutter 5 at least partially and temporarily closes the front opening of the picking tube 2. At this time, through the ventilation notch 54, a relatively closed negative pressure path is formed between the concave cavity 52 of the spherical cutter 5 and the negative pressure source, and the suction gradually increases. Once the flower stem is cut off, the jasmine flower bud contained in the concave cavity 52 of the spherical cutter 5 can be quickly sucked into the collection box (not shown) at the rear end to complete one picking operation.

[0048] Finally, when the flower bud is sucked away, the telescopic push rod 3 moves in the opposite direction (e.g., retracts), which drives the linkage mechanism 4 to rotate the spherical cutter 5 in the opposite direction, returning it to the initial open or standby state, ready for the next harvest, and so on.

[0049] As demonstrated by the above examples, the negative pressure spherical cutter-type harvester of this invention structurally supports a high degree of integration and synchronization between cutting and suction. The rotation of the spherical cutter 5 not only completes the cutting action but also cleverly controls the opening and closing of the suction path, achieving immediate and seamless suction of the cut flower buds. This effectively avoids the problem of flower buds falling off after cutting or failing to be collected in time. Simultaneously, since the spherical cutter 5 itself acts as a valve, the negative pressure system can more precisely target the flower buds when needed, potentially reducing unnecessary air suction and contributing to energy conservation. Furthermore, the cut flower buds are enclosed in the path formed by the spherical cutter 5 and the suction channel within the harvesting tube 2, and are directly sucked into the collection box through negative pressure. The collection process is highly efficient and has a high success rate, and is not easily affected by external environmental interference.

[0050] 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 even agricultural products such as fruits and tea leaves. It can be seen that the picking target referred to in this utility model includes all types of agricultural products that can be picked. Therefore, this utility model does not limit the scope of application of the picker. Thus, all kinds of agricultural products that can be picked without exceeding the structural scope of this utility model example are within the scope of disclosure of this utility model example.

[0051] 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 spherical cutter 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.

[0052] In summary, the negative pressure spherical cutter-type harvester and its robot provided by this utility model ingeniously design a collaborative harvester structure that supports negative pressure adsorption and spherical rotary cutting. The harvesting tube 2 sucks in flower buds for initial positioning, and then the spherical cutter 5 rotates and cooperates, with the inner tube of the harvesting tube 2 clamping and holding the flower buds to achieve precise positioning. This allows the spherical cutter 5 to further rotate and cut the flower stem, ensuring a tight rhythm of positioning and cutting throughout the harvesting process. It also effectively positions the flower buds, improves the accuracy of stem cutting, and prevents damage to the buds. Compared to traditional mechanical clamping structures, it avoids squeezing damage to the flower buds during harvesting. Furthermore, after the flower buds are cut, they can be further sucked away and collected with the harvesting tube 2, thus avoiding problems such as lost or fallen flower buds. This achieves efficient and high-quality automated harvesting of flower buds.

[0053] 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.

[0054] 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 spherical cutter-type harvester, characterized in that... include: The system comprises a base, a harvesting tube, a telescopic push rod, a linkage mechanism, and a spherical cutter. The harvesting tube and the telescopic push rod are mounted on the base. The tail end of the harvesting tube is connected to a negative pressure source. The spherical cutter is housed inside the harvesting tube and connected to the shaft of the harvesting tube. The telescopic push rod is connected to the spherical cutter via the linkage mechanism, driving the spherical cutter to rotate near the opening of the harvesting tube to encircle and cut the harvested target.

2. The negative pressure spherical cutter-type harvester according to claim 1, characterized in that, The spherical cutter has a spherical shell-shaped blade body to define a concave cavity on the back of the blade body to accommodate the harvested target, wherein at least one edge of the spherical cutter blade body is provided with a cutting edge.

3. The negative pressure spherical cutter-type harvester according to claim 2, characterized in that, The width of the spherical cutter is smaller than the opening size of the harvesting tube.

4. The negative pressure spherical cutter-type harvester according to claim 2, characterized in that, The spherical cutter body has a ventilation notch on at least one edge.

5. The negative pressure spherical cutter-type harvester according to claim 4, characterized in that, The ventilation notch is located at the center of the edge of the blade.

6. The negative pressure spherical cutter-type harvester according to claim 1, characterized in that, The opening of the harvesting tube gradually narrows, and the inner wall of the tube at the opening has a spherical concave shape similar to that of a spherical cutter.

7. The negative pressure spherical cutter-type harvester according to claim 1, characterized in that, The opening of the harvesting tube gradually narrows, and a guide wall with an inner chamfered ring is provided at the opening.

8. The negative pressure spherical cutter-type harvester according to claim 1, characterized in that, The linkage mechanism includes: a transmission rod and a swing rod, wherein the two ends of the transmission rod are respectively connected to the transmission end of the telescopic push rod and one end of the swing rod's rotating shaft, the spherical cutter has a rotating shaft on its blade body, and the other end of the swing rod is connected to the rotating shaft of the spherical cutter.

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 spherical cutter 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.

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