A tomato picking device

Abstract

The utility model provides a kind of tomato picking device, comprising: mechanical arm, drive assembly and shearing assembly, drive mechanism is connected with mechanical arm, mechanical arm is used to drive drive assembly to move along first direction, second direction and third direction;Shearing assembly is connected with drive assembly, drive assembly is used to drive shearing assembly to move along first direction, and / or drive shearing assembly rotates around the horizontal axis of drive assembly;Shearing assembly includes pre-pressing clamping jaw and cutter being arranged on pre-pressing clamping jaw, two pre-pressing clamping jaws are connected with drive assembly, drive assembly is also used to drive two pre-pressing clamping jaws to move relatively or move in opposite directions along second direction, to make two cutters close or open.The tomato picking device of the utility model has high degree of freedom, can cope with different situations of tomato pose, is conducive to improving the picking efficiency and quality of tomato.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and more specifically, to a tomato harvesting device. Background Technology

[0002] Tomato harvesting is a crucial step in tomato production that is highly seasonal, labor-intensive, and demanding. Because the tomatoes are soft, it is important to avoid scratching the surface of the fruit during the harvesting process, which adds to the difficulty of the process.

[0003] Existing tomato harvesting devices mostly use fixed paths or single-degree-of-freedom shearing devices, which are prone to damaging fruits and plants in complex vine environments. Furthermore, due to the diverse growth postures of tomatoes, existing tomato harvesting devices are difficult to adapt to differences in the position of the fruit stem, resulting in low harvesting efficiency, high damage rate, and affecting the quality of tomato harvesting. Utility Model Content

[0004] The present invention aims to overcome the above-mentioned defects in existing products and provide a tomato harvesting device with high degree of freedom, which can cope with different tomato positions and is conducive to improving the harvesting efficiency and quality of tomatoes.

[0005] To solve the above problems, this utility model provides a tomato harvesting device, comprising:

[0006] robotic arm;

[0007] A drive assembly, wherein the drive mechanism is connected to the robotic arm, and the robotic arm is used to drive the drive assembly to move along a first direction, a second direction, and a third direction;

[0008] A shearing assembly connected to the driving assembly, the driving assembly being used to drive the shearing assembly to move along a first direction and / or drive the shearing assembly to rotate about the horizontal axis of the driving assembly;

[0009] The shearing assembly includes pre-clamping jaws and cutters disposed on the pre-clamping jaws. Both pre-clamping jaws are connected to the driving assembly. The driving assembly is also used to drive the two pre-clamping jaws to move relative to each other or in opposite directions along the second direction, so that the two cutters close or open.

[0010] The first direction, the second direction, and the third direction are set perpendicularly to each other.

[0011] Furthermore, the pre-compression gripper includes a gripper and a flexible pad, both the cutter and the flexible pad are disposed on the gripper, the cutter is disposed above the gripper, the flexible pad is disposed on the inner side of the gripper, and the projection of the flexible pad along the third direction at least partially overlaps with the projection of the cutter along the third direction.

[0012] Furthermore, the flexible pad is a foam pad.

[0013] Furthermore, the shearing assembly also includes a cutter guide strip, one end of which is connected to one of the pre-clamping jaws, and the other end of which extends to the surface of a cutter on another pre-clamping jaw, and the cutter guide strip and the cutter on the other pre-clamping jaw can generate relative movement along the second direction.

[0014] Furthermore, the blades of the two cutters are arranged facing each other, the blade of one cutter is arranged perpendicular to the cutter guide bar, and the included angle between the blade of the other cutter and the cutter guide bar is an acute angle.

[0015] Furthermore, the shearing assembly also includes a guide rod, with each of the pre-compression grippers having a guide rod, which is used to guide the connection between the main vine and the branch vine into the shearing assembly.

[0016] Furthermore, the guide rod includes a first guide portion and a second guide portion connected to each other. The first guide portion is disposed on the gripper along the third direction, and the second guide portion extends in a direction away from the drive assembly. A preset angle is formed between the second guide portion and the first guide portion.

[0017] Furthermore, the driving assembly includes a rotating clamping electric jaw, one end of which is connected to the shearing assembly. The rotating clamping electric jaw is used to drive the shearing assembly to rotate around the horizontal axis of the rotating clamping electric jaw, and to drive the two pre-clamping jaws to move relative to each other or in opposite directions along the second direction.

[0018] Furthermore, the drive assembly also includes an electric slide table, one end of which is connected to the robotic arm, and the other end of which is connected to the rotary gripper. The electric slide table is used to drive the rotary gripper to move along the first direction, so that the shearing assembly moves along the first direction.

[0019] Furthermore, it also includes a robotic arm mounting base for mounting the robotic arm, and a counterweight is provided at the bottom of the robotic arm mounting base.

[0020] The robotic arm described in this invention is connected to a shearing component via a drive assembly. The robotic arm can drive the shearing component to move along a first horizontal direction, a second horizontal direction, and a vertical direction, allowing the shearing component to approach tomato vines at different positions. The drive assembly can also drive the shearing component to move along the first horizontal direction, enabling more precise cutting of the tomato vines and improving the success rate. Furthermore, the drive assembly can rotate the shearing component along its horizontal axis, allowing for 360° rotation. This allows the shearing component to handle various situations and complex tomato postures, improving harvesting efficiency and quality, and enhancing the applicability and practicality of the shearing component. In addition, by connecting the cutter to the pre-compression grippers, the cutter and pre-compression grippers can work together. Before the two cutters close to cut the tomato vines, the two pre-compression grippers pre-compress the tomato vines, improving the stability of the shearing and clamping, and thus improving the quality of the cutting. The tomato harvesting device provided in this utility model is small in size and compact in structure, and can move freely in multiple directions. When harvesting tomatoes, it can avoid touching the surrounding tomatoes and causing damage to the surface of the tomatoes, or touching the tomato vines and causing them to change position. Attached Figure Description

[0021] Figure 1 This is a front view of the tomato harvesting device provided in the embodiments of this utility model;

[0022] Figure 2 This is a partial top view of the tomato harvesting device provided in the embodiments of this utility model;

[0023] Figure 3 This is a partial side view of the tomato harvesting device provided in the embodiments of this utility model;

[0024] Figure 4 This is a schematic diagram of the cutting component for cutting tomatoes provided in this embodiment of the utility model;

[0025] Figure 5 This is a side view of the shearing assembly provided in an embodiment of the present invention.

[0026] Figure 6 This is a top view of the shearing component provided in the embodiment of this utility model;

[0027] Figure 7 This is a front view of the shearing component provided in the embodiment of this utility model. Detailed Implementation

[0028] The technical solution of this utility model will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are 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" 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 indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In addition, in the description of this utility model, "at least one" means one or more, and "multiple" means two or more, unless otherwise explicitly specified.

[0029] In this specification, the term "as an alternative embodiment" means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one alternative embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same implementation or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0030] Combination Figures 1 to 7 As shown, this embodiment provides a tomato harvesting device, including: a robotic arm 10, a drive assembly 20, and a shearing assembly 30, wherein:

[0031] Drive assembly 20 is connected to robotic arm 10, and robotic arm 10 is used to drive drive assembly 20 along a first horizontal direction (i.e., the first direction). Figure 1 The x-axis direction, also referring to the front-to-back direction, and the second horizontal direction (i.e., the second direction). Figure 6 The y-axis direction (also referring to the left-right direction) and the vertical direction (i.e., the third direction) in the equation. Figure 1 Move along the z-axis (in the z-axis direction);

[0032] The shearing assembly 30 is connected to the driving assembly 20. The driving assembly 20 is used to drive the shearing assembly 30 to move along a first horizontal direction and / or drive the shearing assembly 30 to rotate about the horizontal axis of the driving assembly 20, so that the shearing assembly 30 can rotate 360°.

[0033] The shearing assembly 30 includes pre-clamping jaws and cutters 31 disposed on the pre-clamping jaws. Both pre-clamping jaws are connected to the drive assembly 20. The drive assembly 20 is also used to drive the two pre-clamping jaws to move relative to each other or away from each other in a second horizontal direction so that the two cutters 31 close or open.

[0034] The tomato harvesting device provided in this embodiment has a robotic arm connected to a shearing component via a drive assembly. The robotic arm can drive the shearing component to move along a first horizontal direction, a second horizontal direction, and a vertical direction, allowing the shearing component to approach tomato vines at different positions. The drive assembly can also drive the shearing component to move along the first horizontal direction, enabling more precise cutting of the tomato vines and improving the success rate of cutting. The drive assembly can also drive the shearing component to rotate along its horizontal axis, allowing it to rotate 360°, thus enabling it to handle various situations and complex tomato postures, improving harvesting efficiency and quality, and enhancing the applicability and practicality of the shearing component. Furthermore, by connecting the cutter to the pre-compression grippers, the cutter and pre-compression grippers can work together. Before the two cutters close to cut the tomato vines, the two pre-compression grippers can pre-compress the tomato vines, improving the stability of the cutting and clamping, and thus improving the quality of cutting. The tomato harvesting device provided in this embodiment is small in size and compact in structure, and can move freely in multiple directions. When harvesting tomatoes, it can avoid touching the surrounding tomatoes and causing surface damage to the tomatoes, or touching the tomato vines and causing them to change position.

[0035] Based on the above embodiments, as an optional implementation, the pre-compression gripper includes a gripper 32 and a flexible pad 33. Both the cutter 31 and the flexible pad 33 are disposed on the gripper 32. The cutter 31 and the flexible pad 33 are arranged vertically. The cutter 31 is fixedly disposed above the gripper 32, and the flexible pad 33 is located on the inner side of the gripper 32. The projection of the flexible pad 33 in the vertical direction overlaps at least partially with the projection of the cutter 31 in the vertical direction. Therefore, before the drive assembly 20 drives the two pre-compression grippers to move relative to each other along the second horizontal direction, causing the two cutters 31 to close and cut the tomato vines, the two flexible pads 33 move relative to each other to clamp the tomato vines and pre-compress them. This prevents the position of the tomato vines from changing due to the closure of the two cutters 31 during the cutting process, which would affect the stability and accuracy of the tomato vine cutting. Furthermore, the cutters 31 are located above the flexible pads 33. After the cutting is completed, the two cutters 31 remain closed, and the two flexible pads 33 can continue to clamp the tomato vines, sending the cut tomato vines and the tomatoes on the vines into the collection box together. This integrates the cutting and clamping, reduces the damage to tomatoes caused by the cut tomato vines falling off, and helps to further improve the quality of tomato harvesting.

[0036] It is understood that, in this embodiment, the inner surface refers to the surface of the two grippers 32 facing each other. The fact that the projection of the flexible pad 33 along the vertical direction overlaps with the projection of the cutter 31 along the vertical direction means that the projections of the flexible pad 33 and the cutter 31 along the vertical direction can partially overlap, or they can completely overlap. Preferably, the projections of the flexible pad 33 and the cutter 31 along the vertical direction completely overlap.

[0037] Based on the above embodiments, as an optional implementation, the flexible pad 33 is made of foam. The foam can be bonded to the inner side of the gripper 32, and the upper end face of the foam can contact the lower end face of the cutter 31, or the upper end face of the foam may not contact the lower end face of the cutter 31. Of course, those skilled in the art can also choose other flexible materials as the flexible pad according to the actual situation.

[0038] Based on the above embodiments, as an optional implementation, the shearing assembly 30 further includes a cutter guide strip 34. One end of the cutter guide strip 34 is connected to a pre-clamping jaw, and the other end of the cutter guide strip 34 extends to the surface of a cutter 31 on another pre-clamping jaw. The cutter guide strip 34 and the cutter 31 on the other pre-clamping jaw can move relative to each other in a second horizontal direction. Specifically, for ease of description, one of the pre-clamping jaws is named the first pre-clamping jaw, and the corresponding first pre-clamping jaw includes a first jaw, with the cutter 31 on it named the first cutter. The other pre-clamping jaw is named the second pre-clamping jaw, and the corresponding second pre-clamping jaw includes a second jaw, with the cutter 31 on it named the second cutter. The first end of the cutter guide strip 34 is fixedly connected to the first gripper, and both the first cutter and the first end of the cutter guide strip 34 are positioned above the first gripper. The second end of the cutter guide strip 34 extends to the surface of the second cutter, and the lower surface of the cutter guide strip 34 contacts the upper surface of the second cutter. The first and second ends are the two ends of the cutter guide strip 34 that are positioned opposite each other along the second horizontal direction. When the two pre-clamping grippers move relative to each other along the second horizontal direction, the cutter guide strip 34 and the second cutter can move relative to each other along the second horizontal direction. Thus, by setting the cutter guide strip 34, not only can the stability of the movement of the two cutters 31 be improved, avoiding the collision caused by the two cutters 31 shaking during the movement of the shearing assembly 30, but it can also make the two cutters 31 as close as possible, reducing the gap between the two cutters 31, making the shearing process clean and efficient, and improving the success rate of shearing.

[0039] In this embodiment, the surface of the cutter 31 on the other pre-clamping jaw is provided with a clearance space through which the cutter guide strip 34 can pass. That is, the surface of the second cutter is provided with a clearance space through which the cutter guide strip 34 can pass, so as to avoid interference when the cutter guide strip 34 and the second cutter move relative to each other in the second horizontal direction.

[0040] Based on the above embodiments, as an optional implementation, the blades of the two cutting blades 31 are arranged facing each other. The blade of one cutting blade 31 is perpendicular to the cutting blade guide strip 34, and the angle between the blade of the other cutting blade 31 and the cutting blade guide strip 34 is an acute angle. That is, one cutting blade 31 has a straight blade, and the other cutting blade 31 has an angled blade. Thus, the blade of the cutting blade 31 perpendicular to the cutting blade guide strip 34 cuts the tomato vines using a straight cutting method, while the blade of the cutting blade 31 with an acute angle to the cutting blade guide strip 34 cuts the tomato vines using an angled cutting method. The cooperation of the two cutting blades 31 allows for smoother cutting of the tomato vines, improving the success rate of cutting.

[0041] Based on the above embodiments, as an optional implementation, the shearing assembly 30 further includes a guide rod 35. Each pre-compression gripper is provided with a guide rod 35, which is used to guide the connection between the main tomato vine 1 and the branch tomato vine 2 into the shearing assembly 30. Thus, guided by the guide rod 35, the connection between the main tomato vine 1 and the branch tomato vine 2 is located in the shearing assembly 30. At this time, the two pre-compression grippers are in an open state, so that the branch tomato vine 2 is located between the two pre-compression grippers. When the cutter 31 cuts the branch tomato vine 2, the cut of the branch tomato vine 2 is close to the main tomato vine 1, which can avoid the tomato plant from being infected with diseases or pests due to the cut position being too far outward, thus affecting the lifespan of the tomato plant and the quality of the tomato.

[0042] Based on the above embodiments, as an optional implementation, the guide rod 35 includes a first guide portion 351 and a second guide portion 352 connected together. The first guide portion 351 is vertically disposed on the gripper 32, and the second guide portion 352 extends in a direction away from the drive assembly 20. A preset angle, which is an obtuse angle, exists between the second guide portion 352 and the first guide portion 351. Thus, the second guide portion 352 can contact the main tomato vine 1 to guide the connection between the main tomato vine 1 and the branch tomato vine 2 into the cutting assembly 30. As an optional implementation, the preset angle can be 120°, but those skilled in the art can adjust it according to actual conditions.

[0043] Based on the above embodiments, as an optional implementation, the drive assembly 20 includes an electric slide table 21 and a rotating clamping electric claw 22. One end of the rotating clamping electric claw 22 is connected to the electric slide table 21, and the other end is connected to the shearing assembly 30. The rotating clamping electric claw 22 is used to drive the shearing assembly 30 to rotate around the horizontal axis of the rotating clamping electric claw 22, so that the shearing assembly 30 can rotate 360°. The rotating clamping electric claw 22 is also used to drive two pre-clamping claws to move relative to each other or in opposite directions along a second horizontal direction. The electric slide table 21 is connected to the robotic arm 10. The electric slide table 21 is used to drive the rotating clamping electric claw 22 to move along a first horizontal direction, so that the shearing assembly 30 moves along the first horizontal direction, allowing the shearing assembly 30 to move more precisely toward the tomato vines, thereby more accurately shearing the tomato vines 2. In this embodiment, the specific structure of the electric slide table 21 and the rotating clamping electric claw 22 is not further described. Those skilled in the art can use the above-mentioned components commonly used in the art.

[0044] Based on the above embodiments, as an optional implementation, the mounting base of the electric slide table 21 is connected to the robotic arm 10 through the first connecting block, so that the electric slide table 21 is connected to the robotic arm 10; each gripper 32 is connected to the rotating gripper 22 through the second connecting block 40.

[0045] Based on the above embodiments, as an optional implementation, the tomato harvesting device further includes a robotic arm mounting base 50 for mounting the robotic arm 10, with a counterweight at the bottom. Therefore, by mounting the robotic arm 10 on the robotic arm mounting base 50 and providing a counterweight at the bottom of the robotic arm mounting base 50, the stability of the robotic arm 10 can be improved, preventing excessive lever arm length from causing the robotic arm 10 to wobble and affecting the cutting quality of the shearing assembly 30. As an optional implementation, the robotic arm mounting base 50 can be formed by bevel welding of a square tube.

[0046] The following is combined with Figures 1 to 7 The working principle of the tomato harvesting device provided in this embodiment is explained as follows:

[0047] The robotic arm 10 drives the shearing assembly 30 to approach the tomato vine. The electric slide table 21 drives the rotating gripper 22 to move along the first horizontal direction, so that the shearing assembly 30 moves along the first horizontal direction and adjusts the distance between the shearing assembly 30 and the tomato vine more precisely. Then, the rotating gripper 22 drives the shearing assembly 30 to rotate and guides the connection between the main tomato vine 1 and the branch tomato vine 2 into the shearing assembly 30 through the guide rod 35. The branch tomato vine 2 is located between two pre-compressing grippers. Then, the rotating gripper 22 drives the two pre-compressing grippers to move relative to each other along the second horizontal direction, so that the two cutters 31 close to cut the branch tomato vine 2. After cutting, the two pre-compressing grippers hold the cut branch tomato vine 2 and the tomato on it, and under the drive of the robotic arm 10, the cut branch tomato vine 2 and the tomato on it are sent into the collection box. The robotic arm 10 resets and performs the next cutting.

[0048] Although the disclosure is as stated above, the scope of protection of this disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this utility model.

Claims

1. A tomato harvesting device, characterized in that, include: robotic arm; A drive assembly, wherein the drive mechanism is connected to the robotic arm, and the robotic arm is used to drive the drive assembly to move along a first direction, a second direction, and a third direction; A shearing assembly connected to the driving assembly, the driving assembly being used to drive the shearing assembly to move along a first direction and / or drive the shearing assembly to rotate about the horizontal axis of the driving assembly; The shearing assembly includes pre-clamping jaws and cutters disposed on the pre-clamping jaws. Both pre-clamping jaws are connected to the driving assembly. The driving assembly is also used to drive the two pre-clamping jaws to move relative to each other or in opposite directions along the second direction, so that the two cutters close or open. The first direction, the second direction, and the third direction are set perpendicularly to each other.

2. The tomato harvesting device according to claim 1, characterized in that, The pre-compression gripper includes a gripper and a flexible pad. The cutter and the flexible pad are both disposed on the gripper. The cutter is disposed above the gripper, and the flexible pad is disposed on the inner side of the gripper. The projection of the flexible pad along the third direction at least partially overlaps with the projection of the cutter along the third direction.

3. The tomato harvesting device according to claim 2, characterized in that, The flexible pad is a foam pad.

4. The tomato harvesting device according to claim 2, characterized in that, The shearing assembly further includes a cutter guide strip, one end of which is connected to one of the pre-clamping jaws, and the other end of which extends to the surface of a cutter on another pre-clamping jaw, and the cutter guide strip and the cutter on the other pre-clamping jaw can generate relative movement along the second direction.

5. The tomato harvesting device according to claim 4, characterized in that, The blades of the two cutters are arranged facing each other, the blade of one cutter is perpendicular to the cutter guide bar, and the included angle between the blade of the other cutter and the cutter guide bar is an acute angle.

6. The tomato harvesting device according to claim 2, characterized in that, The shearing assembly also includes a guide rod, and each of the pre-compression grippers is provided with a guide rod, which is used to guide the connection between the main vine and the branch vine into the shearing assembly.

7. The tomato harvesting device according to claim 6, characterized in that, The guide rod includes a first guide portion and a second guide portion connected to each other. The first guide portion is disposed on the gripper along the third direction, and the second guide portion extends in a direction away from the drive assembly. There is a preset angle between the second guide portion and the first guide portion.

8. The tomato harvesting device according to claim 1, characterized in that, The driving assembly includes a rotary clamping electric gripper, one end of which is connected to the shearing assembly. The rotary clamping electric gripper is used to drive the shearing assembly to rotate around the horizontal axis of the rotary clamping electric gripper, and to drive the two pre-clamping grippers to move relative to each other or in opposite directions along the second direction.

9. The tomato harvesting device according to claim 1, characterized in that, The drive assembly further includes an electric slide table, one end of which is connected to the robotic arm, and the other end of which is connected to the rotary gripper. The electric slide table is used to drive the rotary gripper to move along the first direction, so that the shearing assembly moves along the first direction.

10. The tomato harvesting device according to claim 1, characterized in that, It also includes a robotic arm mounting base for mounting the robotic arm, and a counterweight is provided at the bottom of the robotic arm mounting base.

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