A citrus picking end effector

Abstract

The utility model discloses a kind of citrus picking end effector of clamping cutting type, it is related to citrus picking device technical field.The utility model includes limiting disc and the rotating disc of sliding connection in the top of limiting disc, the rotating disc is provided with gripping piece, further include: clamping cutting part, the clamping cutting part is installed on rotating disc;The clamping cutting part includes cutting assembly, and the cutting assembly is installed on rotating disc;Connecting assembly is arranged on cutting assembly;The cutting assembly includes the fixed link of several fixed rods in the top of limiting disc, several rotating blocks are provided on the limiting disc, and the outer wall of several fixed rods respectively penetrates several rotating blocks.The utility model is through setting clamping cutting part, solved the picking device in the use process of existing, it is difficult to clamp cutting at citrus root, cutting process, tool will appear skidding, leading to citrus root cutting not broken, cutting off-center situation, reduce the stability problem when device is used.

Description

Technical Field

[0001] This utility model belongs to the technical field of citrus harvesting devices, and in particular relates to a clamping and cutting type citrus harvesting end effector. Background Technology

[0002] The clamping and cutting end effector for citrus harvesting is installed at the end of a robotic arm. It uses grippers to stably hold the citrus fruit and a blade to cut the stem, enabling automated harvesting. It is suitable for citrus fruits of different sizes, reducing harvesting damage. When harvesting citrus fruits, the end clamping and cutting can accurately cut the stem, avoiding pulling that causes the fruit to fall off or the skin to break, thus ensuring the appearance. Secondly, the automated operation can replace manual labor, improve harvesting efficiency, reduce labor costs, and is suitable for large-scale citrus planting scenarios.

[0003] However, existing harvesting devices are difficult to clamp and cut the roots of citrus fruits during use. During the cutting process, the blades may slip, resulting in the citrus roots not being cut properly or cutting off-center, which reduces the stability of the device during use. Utility Model Content

[0004] The purpose of this utility model is to provide a clamping and cutting end actuator for citrus picking. By setting up a clamping and cutting part, it solves the problem that existing picking devices are difficult to clamp and cut the roots of citrus fruits during use. During the cutting process, the blade may slip, resulting in the citrus roots not being cut completely or off-center, which reduces the stability of the device during use.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model relates to a clamping and cutting end effector for citrus harvesting, comprising a limiting disk and a rotating disk slidably connected to the top of the limiting disk. The rotating disk is provided with a gripping element. The device further includes: a clamping and cutting part mounted on the rotating disk; the clamping and cutting part includes a cutting assembly mounted on the rotating disk; and a connecting assembly disposed on the cutting assembly. The cutting assembly includes several fixed rods fixedly connected to the top of the limiting disk. Several rotating blocks are provided on the limiting disk, and the outer walls of the fixed rods respectively penetrate the rotating blocks. Each of the rotating blocks is rotatably connected to several rotating blocks, the side of each rotating block away from the fixed rod extending into the rotating disk, the outer wall of each rotating block being rotatably connected to the rotating disk, and each rotating block being provided with a cutting element; there are three rotating blocks arranged circumferentially on the limiting disk, the gripping element includes a handle one fixedly connected to the limiting disk, a handle two hinged to the rotating disk, and the cutting element includes several cutting discs disposed within the rotating disk, the side of each rotating block being close to the others being fixedly connected to several cutting discs; the cutting discs are used to cut the root of the citrus fruit.

[0007] Furthermore, the connecting assembly includes several connecting rods distributed on several rotating blocks, several connecting rods are fixedly connected to the bottom inner wall of the rotating disk, the outer walls of several connecting rods are slidably connected to several sliding grooves, and a sliding member is provided on the limiting disk; the rotating disk is slidably connected to the limiting disk through the sliding member, the sliding member includes several sliding grooves on the limiting disk, several sliding rods are fixedly connected to the bottom of the rotating disk, the outer walls of several sliding rods are slidably connected to several sliding grooves, and the sliding grooves provide the necessary sliding direction for the movement of the sliding rods.

[0008] This utility model has the following beneficial effects:

[0009] 1. By setting up a clamping and cutting part, when in use, hold handle one and rotate handle two. Handle two drives the rotating disk, which rotates on the limiting disk with the help of the cooperation of the sliding rod and the sliding groove two. During the rotation of the rotating disk, its own sliding groove one interacts with the connecting rod, which in turn drives the rotating block to rotate around the fixed rod. Finally, the cutting disks move closer to each other to complete the cutting operation of the citrus root. When picking citrus, the citrus root is clamped and cut, avoiding the blade slipping during the cutting process, which would lead to incomplete or off-center cutting, thus improving the stability of the device during use.

[0010] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments 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 these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a partial cross-sectional view of the clamping and cutting part of this utility model;

[0014] Figure 3 This is a bottom view of a partial cross-sectional structure of the connecting component of this utility model.

[0015] The attached diagram lists the components represented by each number as follows:

[0016] 111. Limiting disc; 112. Rotating disc; 113. Handle 1; 114. Handle 2; 2. Clamping and cutting part; 21. Cutting assembly; 211. Fixing rod; 212. Rotating block; 213. Cutting disc; 22. Connecting assembly; 221. Slide 1; 222. Connecting rod; 223. Slide 2; 224. Slide bar. Detailed Implementation

[0017] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figure 1-3 As shown, this utility model is a clamping and cutting type citrus picking end actuator, including a limiting disk 111 and a rotating disk 112 slidably connected to the top of the limiting disk 111. The rotating disk 112 is provided with a gripping member and also includes a clamping and cutting part 2, which is installed on the rotating disk 112. The gripping member includes a first handle 113 fixedly connected to the limiting disk, and a second handle 114 hinged to the rotating disk 112.

[0019] The clamping and cutting section 2 includes a cutting assembly 21 mounted on a rotating disk 112; and a connecting assembly 22 disposed on the cutting assembly 21. The cutting assembly 21 includes several fixing rods 211 fixedly connected to the top of a limiting disk 111. Several rotating blocks 212 are disposed on the limiting disk 111. The outer walls of the fixing rods 211 pass through the rotating blocks 212, and are rotatably connected to each of the rotating blocks 212. The sides of the rotating blocks 212 away from the fixing rods 211 extend into the rotating disk 112, and are rotatably connected to the rotating disk 112. Each rotating block 212 is provided with a cutting element. Three rotating blocks 212 are arranged circumferentially on the limiting disk 111. The cutting elements include several cutting disks 213 disposed within the rotating disk 112. The sides of the rotating blocks 212 that are close to each other are fixedly connected to the cutting disks 213. Fixed connection; the cutting disc 213 is used to cut the root of the citrus fruit. The connecting component 22 includes several connecting rods 222 distributed on several rotating blocks 212. Several connecting rods 222 are fixedly connected to the bottom inner wall of the rotating disc 112. The outer walls of several connecting rods 222 are slidably connected to several sliding grooves 221. A sliding member is provided on the limiting disc 111. The rotating disc 112 is slidably connected to the limiting disc 111 through the sliding member. The sliding member includes several sliding grooves 223 opened on the limiting disc 111. Several sliding rods 224 are fixedly connected to the bottom of the rotating disc 112. The outer walls of several sliding rods 224 are slidably connected to several sliding grooves 223 respectively. The sliding grooves 223 provide the necessary sliding direction for the movement of the sliding rods 224. By setting the clamping and cutting part, the root of the citrus fruit is clamped and cut during citrus harvesting, avoiding the slippage of the blade during the cutting process, which would lead to incomplete or off-center cutting, thus improving the stability of the device during use.

[0020] A specific application of this embodiment is as follows: When in use, move handle one 113 and handle two 114. Handle two 114 drives the rotating disk 112 to rotate on the limiting disk 111 through the slide rod 224 and the slide groove two 223. When the rotating disk 112 rotates, the slide groove one 221 and the connecting rod 222 cooperate with each other to drive the rotating block 212 to rotate around the fixed rod 211, and drive the cutting disks 213 to move closer to each other until the root of the citrus is cut off.

[0021] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment 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.

[0022] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A clamping-type citrus harvesting end effector, comprising a limiting disk (111) and a rotating disk (112) slidably connected to the top of the limiting disk (111), wherein the rotating disk (112) is provided with a gripping element, characterized in that, Also includes: A clamping and cutting part (2) is mounted on a rotating disk (112); The clamping and cutting part (2) includes a cutting assembly (21) which is mounted on a rotating disk (112); as well as A connecting component (22) is disposed on the cutting component (21); The cutting assembly (21) includes a plurality of fixed rods (211) fixedly connected to the top of the limiting disk (111). The limiting disk (111) is provided with a plurality of rotating blocks (212). The outer walls of the plurality of fixed rods (211) respectively penetrate the plurality of rotating blocks (212). The outer walls of the plurality of fixed rods (211) are rotatably connected to the plurality of rotating blocks (212). The side of the plurality of rotating blocks (212) away from the fixed rods (211) extends into the rotating disk (112). The outer walls of the plurality of rotating blocks (212) are rotatably connected to the rotating disk (112). The plurality of rotating blocks (212) are provided with cutting elements. Among them, there are three rotating blocks (212), which are distributed in a circle on the limiting disk (111).

2. The clamping and cutting end effector for citrus harvesting according to claim 1, characterized in that, The connecting assembly (22) includes a plurality of connecting rods (222) distributed on a plurality of rotating blocks (212). The bottom inner wall of the rotating disk (112) is fixedly connected to a plurality of connecting rods (222). The outer walls of the plurality of connecting rods (222) are distributed and slidably connected to a plurality of sliding grooves (221). The limiting disk (111) is provided with a sliding member. The rotating disk (112) is slidably connected to the limiting disk (111) via a sliding member.

3. The clamping and cutting end effector for citrus harvesting according to claim 2, characterized in that, The gripping member includes a first handle (113) fixedly connected to the limiting disk, and a second handle (114) hinged to the rotating disk (112).

4. The clamping and cutting end effector for citrus harvesting according to claim 3, characterized in that, The cutting component includes a plurality of cutting discs (213) disposed in a rotating disk (112), and the sides of the plurality of rotating blocks (212) that are close to each other are respectively fixedly connected to the plurality of cutting discs (213); The cutting disc (213) is used to cut the roots of the citrus fruit.

5. A clamping-type citrus harvesting end effector according to claim 4, characterized in that, The sliding member includes a plurality of sliding grooves (223) formed on the limiting disk (111), and a plurality of sliding rods (224) are fixedly connected to the bottom of the rotating disk (112), and the outer walls of the plurality of sliding rods (224) are slidably connected to the plurality of sliding grooves (223); Among them, the second slide (223) provides the necessary sliding direction for the movement of the slide rod (224).

Images