A fruit and vegetable picking end effector

Abstract

The utility model discloses a kind of fruit and vegetable picking end execution mechanism, including first support, a group of mounting holes are respectively arranged on the first support, the shell of cylinder is fixedly connected on the first support, the shell of cylinder is fixedly connected second support, second support is fixedly connected hemispherical outer shell, hemispherical outer shell is fixedly connected symmetric circular shaft, two the circular shaft is fixedly connected hemispherical inner shell respectively, symmetric through slot is respectively arranged on hemispherical outer shell, the telescopic rod connection execution assembly of cylinder, the utility model uses cylinder drive execution assembly, through a series of connecting rods and hinged structure, the stable sliding of spherical surface cutting knife is realized, to be able to accurately to fruit and vegetable is sheared and picked, picking action is more reliable, efficient, the annular hinged connection of spherical surface cutting knife two ends is on circular shaft, further enhance its movement stability, so that picking action is more accurate and reliable.

Description

Technical Field

[0001] This utility model relates to the technical field of end-effectors for fruit and vegetable harvesting, specifically to an end-effector for fruit and vegetable harvesting. Background Technology

[0002] With the development of agricultural modernization, fruit and vegetable planting has gradually become more large-scale and automated. However, due to the complexity of harvesting operations and their strong seasonality, fruit and vegetable harvesting still mainly relies on manual labor. According to relevant statistics, harvesting accounts for 33%-55% of the labor in the entire fruit and vegetable production process. Harvesting is labor-intensive and has low efficiency. At present, some new automated harvesting machines have appeared on the market, which can replace manual harvesting to a certain extent, greatly improve harvesting efficiency, and save labor costs. The patent document with publication number CN223322528U discloses a fruit and vegetable harvesting end-effector. This patent first controls the clamping of the target fruit and vegetable, and then controls the closing of the scissor blades to cut the fruit and vegetable. The two steps are performed separately, which makes the harvesting action less smooth and continuous, affecting the harvesting efficiency to some extent. Moreover, the accuracy is sometimes difficult to guarantee in the process of controlling the clamping of the target fruit and vegetable and the closing of the scissor blades, which may result in the fruit and vegetable being pinched or not being cut accurately, thus affecting the harvesting quality of the fruit and vegetable and reducing its practicality. Therefore, it is necessary to provide a fruit and vegetable harvesting end-effector to solve the above-mentioned technical problems. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a fruit and vegetable harvesting end-effector mechanism. It adopts a cylinder-driven actuator and achieves stable sliding of the spherical shear blade through a series of connecting rods and hinge structures, thereby enabling precise cutting and harvesting of fruits and vegetables. The harvesting action is more reliable and efficient. The circular hinges at both ends of the spherical shear blade are connected to the circular shaft, which further enhances the stability of its movement and makes the harvesting action more accurate and reliable.

[0004] A fruit and vegetable harvesting end-effector includes a first bracket with a set of mounting holes. A cylinder housing is fixedly connected to the first bracket, and a second bracket is fixedly connected to the cylinder housing. A hemispherical outer housing is fixedly connected to the second bracket, and symmetrical circular shafts are fixedly connected to the hemispherical outer housing. Two circular shafts are fixedly connected to a hemispherical inner housing, and symmetrical through slots are provided on the hemispherical outer housing. The telescopic rod of the cylinder is connected to an actuation component.

[0005] The first bracket is mounted on the harvesting robotic arm (not shown in the picture) through the mounting holes.

[0006] Furthermore, the actuation component includes a U-shaped plate, the end of the telescopic rod of the cylinder is fixedly connected to the U-shaped plate, two connecting rods are respectively connected to the U-shaped plate by pins, one end of the two connecting rods is respectively connected to the middle of the corresponding transmission connecting rod by pins, and one end of the two transmission connecting rods is respectively hinged to the shaft of the second bracket.

[0007] Furthermore, the other ends of the two transmission links are respectively connected to one end of the symmetrical link two via pin hinges, and the other ends of the two link two are respectively connected to the corresponding protrusions via pin hinges, and the two protrusions are respectively slidably connected to the corresponding through slots.

[0008] Furthermore, the two protrusions are respectively fixedly connected to corresponding spherical shear blades, and the two spherical shear blades are respectively slidably connected within the interlayer formed by the hemispherical outer shell and the hemispherical inner shell.

[0009] Furthermore, a pair of symmetrical circular rings are fixedly connected to the two ends of the two spherical shear blades, and the two circular rings on the same side are respectively hinged to the corresponding circular shafts.

[0010] When the cylinder is activated, its extension rod extends and drives the connecting rod one to swing via the U-shaped plate. The two connecting rods one drive the transmission connecting rod to swing, and the two transmission connecting rods drive the connecting rod two to swing. The two connecting rods two drive the convex plates to slide along the through groove. The two convex plates drive the spherical shearing blades to slide within the space formed by the hemispherical outer shell and the hemispherical inner shell. Because the circular hinges at both ends of the spherical shearing blades are connected to the circular shaft, the spherical shearing blades can maintain a stable trajectory during the sliding process, thereby realizing the harvesting action of fruits and vegetables. The two spherical shearing blades cut the fruits and vegetables, causing the cut fruits and vegetables to fall into the cavity formed by the two spherical shearing blades and the hemispherical inner shell, thus completing the harvesting.

[0011] Compared with the prior art, the advantages and positive effects of this utility model are: 1. The cylinder-driven actuator is used. Through a series of connecting rods and hinge structures, the spherical shear blade is able to slide stably, thus enabling precise cutting and harvesting of fruits and vegetables. The harvesting action is more reliable and efficient. The circular hinges at both ends of the spherical shear blade are connected to the circular shaft, which enhances the stability of its movement and makes the harvesting action more precise and reliable. 2. The design of the hemispherical outer shell and the hemispherical inner shell, as well as the sliding of the spherical shearing blade in the sandwich formed by the two, not only provides a stable movement space for the spherical shearing blade, but also effectively prevents fruits and vegetables from falling during the harvesting process, ensuring that the harvested fruits and vegetables can fall smoothly into the hemispherical inner shell, thus improving the success rate and integrity of the harvesting. 3. The device has a compact and reasonable structural design. While ensuring the harvesting function, it reduces the complexity of the structure and the manufacturing cost, making it highly practical. Attached Figure Description

[0012] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. Obviously, the drawings described below are merely some embodiments of this utility model, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0013] In the attached diagram: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a three-dimensional structural diagram of the present invention; Figure 4 This is a schematic diagram of the connection structure of some parts of this utility model; Figure 5 This is a schematic diagram of the connection structure of some parts of this utility model; Figure 6 This is a schematic diagram of the connection structure of some parts of this utility model; In the picture: 1. Spherical shear blade; 2. Round shaft; 3. Second bracket; 4. Cylinder; 5. First bracket; 6. Connecting rod two; 7. Transmission connecting rod; 8. Connecting rod one; 9. U-shaped plate; 10. Protrusion; 11. Hemispherical inner shell; 12. Mounting hole; 13. Hemispherical outer shell; 14. Through groove; 15. Ring. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0015] A fruit and vegetable harvesting end-effector includes a first bracket 5, which has a set of mounting holes 12. The housing of a cylinder 4 is fixedly connected to the first bracket 5. The housing of the cylinder 4 is fixedly connected to a second bracket 3. The second bracket 3 is fixedly connected to a hemispherical outer housing 13. The hemispherical outer housing 13 is fixedly connected to symmetrical circular shafts 2. The two circular shafts 2 are respectively fixedly connected to hemispherical inner housings 11. The hemispherical outer housing 13 is provided with symmetrical through grooves 14. The telescopic rod of the cylinder 4 is connected to an actuation component.

[0016] The first bracket 5 is installed on the harvesting robotic arm (not shown in the figure) through the mounting hole 12.

[0017] The actuation component includes a U-shaped plate 9, the end of the telescopic rod of the cylinder 4 is fixedly connected to the U-shaped plate 9, two connecting rods 8 are respectively connected to the U-shaped plate 9 by pins, one end of the two connecting rods 8 is respectively connected to the middle of the corresponding transmission connecting rod 7 by pins, and one end of the two transmission connecting rods 7 is respectively connected to the shaft of the second bracket 3.

[0018] The other ends of the two transmission links 7 are respectively connected to one end of the symmetrical link 6 by a pin hinge. The other ends of the two links 6 are respectively connected to the corresponding protrusions 10 by a pin hinge. The two protrusions 10 are respectively slidably connected to the corresponding through grooves 14.

[0019] The two protrusions 10 are respectively fixedly connected to the corresponding spherical shear blades 1, and the two spherical shear blades 1 are respectively slidably connected within the interlayer formed by the hemispherical outer shell 13 and the hemispherical inner shell 11.

[0020] The two ends of the two spherical shear blades 1 are respectively fixedly connected to a pair of symmetrical circular rings 15, and the two circular rings 15 on the same side are respectively hinged to the corresponding circular shafts 2.

[0021] When cylinder 4 is activated, the extension rod of cylinder 4 extends and drives connecting rod 8 to swing through U-shaped plate 9. Connecting rod 8 drives transmission connecting rod 7 to swing, and transmission connecting rod 7 drives connecting rod 6 to swing. Connecting rod 6 drives convex plate 10 to slide along through groove 14. The two convex plates 10 drive spherical shearing blade 1 to slide in the sandwich formed by hemispherical outer shell 13 and hemispherical inner shell 11. Since the rings 15 at both ends of spherical shearing blade 1 are hinged to the round shaft 2, spherical shearing blade 1 can maintain a stable movement trajectory during sliding, thereby realizing the harvesting action of fruits and vegetables. The two spherical shearing blades 1 cut the fruits and vegetables, causing the cut fruits and vegetables to fall into the cavity formed by the two spherical shearing blades 1 and hemispherical inner shell 11, thus completing the harvesting.

[0022] The wiring diagram of cylinder 4 in this utility model is common knowledge in the field. Its working principle is a well-known technology. The appropriate model is selected according to actual use. Therefore, the control method and wiring layout of cylinder 4 will not be explained in detail.

[0023] The method of using this utility model is as follows: When harvesting is required, the first bracket 5 is first installed on the harvesting robotic arm (not shown in the figure) through the mounting hole 12. The external harvesting robotic arm first transports this device to a suitable harvesting area and guides the robotic arm to perform precise positioning, so that the fruits and vegetables suitable for harvesting are placed inside the hemispherical inner shell 11. At this time, the cylinder 4 is activated. The extension rod of the cylinder 4 extends and drives the connecting rod 8 to swing through the U-shaped plate 9. The two connecting rods 8 drive the transmission connecting rod 7 to swing. The two transmission connecting rods 7 respectively drive the connecting rod 6 to swing. The two connecting rods 6 then... The protruding plate 10 slides along the through groove 14. The two protrusions 10 respectively drive the spherical shearing blade 1 to slide in the sandwich formed by the hemispherical outer shell 13 and the hemispherical inner shell 11. Since the rings 15 at both ends of the spherical shearing blade 1 are hinged to the round shaft 2, the spherical shearing blade 1 can maintain a stable movement trajectory during the sliding process, thereby realizing the harvesting action of fruits and vegetables. The two spherical shearing blades 1 cut the fruits and vegetables, causing the cut fruits and vegetables to fall into the cavity formed by the two spherical shearing blades 1 and the hemispherical inner shell 11, preventing them from falling out, and completing the harvesting. After harvesting, the external harvesting robotic arm moves the device above the collection container, and then controls the telescopic rod of cylinder 4 to retract, causing the two spherical shear blades 1 to slide in opposite directions and open in the interlayer. The cut fruits and vegetables fall from the hemispherical inner shell 11 into the collection container under the action of gravity, completing a complete harvesting and collection process. If you wish to harvest other fruits and vegetables, simply repeat the above steps.

[0024] The above-disclosed embodiments are merely specific examples of this utility model. However, this utility model is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of this utility model.

Claims

1. A fruit and vegetable harvesting end-effector, comprising a first support (5), characterized in that, The first bracket (5) is provided with a set of mounting holes (12). The housing of the cylinder (4) is fixedly connected to the first bracket (5). The housing of the cylinder (4) is fixedly connected to the second bracket (3). The second bracket (3) is fixedly connected to the hemispherical outer housing (13). The hemispherical outer housing (13) is fixedly connected to symmetrical round shafts (2). The two round shafts (2) are fixedly connected to the hemispherical inner housing (11). The hemispherical outer housing (13) is provided with symmetrical through slots (14). The telescopic rod of the cylinder (4) is connected to the actuation component.

2. The fruit and vegetable harvesting end-effector according to claim 1, characterized in that, The execution component includes a U-shaped plate (9), the end of the telescopic rod of the cylinder (4) is fixedly connected to the U-shaped plate (9), two connecting rods (8) are respectively connected to the U-shaped plate (9) by pins, one end of the two connecting rods (8) is respectively connected to the middle of the corresponding transmission connecting rod (7) by pins, and one end of the two transmission connecting rods (7) is respectively connected to the shaft of the second bracket (3).

3. The fruit and vegetable harvesting end-effector according to claim 2, characterized in that, The other ends of the two transmission links (7) are respectively connected to one end of the symmetrical link two (6) by a pin hinge. The other ends of the two link two (6) are respectively connected to the corresponding protrusions (10) by a pin hinge. The two protrusions (10) are respectively slidably connected to the corresponding through grooves (14).

4. The fruit and vegetable harvesting end-effector according to claim 3, characterized in that, The two protrusions (10) are respectively fixedly connected to the corresponding spherical shear blades (1), and the two spherical shear blades (1) are respectively slidably connected to the sandwich formed by the hemispherical outer shell (13) and the hemispherical inner shell (11).

5. The fruit and vegetable harvesting end-effector according to claim 4, characterized in that, The two ends of the two spherical shear blades (1) are respectively fixedly connected to a pair of symmetrical rings (15), and the two rings (15) on the same side are respectively hinged to the corresponding circular shafts (2).

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