A smart fruit-picking robot robotic arm device

Abstract

This utility model relates to the field of fruit picking technology and discloses an intelligent fruit picking robot manipulator. Multiple flexible gripping mechanisms are mounted on an actuator, which can drive the multiple flexible gripping mechanisms to switch between a retracted state and an open state. The flexible gripping mechanism includes a flexible clamp and a pressure sensing module. The pressure sensing module is set on the flexible clamp. During the retraction process, the multiple flexible gripping mechanisms are distributed around the fruit. Each flexible clamp deforms according to the local surface contour of the fruit it contacts. The pressure sensing module distributed on the multiple flexible clamps monitors the actual gripping force between the flexible clamp and the fruit contact surface in real time and dynamically, and feeds this force signal back to the control system of the actuator, thereby adjusting the gripping force of the flexible clamp and ensuring that the gripping force applied to the fruit is always controlled within a preset safety threshold range, thus preventing the risk of the fruit skin being crushed due to excessive gripping force.

Description

Technical Field

[0001] This utility model relates to the field of fruit picking technology, and in particular to an intelligent fruit picking robot manipulator device. Background Technology

[0002] Driven by the demand for large-scale planting in the process of agricultural modernization, traditional manual fruit harvesting methods face significant bottlenecks in complex terrain areas such as hills and terraces. These areas have high tree planting density and limited operating space, making it difficult for large harvesting equipment to pass through. Manual methods, on the other hand, suffer from inherent drawbacks such as high labor intensity, low efficiency, and high production costs.

[0003] As a high-value-added economic crop, the harvesting process of fruits requires extremely strict standards regarding the integrity and cleanliness of the fruit peel and the standardized handling of the fruit stems. Existing traditional mechanical equipment is prone to causing mechanical damage to the fruit peel or leaving fruit stem residues, seriously impairing the commercial properties of the fruit. At the same time, the fruit ripening period is highly concentrated. If efficient and timely harvesting cannot be achieved, it will not only lead to a decline in fruit quality but also cause economic losses due to overripe fruit drop.

[0004] Most of the mainstream automated harvesting equipment on the market is suitable for large, flat, and open orchards, but it is not well adapted to orchard environments with undulating terrain and complex tree structures. Summary of the Invention

[0005] The main purpose of this utility model is to provide an intelligent fruit-picking robot manipulator device, which aims to improve the shortcomings of the above-mentioned prior art and solve the problem that automated picking equipment is prone to mechanical damage to fruit peels when picking fruits.

[0006] To achieve the above objectives, this utility model proposes an intelligent fruit-picking robot manipulator device, comprising: Executive agency; Multiple flexible clamping mechanisms are mounted on the actuator, which can drive the multiple flexible clamping mechanisms to switch between a retracted state and an open state. Each flexible clamping mechanism includes a flexible clamp and a pressure sensing module. The pressure sensing module is disposed on the flexible clamp and is used to detect the clamping force of the flexible clamp on the fruit. The pressure sensing module is electrically connected to the actuator.

[0007] Optionally, the intelligent fruit-picking robot's manipulator also includes a rotary cutting mechanism, which includes multiple cutting blade assemblies and a shutter iris adjustment assembly. When the shutter iris adjustment assembly rotates clockwise or counterclockwise, the multiple cutting blade assemblies move along a predetermined trajectory and cooperate to cut the fruit stem.

[0008] Optionally, the shutter iris adjustment assembly is provided with a cut and a plurality of arc-shaped grooves radially distributed around the cut. The plurality of cutter assemblies and the plurality of arc-shaped grooves are provided in a one-to-one correspondence, and each cutter assembly is at least partially movably installed in the corresponding arc-shaped groove.

[0009] Optionally, the actuator includes a claw-type base and a claw wrist. The claw wrist is disposed on the claw-type base and has multiple guide grooves. The multiple guide grooves are evenly arranged. The cutter assembly is movably mounted on the corresponding guide groove and can move along the extension direction of the guide groove.

[0010] Optionally, the intelligent fruit-picking robot's manipulator also includes a multi-joint transmission mechanism. The multi-joint transmission mechanism includes a connecting wrist, two connecting parts, a wrist joint, and a fixing pin. The two ends of one connecting part are respectively connected to the connecting wrist and the wrist joint via short shaft pins. The two ends of the other connecting part are respectively connected to the claw-type base and the wrist joint via short shaft pins. The flexible gripping mechanism is fixed to the end of the wrist joint via the fixing pin. The actuator is connected to the multi-joint transmission mechanism via modular connecting parts.

[0011] Optionally, the actuator further includes positioning pins, and multiple positioning pins are provided, with the claw base and the claw wrist connected by the multiple positioning pins.

[0012] Optionally, the flexible clamping mechanism includes a clamping part and a flexible buffer layer disposed on the inner side of the clamping part.

[0013] Optionally, the flexible buffer layer is a silicone buffer layer, a thermoplastic elastomer layer, a polyurethane elastomer layer, or a foamed polymer layer.

[0014] Optionally, the thickness of the flexible buffer layer is 3mm to 5mm.

[0015] Optionally, the pressure sensing module is a thin-film pressure sensor array, which is used to detect the clamping force of the flexible clamp on the fruit and feed back the clamping force to the control system of the actuator.

[0016] Beneficial Effects: The intelligent fruit-picking robot manipulator proposed in this utility model includes an actuator and multiple flexible gripping mechanisms. These flexible gripping mechanisms are mounted on the actuator, which drives them to switch between a retracted and an open state. Each flexible gripping mechanism includes a flexible clamp and a pressure sensing module. The pressure sensing module is mounted on the flexible clamp and is used to detect the gripping force of the flexible clamp on the fruit. The pressure sensing module is electrically connected to the actuator. This design ensures that during the retraction process, multiple flexible gripping mechanisms are distributed around the fruit. Each flexible clamp deforms according to the local surface contour of the fruit it contacts. The pressure sensing modules distributed on the multiple flexible clamps monitor the actual gripping force between the flexible clamp and the fruit in real time and dynamically, feeding this force signal back to the control system of the actuator. This adjusts the gripping force of the flexible clamp, ensuring that the gripping force applied to the fruit is always controlled within a preset safety threshold range, thus preventing the risk of fruit skin damage due to excessive gripping force. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural diagram of the intelligent fruit-picking robot manipulator disclosed in this application; Figure 2 This is a front view of the intelligent fruit-picking robot arm device disclosed in this application; Figure 3 This is a partial structural diagram of the implementing agency disclosed in this application; Figure 4 This is a schematic diagram of the rotary cutting mechanism disclosed in this application; Figure 5 This is a schematic diagram of the intelligent fruit-picking robot's manipulator device in the open state as disclosed in this application.

[0019] Explanation of icon numbers: 1. Actuator; 2. Rotary cutting mechanism; 3. Flexible clamping mechanism; 4. Multi-joint transmission mechanism; 101. Claw base; 102. Claw wrist; 103. Positioning pin; 201. Cutter assembly; 202. Shutter iris adjustment assembly; 301. Flexible clamp; 401. Connecting wrist; 402. Short shaft pin; 403. Connector; 404. Wrist joint; 405. Fixing pin.

[0020] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of this application 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 application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0023] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0025] See Figures 1-2 As shown in the figure, an intelligent fruit-picking robot manipulator device provided in this application embodiment includes an actuator 1 and multiple flexible gripping mechanisms 3. The multiple flexible gripping mechanisms 3 are mounted on the actuator 1, and the actuator 1 can drive the multiple flexible gripping mechanisms 3 to switch between a retracted state and an open state. The flexible gripping mechanism 3 includes a flexible clamp 301 and a pressure sensing module (not shown in the figure). The pressure sensing module is disposed on the flexible clamp 301 and is used to detect the gripping force of the flexible clamp 301 on the fruit. The pressure sensing module is electrically connected to the actuator 1.

[0026] Specifically, the intelligent fruit-picking robot manipulator provided in this embodiment is initially in an unfolded state, that is, the actuator 1 is activated, driving each flexible clamping mechanism 3 to move to a preset opening angle. The diameter of the encircling ring formed by the multiple flexible clamps 301 is larger than the maximum outer diameter of the target fruit, thereby providing sufficient space for approaching and fitting the fruit.

[0027] When the flexible clamping mechanism 3 in its open state forms a surrounding ring around the target fruit and gradually closes, multiple flexible clamping mechanisms 3 are distributed around the fruit. Each flexible clamp 301 deforms according to the local surface contour of the fruit it contacts. Pressure sensing modules distributed on multiple flexible clamps 301 monitor the actual clamping force between the flexible clamp 301 and the fruit contact surface in real time and dynamically, and feed this force signal back to the control system of the actuator 1, thereby adjusting the clamping force of the flexible clamp 301 to ensure that the clamping force applied to the fruit is always controlled within the preset safety threshold range, thus preventing the risk of the fruit skin being crushed due to excessive clamping force.

[0028] It should be noted that this application does not involve any improvement to the circuit connection structure between the pressure sensing module and the control system. Those skilled in the art can know the specific circuit connection method between the pressure sensing module (i.e., pressure sensor) and the control system from the prior art. Therefore, this application will not elaborate on this.

[0029] In one embodiment of this application, see Figure 4 As shown, the intelligent fruit picking robot's manipulator includes a rotary cutting mechanism 2, which includes multiple cutting blade assemblies 201 and a shutter iris adjustment assembly 202. When the shutter iris adjustment assembly 202 rotates clockwise or counterclockwise, the multiple cutting blade assemblies 201 move along a predetermined trajectory and cooperate to cut the fruit stem.

[0030] Specifically, an external power source (such as a servo motor) drives the shutter iris adjustment assembly 202 to rotate clockwise or counterclockwise around its central axis. Multiple cutter assemblies 201 are embedded in the arc-shaped groove of the shutter iris adjustment assembly 202 through pins or rollers. Under the radial drive generated by the rotation of the shutter iris adjustment assembly 202, the multiple cutter assemblies 201 move synchronously toward each other or toward each other according to a preset motion trajectory.

[0031] During the harvesting operation, the shutter iris adjustment component 202 rotates and drives the cutter component 201 to retract in a concentric manner. The blade tips of multiple cutter components 201 converge at the center of the cut of the shutter iris adjustment component 202, forming a closed ring-shaped shearing surface around the fruit stalk. The blade tips of multiple cutter components 201 act on the fruit stalk in a coordinated shearing manner, thereby achieving the purpose of cutting off the fruit stalk.

[0032] When the multiple cutting blade assemblies 201 move to the preset end point of their travel, they cooperate to fully retract. The shearing couple formed by the blades of the multiple cutting blade assemblies 201 generates a high-intensity shearing force at the fruit stem to overcome the strength of the fruit stem fibers, thereby achieving a cut. Subsequently, the shutter iris adjustment assembly 202 reverses to drive the multiple cutting blade assemblies 201 to synchronously centrifugally unfold and reset, preparing for the next harvest. This design only requires controlling the rotation of the shutter iris adjustment assembly 202 to precisely drive the multiple cutting blade assemblies 201 to synchronously cut the fruit stem, greatly simplifying the structural complexity of the intelligent fruit harvesting robot's manipulator.

[0033] See Figures 3-4 As shown, the shutter iris adjustment assembly 202 is provided with a cut and multiple arc-shaped grooves radially distributed around the cut. Multiple cutter assemblies 201 and multiple arc-shaped grooves are provided one-to-one, and each cutter assembly 201 is at least partially movably installed in the corresponding arc-shaped groove. The actuator 1 includes a claw base 101 and a claw wrist 102. The claw wrist 102 is provided on the claw base 101 and multiple guide grooves are provided on the claw wrist 102. The multiple guide grooves are evenly arranged, and the cutter assembly 201 is movably installed on the corresponding guide groove. The cutter assembly 201 can move along the extension direction of the guide groove.

[0034] Specifically, multiple arc-shaped grooves and multiple guide grooves are arranged one-to-one and vertically. In the corresponding arc-shaped groove and guide groove, the arc-shaped groove and the guide groove always overlap in at least part of the area in the orthographic projection direction. When the shutter iris adjustment component 202 rotates, the curvature of the arc-shaped groove converts the input rotational angular displacement into the linear displacement of the cutter component 201 along the guide groove. This design can effectively avoid the circumferential sway of the cutter component 201 during the movement, so that the cutter component 201 can move along the predetermined linear motion trajectory, avoiding jamming and position drift.

[0035] In one embodiment of this application, see Figure 5 As shown, the intelligent fruit-picking robot's manipulator includes a multi-joint transmission mechanism 4. The multi-joint transmission mechanism 4 includes a connecting wrist 401, two connecting parts 403, a wrist joint 404, and a fixing pin 405. The two ends of one connecting part 403 are connected to the connecting wrist 401 and the wrist joint 404 respectively via short shaft pins 402. The two ends of the other connecting part 403 are connected to the claw base 101 and the wrist joint 404 respectively via short shaft pins 402. The flexible gripping mechanism 3 is fixed to the end of the wrist joint 404 via the fixing pin 405. The actuator 1 is connected to the multi-joint transmission mechanism 4 via the modular connecting parts 403.

[0036] Specifically, one end of a connector 403 is hinged to a connecting wrist 401 via a short shaft pin 402, and the other end is hinged to a wrist joint 404 via a short shaft pin 402. Another connector 403 is hinged to a claw-type base 101 via a short shaft pin 402, and the other end is also hinged to a wrist joint 404 via a short shaft pin 402. By pulling the two connectors 403 through the connecting wrist 401, the two connectors 403 cooperate to drive the wrist joint 404 to swing around the hinge point.

[0037] In a preferred embodiment of this application, the actuator 1 further includes a plurality of positioning pins 103, and the claw base 101 and the claw wrist 102 are connected by the plurality of positioning pins 103.

[0038] In a preferred embodiment of this application, the flexible clamping mechanism 3 includes a clamping part and a flexible buffer layer disposed on the inner side of the clamping part. The flexible buffer layer includes, but is not limited to, one of a silicone buffer layer, a thermoplastic elastomer layer, a polyurethane elastomer layer, and a foamed polymer layer. Specifically, the thickness of the flexible buffer layer is 3mm to 5mm.

[0039] In a preferred embodiment of this application, the pressure sensing module is a thin-film pressure sensor array. The pressure sensing module is used to detect the clamping force of the flexible clamp 301 on the fruit and to feed back the clamping force to the control system of the actuator 1.

[0040] To further illustrate this point, this application also provides the working process of the intelligent fruit-picking robot's robotic arm device, as follows: Step 1: The actuator 1 drives multiple flexible clamping mechanisms 3 to switch to the open state through the multi-joint transmission mechanism 4. Each flexible clamp 301 forms a surrounding ring with a diameter larger than the maximum outer diameter of the target fruit, providing space for the fruit to be inserted. The shutter iris adjustment component 202 of the rotary cutting mechanism 2 rotates to drive the cutter component 201 to centrifugally unfold along the guide groove to the preset initial position, ensuring that the cutting channel is fully open.

[0041] Step 2: Align the cut with the target fruit, and then the intelligent fruit picking robot's robotic arm moves forward, so that the target fruit enters the encirclement formed by the flexible grippers 301. Step 3: The connecting wrist 401 drives the two connecting parts 403 to move in tandem via the short shaft pin 402, which in turn causes the wrist joint 404 to swing around the hinge point. The flexible gripping mechanism 3 at the end of the wrist joint 404 swings along with the wrist joint 404 via the fixing pin 405 to adjust its spatial posture. Multiple flexible gripping mechanisms 3 approach from different directions until they contact the fruit surface. The flexible buffer layer of the flexible gripping mechanism 3 adapts to the deformation of the local contour of the fruit. The thin-film pressure sensor array detects the gripping force of the contact surface in real time and feeds the force signal back to the control system of the actuator 1. The control system dynamically adjusts the gripping force to ensure that the pressure value is always within the preset safety threshold, effectively reducing mechanical damage to the fruit while ensuring a firm grip on the fruit.

[0042] Step 4: The shutter iris adjustment component 202 rotates, driving multiple cutter components 201 to synchronously retract towards the center along the guide groove. The blade tips of the multiple cutter components 201 converge at the center of the cut, forming a closed annular shearing surface around the fruit stem. When the multiple cutter components 201 move to the end of their stroke, they work together to generate a high-intensity shearing couple, overcoming the strength of the fruit stem fibers to achieve cutting.

[0043] In one embodiment of this application, the intelligent fruit-picking robot manipulator device provides a shutter iris adjustment component 202 of the rotary cutting mechanism 2 that starts working as it approaches the fruit. The rotational motion controls the diameter of the fruit channel. At the same time, the cutter component 201 can adjust its linear displacement along the guide groove according to the characteristics of the fruit stem, thereby dynamically adjusting the cutting parameters of the cutter component 201.

[0044] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An intelligent fruit picking robot manipulator apparatus, characterized by, include: Executive agency; Multiple flexible clamping mechanisms are mounted on the actuator, and the actuator can drive the multiple flexible clamping mechanisms to switch between a retracted state and an open state. The flexible clamping mechanism includes a flexible clamp and a pressure sensing module. The pressure sensing module is disposed on the flexible clamp and is used to detect the clamping force of the flexible clamp on the fruit. The pressure sensing module is electrically connected to the actuator.

2. The intelligent fruit picking robot manipulator apparatus according to claim 1, wherein, Also includes: A rotary cutting mechanism includes multiple cutter assemblies and a shutter iris adjustment assembly. When the shutter iris adjustment assembly rotates clockwise or counterclockwise, the multiple cutter assemblies move along a predetermined trajectory and cooperate to cut the fruit stem.

3. The intelligent fruit picking robot manipulator apparatus according to claim 2, wherein, The shutter iris adjustment assembly is provided with a cut and a plurality of arc-shaped grooves radially distributed around the cut. The plurality of cutter assemblies and the plurality of arc-shaped grooves are provided in a one-to-one correspondence, and each cutter assembly is at least partially movably installed in the corresponding arc-shaped groove.

4. The intelligent fruit picking robot manipulator apparatus according to claim 3, wherein, The actuator includes a claw-type base and a claw wrist. The claw wrist is disposed on the claw-type base and has multiple guide grooves. The multiple guide grooves are evenly arranged. The cutter assembly is movably mounted on the corresponding guide groove and can move along the extension direction of the guide groove.

5. The intelligent fruit picking robot manipulator apparatus according to claim 4, wherein, Also includes: A multi-joint transmission mechanism includes a connecting wrist, two connecting parts, a wrist joint, and a fixing pin. One connecting part is connected to the connecting wrist and the wrist joint at both ends via short shaft pins, and the other connecting part is connected to the claw base and the wrist joint at both ends via short shaft pins. A flexible clamping mechanism is fixed to the end of the wrist joint via the fixing pin. An actuator is connected to the multi-joint transmission mechanism via a modular connecting part.

6. The intelligent fruit-harvesting robot manipulator device according to claim 4, characterized in that, The actuator also includes positioning pins, and multiple positioning pins are provided. The claw base and the claw wrist are connected by multiple positioning pins.

7. The intelligent fruit picking robot manipulator apparatus according to claim 1, wherein, The flexible clamping mechanism includes a clamping part and a flexible buffer layer disposed on the inner side of the clamping part.

8. The intelligent fruit picking robot manipulator apparatus according to claim 7, wherein, The flexible buffer layer is a silicone buffer layer, a thermoplastic elastomer layer, a polyurethane elastomer layer, or a foamed polymer layer.

9. The intelligent fruit picking robot manipulator apparatus according to claim 7, wherein, The thickness of the flexible buffer layer is 3mm to 5mm.

10. The intelligent fruit picking robot manipulator apparatus according to claim 1, wherein, The pressure sensing module is a thin-film pressure sensor array. The pressure sensing module is used to detect the clamping force of the flexible clamp on the fruit and feed back the clamping force to the control system of the actuator.

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