An end effector for a fruit picking machine

Abstract

The utility model provides an end effector of fruit picking machine, including the base for the movable connection multi -shaft manipulator, set up the clamping mechanism and shearing mechanism on the base, the clamping axis of clamping mechanism is with the shearing plane of shearing mechanism intersection setting, and the intersection angle is less than 90 degrees, it is suitable for the picking of various large -scale fruits, especially for growing between the leaf and the branch, and the fruit of the fruit that inclines upward, this end effector can cut and pick it more quickly and accurately more convenient.

Description

Technical Field

[0001] This utility model relates to the field of fruit harvesting machine technology, and more specifically, to an end effector for a fruit harvesting machine. Background Technology

[0002] Currently available harvesting machinery is mostly used for small fruits, primarily employing shearing and suction-type mechanisms. The end effector on these harvesters typically has a clamping mechanism and a shearing mechanism. The clamping mechanism first secures the fruit, and then the shearing mechanism cuts the fruit stalk, thus harvesting the fruit. This method effectively avoids fruit damage and provides stable shearing of the stalk. However, in existing end effectors, the clamping and shearing mechanisms are usually arranged side-by-side in the same direction, meaning the clamping axis of the clamping mechanism is perpendicular to the shearing plane of the shearing mechanism. This structure is only suitable for fruits growing vertically downwards, and is unsuitable for fruits growing at an angle upwards. For example, oil palm fruits grow between leaves and branches, at an angle upwards. With this structure, the clamping mechanism may hold the fruit, but the shearing mechanism may not be able to cut the stalk, making harvesting impossible. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide an end effector for a fruit picking machine to solve the above problems.

[0004] The present invention adopts the following solution:

[0005] This application provides an end effector for a fruit harvester, including a base for movably connecting a multi-axis manipulator, a clamping mechanism and a shearing mechanism disposed on the base, wherein the clamping axis of the clamping mechanism intersects the shearing plane of the shearing mechanism and the intersection angle is less than 90 degrees.

[0006] The clamping mechanism includes a first drive, a support connected to the first drive, and two clamping arms rotatably connected to the base at one end, which can be linked with the support. When the first drive drives the support to retract, the two clamping arms move closer to each other towards the clamping axis to clamp the fruit. When the first drive drives the support to extend, the two clamping arms move away from each other.

[0007] The shearing mechanism includes a second drive and two shearing components; the second drive can drive the two shearing components to move closer or further apart to achieve the shearing action.

[0008] Furthermore, the clamping axis of the clamping mechanism is set at a 45-degree angle to the shearing plane of the shearing mechanism.

[0009] Furthermore, when the first drive causes the support to retract, the two clamping arms move closer to each other towards the clamping axis, and the fruit is clamped by the support and the two clamping arms.

[0010] Furthermore, the base is L-shaped, with a connecting part on one outer side for rotatable connection with the multi-axis robot, and the shearing mechanism on the other outer side; the clamping mechanism is located on the inner side.

[0011] Furthermore, the clamping mechanism includes two first drives arranged in parallel, and two supports respectively connected to the first drives; and a connecting rod is respectively provided between the two side seats of the two supports; the clamping arm includes a first arm, a second arm and a connecting arm, one end of the first arm is rotatably connected to the base, and the two ends of the connecting arm are respectively rotatably connected to the other end of the first arm and the connecting rod; one end of the second arm is connected to the other end of the first arm.

[0012] Furthermore, the shearing mechanism includes a drive member having a first rack on both sides connected to the second drive, gears disposed on both sides of the drive member and drivenly connected to the first rack, two second racks respectively drivenly connected to the two gears, two brackets respectively connected to the second rack, and two shearing members respectively connected to the brackets.

[0013] Furthermore, the bracket is also provided with a silicone friction pad capable of generating adaptive deformation.

[0014] Furthermore, the shearing element is an integrated arc-shaped blade.

[0015] Furthermore, a pressure sensor is provided on the shearing component.

[0016] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0017] This utility model provides an end effector for a fruit harvester, including a base for movably connecting a multi-axis manipulator, a clamping mechanism and a shearing mechanism disposed on the base, wherein the clamping axis of the clamping mechanism intersects the shearing plane of the shearing mechanism at an angle of less than 90 degrees; it is suitable for harvesting various large fruits, especially for fruits growing between leaves and branches and tilted upwards, which can be cut and harvested faster, more accurately and more conveniently. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a left view of the end effector of a fruit harvesting machine according to an embodiment of the present invention;

[0020] Figure 2 This is a three-dimensional structural diagram of the end effector of a fruit harvester according to an embodiment of the present invention. Figure 1 ;

[0021] Figure 3 This is a three-dimensional structural diagram of the end effector of a fruit harvester according to an embodiment of the present invention. Figure 2 ;

[0022] Figure 4 This is a schematic diagram of the bottom structure of the end effector of a large fruit harvesting machine according to an embodiment of the present invention;

[0023] Icons: Base 1, First drive 2, Support 3, Connecting rod 4, Clamping arm 5, First support arm 6, Second support arm 7, Connecting arm 8, Second drive 9, First rack 10, Drive component 11, Gear 12, Second rack 13, Bracket 14, Silicone friction pad 15, Clamping part 16, Connecting part 17. Detailed Implementation

[0024] 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 a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0025] Example

[0026] Combination Figures 1 to 4As shown, this embodiment provides an end effector for a fruit harvester, including a base 1 for movably connecting a multi-axis manipulator, a clamping mechanism and a shearing mechanism disposed on the base 1, wherein the clamping axis of the clamping mechanism intersects the shearing plane of the shearing mechanism, and the intersection angle is less than 90 degrees.

[0027] The clamping mechanism includes a first drive 2, a support 3 connected to the first drive 2, and two clamping arms 5 rotatably connected at one end to the base 1 and capable of linkage with the support 3; when the first drive 2 drives the support 3 to retract, the two clamping arms 5 move closer to each other towards the clamping axis to clamp the fruit; when the first drive 2 drives the support 3 to extend, the two clamping arms 5 move away from each other.

[0028] The shearing mechanism includes a second drive 9 and two shearing components; the second drive 9 can drive the two shearing components to move closer or further apart to achieve the shearing action.

[0029] It is suitable for harvesting various large fruits, especially those growing between leaves and branches and tilting upwards. This end effector can cut and harvest them faster, more accurately and conveniently.

[0030] Specifically, in this embodiment, the clamping axis of the clamping mechanism intersects the shearing plane of the shearing mechanism at a 45-degree angle. This angle allows for multi-dimensional adjustment of the multi-axis manipulator, adapting to the harvesting of fruits in various positions, especially those growing between leaves and branches and tilting upwards. For example, oil palm fruit grows between leaves and branches and tilts upwards. The intersection of the clamping axis of the end effector's clamping mechanism with the shearing plane of the shearing mechanism ensures that when the end effector approaches the oil palm fruit, the clamping mechanism and the shearing mechanism are in relative positions to the fruit portion and stalk, thereby better securing the fruit portion and shearing the stalk.

[0031] Specifically, the base 1 is L-shaped, with a connecting part 17 on one outer side for rotatable connection with a multi-axis robot, and the shearing mechanism on the other outer side; the clamping mechanism is located on the inner side. In this embodiment, the clamping mechanism includes two first drives 2 arranged in parallel, and two supports 3 respectively connected to the first drives 2; a connecting rod 4 is respectively provided between the two sides of the two supports 3; the clamping arm 5 includes a first arm 6, a second arm 7, and a connecting arm 8, one end of the first arm 6 is rotatably connected to the base 1, and both ends of the connecting arm 8 are rotatably connected to the other end of the first arm 6 and the connecting rod 4 respectively; one end of the second arm 7 is connected to the other end of the first arm 6. The second arm 7 is also equipped with a clamping part 16, which has a larger outer surface to clamp and contact the fruit surface more stably. The clamping part, at least its surface in contact with the fruit, can be made of a soft rubber component with a certain strength to better conform to the fruit surface and also to cushion and protect the fruit. Initially, the support 3 is extended under the drive of the first drive 2, and the two clamping arms 5 are pushed away from each other by the connecting rod 4, forming an open state. When close to the fruit, the first drive 2 causes the support 3 to extend and the two clamping arms 5 to move closer together to clamp the fruit. It should be noted that the support 3 and the two clamping arms 5 are linked together, meaning the fruit is clamped by the support 3 and the two clamping arms 5. After the fruit is held tightly and the stem is cut, when the fruit is to be placed on the conveyor, the first drive 2 drives the support 3 to extend, that is, pushes the fruit out while the two holding arms 5 slowly open. During this process, the fruit is always held tightly by the support 3 and the holding arms 5 until the two holding arms 5 are opened wide enough to allow the fruit to detach, avoiding the disadvantage of the prior art where the fruit falls and is damaged when the holding arms 5 are slightly opened.

[0032] Furthermore, in this embodiment, the upper surface of the support 3 is provided with a plurality of parallel and spaced support parts with an upper arc contact surface, which can better adapt to the outer surface of the fruit and also achieve an anti-slip effect.

[0033] In this embodiment, the shearing mechanism includes a drive member 11 connected to the second drive 9 and having first racks 10 on both sides; gears 12 disposed on both sides of the drive member 11 and connected to the first racks 10; two second racks 13 respectively connected to the two gears 12; two supports 14 respectively connected to the second racks 13; and two shearing elements (not shown in the figures) respectively connected to the supports 14. Preferably, the shearing element is an integrated arc-shaped blade. During the shearing operation, the second drive 9 drives the drive member 11 to move, the first racks 10 on both sides of the drive member 11 drive the two gears 12 to rotate, and then the gears 12 drive the two second racks 13 to move, thereby causing the two supports 14 to move closer or further apart, so that the shearing elements disposed on the supports 14 move closer or further apart, thus realizing the shearing operation. Further, in this embodiment, the shearing element is an arc-shaped blade to achieve rapid shearing of the fruit stem. In this embodiment, the first drive 2 and the second drive 9 can be cylinders. Of course, for fruits with greater weight and thicker stems, the first drive 2 and the second drive 9 can also be hydraulic cylinders to ensure that the clamping mechanism has sufficient clamping force to hold the fruit tightly and prevent it from slipping. This also ensures that the cutting mechanism has sufficient shearing force to ensure that the stem can be cut off smoothly.

[0034] Furthermore, in this embodiment, the support 14 is also equipped with a silicone friction pad 15 capable of adaptive deformation, which moves synchronously with the shearing member. The silicone friction pad 15 contacts the fruit stem first, adaptively conforming to the curved surface of the fruit to better fit the stem and maintain its stability during shearing, thus facilitating better cutting. Simultaneously, a pressure sensor is also provided on the shearing member, which provides real-time feedback of pressure data during shearing, thereby providing the shearing mechanism with the necessary shearing force reference to ensure the cutting force effectively severs the fruit stem.

[0035] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions that fall within the scope of this utility model's concept are protected by this utility model.

[0036] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between 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.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

Claims

1. An end effector for a fruit harvesting machine, comprising a base for movably connecting a multi-axis manipulator, a clamping mechanism and a shearing mechanism disposed on the base, characterized in that, The clamping axis of the clamping mechanism intersects with the shearing plane of the shearing mechanism, and the intersection angle is less than 90 degrees. The clamping mechanism includes a first drive, a support connected to the first drive, and two clamping arms rotatably connected to the base at one end, which can be linked with the support. When the first drive drives the support to retract, the two clamping arms move closer to each other towards the clamping axis to clamp the fruit. When the first drive drives the support to extend, the two clamping arms move away from each other. The shearing mechanism includes a second drive and two shearing components; the second drive can drive the two shearing components to move closer or further apart to achieve the shearing action.

2. The end effector of the fruit harvester according to claim 1, characterized in that, The clamping axis of the clamping mechanism intersects the shearing plane of the shearing mechanism at a 45-degree angle.

3. The end effector of the fruit harvester according to claim 1, characterized in that, When the first drive causes the support to retract, the two clamping arms move closer to each other towards the clamping axis, and the fruit is clamped by the support and the two clamping arms.

4. The end effector of the fruit harvester according to claim 1, characterized in that, The base is L-shaped, with a connecting part on one outer side for rotatable connection with the multi-axis robot, and the shearing mechanism on the other outer side; the clamping mechanism is located on the inner side.

5. The end effector of the fruit harvester according to claim 4, characterized in that, The clamping mechanism includes two first drives arranged in parallel, and two supports respectively connected to the first drives; and a connecting rod is respectively provided between the two side seats of the two supports; the clamping arm includes a first arm, a second arm and a connecting arm, one end of the first arm is rotatably connected to the base, and the two ends of the connecting arm are respectively rotatably connected to the other end of the first arm and the connecting rod; one end of the second arm is connected to the other end of the first arm.

6. The end effector of the fruit harvester according to claim 5, characterized in that, The shearing mechanism includes a drive member with first racks on both sides connected to the second drive, gears disposed on both sides of the drive member and driven by the first racks, two second racks driven by the two gears respectively, two brackets respectively connected to the second racks, and two shearing members respectively connected to the brackets.

7. The end effector of the fruit harvester according to claim 6, characterized in that, The bracket is also equipped with a silicone friction pad that can generate adaptive deformation.

8. The end effector of the fruit harvester according to claim 6, characterized in that, The shearing component is an integrated arc-shaped blade.

9. The end effector of the fruit harvester according to claim 6 or 8, characterized in that, A pressure sensor is installed on the shearing component.

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