CN112154784A - Picking end effector with blade cleaning function - Google Patents
Picking end effector with blade cleaning function Download PDFInfo
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- CN112154784A CN112154784A CN202010841249.0A CN202010841249A CN112154784A CN 112154784 A CN112154784 A CN 112154784A CN 202010841249 A CN202010841249 A CN 202010841249A CN 112154784 A CN112154784 A CN 112154784A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 23
- 239000012636 effector Substances 0.000 title claims description 44
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 120
- 230000003139 buffering effect Effects 0.000 claims abstract description 50
- 238000000605 extraction Methods 0.000 claims abstract description 21
- -1 polyethylene Polymers 0.000 claims description 12
- 238000002955 isolation Methods 0.000 claims description 11
- 238000009423 ventilation Methods 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 7
- 239000004698 Polyethylene Substances 0.000 claims description 6
- 239000004743 Polypropylene Substances 0.000 claims description 6
- 239000004793 Polystyrene Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 229920000573 polyethylene Polymers 0.000 claims description 6
- 229920001155 polypropylene Polymers 0.000 claims description 6
- 229920002223 polystyrene Polymers 0.000 claims description 6
- 229920002635 polyurethane Polymers 0.000 claims description 6
- 239000004814 polyurethane Substances 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 4
- 238000005192 partition Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 12
- 230000005089 fruit drop Effects 0.000 description 9
- 238000001179 sorption measurement Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 241000220225 Malus Species 0.000 description 2
- 235000021016 apples Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a picking execution terminal device with a blade cleaning function, which comprises a straight pipe, a negative pressure cavity outer wall, a buffer cavity outer wall, a blade processing outlet, a blade filter screen, a blade extraction cavity, an air extraction hose, an external blade collecting box, a convex blade filter screen, a controllable switch door and a fruit dropping outlet, wherein one end of the negative pressure cavity outer wall is fixedly connected with the buffer cavity outer wall, and the other end of the negative pressure cavity outer wall is connected to the outer wall of the straight pipe; a straight pipe buffering surface attached to the straight pipe is arranged inside the straight pipe, and a buffering cavity buffering surface is arranged on the lower inner wall of the partition wall; a concave buffer surface is arranged on the inner wall of the buffer cavity shell; the blade treatment outlet is arranged at the upper end of the outer wall of the buffer cavity, and the blade filter screen is arranged at the joint between the outer wall of the negative pressure cavity and the outer wall of the buffer cavity.
Description
Technical Field
The invention relates to the field of intelligent picking, in particular to a picking end effector with a blade cleaning function.
Background
At present, most of domestic fruit picking still needs to be finished manually. The manual picking mode has lower labor efficiency and longer labor consumption, and for picking fruits with shorter seasons, the manual picking mode is usually not as long as finishing picking all the fruits. And for some fruits growing at a high position, picking workers can pick the fruits only by climbing the escalator, so that certain dangers are realized. In addition, manual picking requires a large amount of labor, but as a large amount of labor is transferred to urban factories and population is gradually aged, available labor is gradually reduced, the price of picking employees is increased year by year, fruit picking costs are increased, and the demand for automated fruit picking equipment is also increased.
In the field of fruit picking automation, the current researches on picking end effectors mainly include an auxiliary manual type, a vibration impact type and a manipulator grasping type. The auxiliary manual picking robot provides a lifting platform moving in three degrees of freedom in space for workers, and the workers stand on the lifting platform to pick. The traditional processes of manually picking, climbing ladders, transferring ladders and the like are omitted, the picking efficiency is greatly improved, and the picking machine still depends on manual work. Vibration impact type picking robot directly vibrates and impacts the fruit trees, so that the fruits fall off and are collected. The mode has great damage to fruits, which is not beneficial to preservation and affects sale due to damaged fruit. The manipulator grasping type is the choice of most of the current researches, and adopts the end structure imitating human fingers to grasp the target fruit in a way imitating human picking. Two main picking modes are adopted for separating target fruits from fruit stalks, one mode is that the fruits are directly picked by twisting and drawing after being gripped by a manipulator; the other is to cut the fruit stalks by an additional blade, laser or electrified metal wire. The mode is very close to a manual picking mode, so that nondestructive picking can be well realized, but the picking steps are also complicated due to the fact that fruit grabbing needs to be accurately positioned, so that the picking efficiency is low, and the mode is the largest factor limiting the practicability of the picking machine.
The negative pressure adsorption picking mode has higher picking efficiency due to simple and rapid picking action, and has less damage to fruits in the picking process under reasonable buffer design, and tests prove that the negative pressure adsorption picking mode has value in the field of automatic picking and is applied to picking robots. Therefore, it is necessary to design a negative pressure adsorption picking end effector adapted to the negative pressure adsorption picking manner for the picking robot.
Domestic invention patent application No. CN201580075405.4 discloses an end effector for robotic harvesting, which specifically discloses an end effector comprising a vacuum generating subsystem and a connection to the vacuum generating subsystem. The end effector has: a first tube having a first diameter; and a second tube having a second diameter smaller than the first diameter so that the second tube is fitted inside the first tube. The invention greatly improves the picking efficiency by a suction picking mode.
Domestic invention patent application No. CN201910418059.5 discloses an end effector for robot harvesting, which specifically discloses an end effector comprising an air inlet, a vacuum suction port connected with a vacuum generating system, and a fruit drop outlet at the lower end. The fruit picking device utilizes the annular air flow generated in the buffer cavity to generate upward lifting force on the fruits to resist the action of free falling bodies when the fruits fall down after being picked, reduces the probability that the falling parabola of the fruits is too long in the horizontal direction and collides with the extending part at the rear end to damage the rear wall, and reduces the fruit damage caused in the picking falling process.
None of the above patents provide an effective treatment solution for fruit tree foliage that may be sucked into the picking end effector.
In the field of fruit picking automation, the fruit picking mode of negative pressure adsorption picking inevitably causes some fruit tree leaves to be sucked into an end effector. Because the end effector is internally provided with a special air passage structural design, part of the air passages are narrow, and once too many fruit tree leaves are sucked, the part of the air passages in the end effector can be blocked possibly, so that the actual picking effect is influenced. And because of the tortuous air passage structure of the end effector, leaves entering the air passage are extremely difficult to clean manually. The present invention therefore contemplates a picking performing tip device that can automatically pull off the blades during the picking process.
To further prevent the end effector from malfunctioning due to the vanes being drawn into the end effector blocking the air passages, a better picking end effector with vane cleaning was devised. Through having add blade treatment export and blade filter screen between cushion chamber and negative pressure chamber, can take out the blade from end effector under the condition that does not influence end effector normal work, prevent that the blade from being inhaled in the negative pressure chamber, causing the air flue to block up. Through addding the external blade collecting box that has controllable switch door, can temporarily save the blade of taking out at continuous picking in-process to open at picking clearance control switch, pour the leaf.
Disclosure of Invention
The invention aims to solve the problem that the existing fruit collecting end effector is easy to lose fruits in the fruit collecting process, and provides a picking end effector with a blade cleaning function, which can effectively reduce the damage of the fruits in the picking process and remove leaves obtained in the picking process.
The invention realizes the purpose through the following technical scheme: a picking end effector with a blade cleaning function comprises a straight pipe, a negative pressure cavity outer wall, a buffer cavity outer wall, a blade processing outlet, a blade filter screen, a blade extraction cavity, an air extraction hose, an external blade collecting box, a convex blade filter screen, a controllable switch door and a fruit dropping outlet, wherein one end of the negative pressure cavity outer wall is fixedly connected with one end of the buffer cavity outer wall, the other end of the negative pressure cavity outer wall is fixedly connected to the outer wall of the straight pipe, a negative pressure cavity is formed between the negative pressure cavity outer wall and the outer side wall of the straight pipe extending into the negative pressure cavity outer wall, the buffer cavity is arranged inside the buffer cavity outer wall, and the buffer cavity is communicated with the negative pressure cavity; an air pipe opening is formed in the outer wall of the negative pressure cavity and connected with an external air exhaust device through an air exhaust pipe; the end part of one end of the straight pipe, which extends into the negative pressure cavity, is connected with the buffer cavity, an extension part of the straight pipe is also arranged in the buffer cavity, the extension part extends into the buffer cavity, a separation wall is arranged between the negative pressure cavity at the lower end of the extension part and the buffer cavity, the separation wall is arranged on one side of a fruit dropping outlet, air vent holes are formed in the upper ends of the extension parts of the negative pressure cavity and the buffer cavity, and air in the negative pressure cavity and the buffer cavity is ventilated through the air vent holes which are long and short in the extension part; the fruit dropping device is characterized in that a straight pipe buffering surface which is attached to the straight pipe is arranged inside the straight pipe, the rear end of the straight pipe buffering surface is attached to the end surface of the isolation wall, the fruit dropping outlet is arranged at the lower end of the buffer cavity shell, a buffer cavity buffering surface is arranged on the lower inner wall of the isolation wall, close to one side of the straight pipe, of the fruit dropping outlet, one end of the buffer cavity buffering surface is close to the fruit dropping outlet, the end surface of the other end of the buffer cavity buffering surface and the end surface of the isolation wall are in the same vertical plane, and fruits directly fall onto the buffer cavity buffering surface after passing through the straight pipe; a concave buffering surface is arranged on the inner wall of the buffering cavity shell at one side of the fruit dropping outlet, which is far away from the straight pipe, and the concave buffering surface extends downwards to the side surface of the fruit dropping outlet; an open slot is formed in one side of the fruit dropping outlet, a fruit dropping door penetrates through the open slot and extends into the fruit dropping outlet, and the other end of the fruit dropping door is connected with a fruit dropping door driver and is driven by the fruit dropping door driver to move linearly in the horizontal direction;
the blade treatment outlet is arranged at the upper end of the outer wall of the buffer cavity, a blade filter screen is arranged at the joint between the outer wall of the negative pressure cavity and the outer wall of the buffer cavity, the blade extraction cavity is arranged at the blade treatment outlet, one end of the air extraction hose is connected with the blade treatment outlet, and the other end of the air extraction hose is connected with an external blade collection box; the lower bottom surface of external blade collecting box is provided with the controllable switch door, and the up end of external blade collecting box is provided with the suction opening, and the suction opening department of external blade collecting box is provided with the convex blade filter screen, and external air exhauster passes through the suction opening of exhaust tube connection external blade collecting box.
Furthermore, the fruit dropping outlet is a conical outlet bin, the open slot is formed in one side, close to the straight pipe, of the upper end of the fruit dropping outlet, and the fruit dropping door driver is fixed on the lower end shell of the outer wall of the negative pressure cavity through bolts.
Furthermore, the drop door driver is a linear cylinder or a linear motor which can drive the drop door to move horizontally.
Furthermore, the outer wall of the negative pressure cavity is integrally cylindrical, the front end of the outer wall of the negative pressure cavity gradually shrinks inwards to match the diameter of the front end of the outer wall of the negative pressure cavity with the outer diameter of the straight pipe, and the front end of the outer wall of the negative pressure cavity is connected with the outer wall of the straight pipe in a sealing mode.
Furthermore, a cylindrical through hole is formed in the middle of the isolation wall, and the outer wall of the isolation wall is fixedly connected with the outer wall of the buffer cavity. The buffer surface of the buffer cavity is arranged in the cylindrical through hole of the isolation wall.
Furthermore, a horizontal baffle plate for supporting the fruit falling door is arranged at the lower end of the horizontal opening. The size of the horizontal opening is consistent with the size of the side face of the fruit drop door as much as possible so as to improve the air tightness, and the horizontal baffle plate provides vertical support for the translational motion of the fruit drop door so as to ensure that the fruit drop door is as straight as possible in the motion process.
Furthermore, the negative pressure shell and the buffer shell are connected into a whole, the connection between the negative pressure shell and the buffer shell is only communicated at the air vent, and the rest positions are in a sealed state.
Furthermore, the buffer surface of the buffer cavity and the concave buffer surface are made of polyethylene or polypropylene or polystyrene or polyurethane sponge material.
Furthermore, the buffer surface of the straight pipe is made of polyethylene or polypropylene or polystyrene or polyurethane sponge material. Furthermore, the negative pressure cavity and the air duct opening are provided with a pair of air ducts which are symmetrically arranged from left to right. The air pipe openings can also adopt more quantity so as to increase the air flow and further improve the negative pressure adsorption force.
The invention has the beneficial effects that: .
1. According to the invention, the blade filter screen is additionally arranged between the buffer cavity and the negative pressure cavity, so that the blades can be prevented from being sucked into the negative pressure cavity to cause air passage blockage under the condition that the normal work of the end effector is not influenced.
2. According to the invention, the blade exhaust air pipe opening is additionally arranged above the buffer cavity of the end effector, so that the blades blocked by the blade filter screen can be sucked into the external blade collecting box, and the blades are prevented from completely blocking the blade filter screen.
3. The external blade collecting box is additionally arranged, the blade sucking air pipe opening of the end effector is connected with the air sucking hose, the blades sucked out of the end effector can be temporarily stored, and the blades can be periodically cleaned under the action of a controllable switch door.
4. According to the invention, the convex blade filter screen is additionally arranged at the air exhaust port of the external blade collecting box, the convex design can increase the contact surface area of the blade filter screen, and the condition that the blade filter screen is completely shielded by the blade to cause air passage blockage is further prevented.
5. According to the invention, the effective air inlet area can be reduced by arranging the straight pipe buffering surface on the inner side of the straight pipe, so that higher suction force is obtained on the premise of unchanged fan efficiency, the negative pressure utilization rate is improved, and the energy consumption is reduced.
6. According to the invention, the straight pipe buffering surface is arranged on the inner side of the straight pipe, so that the fruit can be prevented from colliding with the inner wall of the straight pipe due to vertical jolt in the transportation process of the fruit in the straight pipe, and the probability of fruit damage is reduced.
7. The straight pipe buffering surface arranged on the inner side of the straight pipe can provide a kinetic friction force opposite to the fruit moving direction, so that the speed of the fruit entering the buffering cavity is reduced, and the probability of collision damage with the inner wall of the buffering cavity is further reduced.
8. According to the fruit picking device, the air flow in the obliquely upward direction can be generated in the buffer cavity through the air exchange port arranged above the buffer cavity, so that the fruit picking device can generate an obliquely upward adsorption force on fruits in the buffer cavity.
9. The fruit-bearing buffer chamber utilizes the airflow in the deceleration area in the buffer chamber to enable the fruit to generate an upward oblique force, further reduces the horizontal speed of the fruit and simultaneously slows down the free falling trend of the fruit, and achieves the buffer effect.
10. According to the invention, the concave buffer surface on the rear wall of the buffer cavity can occupy less volume than a common smooth flushing surface, and meanwhile, a better buffer effect is obtained, the tendency of free falling of fruits is reduced, and the collision and damage of the fruits are prevented.
11. According to the invention, the generation of vortex in the buffer cavity can be avoided to a certain extent through the concave buffer surface on the rear wall of the buffer cavity, so that the utilization rate of air flow is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of a picking end effector with blade cleaning function according to the present invention.
Fig. 2 is a front cross-sectional view of a picking end effector having a blade cleaning function of the present invention.
Fig. 3 is a right side view of a picking end effector with blade cleaning of the present invention.
Fig. 4 is a front view of a picking end effector with blade cleaning of the present invention.
Fig. 5 is a right side cross-sectional view of a picking end effector having a blade cleaning function of the present invention.
FIG. 6 is a schematic view of the external blade collection box in the air-extracting state of the present invention.
FIG. 7 is a schematic structural view of the circumscribed blade collecting box in the air-extracting stopped state of the present invention.
In the figure, 1-straight pipe, 2-negative pressure cavity outer wall, 3-buffer cavity outer wall, 4-fruit dropping outlet, 5-negative pressure cavity, 6-buffer cavity, 7-air pipe orifice, 8-extension part, 9-isolation wall, 10-straight pipe buffer surface, 11-buffer cavity buffer surface, 12-concave buffer surface, 13-fruit dropping door, 14-fruit dropping door driver, 15-ventilation opening, 16-blade processing outlet, 17-blade filter screen, 18-blade extraction cavity, 19-air suction hose, 20-external blade collecting box, 21-convex blade filter screen and 22-controllable switch door.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 7, a picking end effector with a blade cleaning function comprises a straight tube 1, a negative pressure cavity outer wall 2, a buffer cavity outer wall 3, a blade treatment outlet 16, a blade filter screen 17, a blade extraction cavity 18, an air suction hose 19, an external blade collecting box 20, a convex blade filter screen 21, a controllable switch door 22 and a fruit dropping outlet 4, wherein one end of the negative pressure cavity outer wall 2 is fixedly connected with one end of the buffer cavity outer wall 3, the other end of the negative pressure cavity outer wall 2 is fixedly connected to the outer wall of the straight tube 1, a negative pressure cavity 5 is formed between the negative pressure cavity outer wall 2 and the outer side wall of the straight tube 1 extending into the negative pressure cavity outer wall 2, the buffer cavity 6 is arranged inside the buffer cavity outer wall 3, the buffer cavity 6 is communicated with the negative pressure cavity 5 only through an air exchanging port 15, and the rest contact parts are all; an air pipe opening 7 is formed in the outer wall 2 of the negative pressure cavity, and the air pipe opening 7 is connected with an external air extraction device through an air extraction pipe; the end part of one end of the straight pipe 1, which extends into the negative pressure cavity 5, is connected with the buffer cavity 6, an extension part 8 of the straight pipe 1 is further arranged in the buffer cavity 6, the extension part 8 extends into the buffer cavity 6, a separation wall 9 is arranged between the negative pressure cavity 5 at the lower end of the extension part 8 and the buffer cavity 6, the separation wall 9 is positioned on a vertical junction plane of the straight pipe 1 and the buffer cavity 6, the end surface of the extension part 8, which is close to one side of the buffer cavity 6, of the straight pipe 1 and the outer wall 3 of the buffer cavity are wrapped to form a shape similar to a concave shape, air vents 15 are arranged at the upper ends of the extension part 8 of the negative pressure cavity 5 and the buffer cavity 6, and air in the negative pressure cavity 5 and the buffer cavity 6 is communicated through the; a straight pipe buffering surface 10 attached to the straight pipe 1 is arranged inside the straight pipe 1, the rear end of the straight pipe buffering surface 10 is attached to the end face of the isolation wall 9, the fruit dropping outlet 4 is arranged at the lower end of the shell of the buffering cavity 6, a buffering cavity buffering surface 11 is arranged on one side, close to the straight pipe 1, of the fruit dropping outlet 4, one end of the buffering cavity buffering surface 11 is close to the fruit dropping outlet 4, and the end face of the other end of the buffering cavity buffering surface 11 and the end face of the isolation wall 9 are in the same vertical plane; a concave buffer surface 12 is arranged on the inner wall of the shell of the buffer cavity 6 at one side of the fruit dropping outlet 4, which is far away from the straight pipe 1, and the concave buffer surface 12 extends downwards to the side surface of the fruit dropping outlet 4; an open slot is arranged at one side of the fruit dropping outlet 4, the fruit dropping door 13 penetrates through the open slot and extends into the fruit dropping outlet 4, and the other end of the fruit dropping door 13 is connected with the fruit dropping door driver 14 and is driven by the fruit dropping door driver 14 to move linearly in the horizontal direction.
The blade treatment outlet 16 is arranged at the upper end of the outer wall of the buffer cavity, a blade filter screen 17 is arranged in front of a ventilation opening 15 between the negative pressure cavity and the buffer cavity, the blade filter screen 17 prevents the blades from entering the negative pressure cavity 5, a blade extraction cavity 18 is arranged at the blade treatment outlet 16, one end of an air extraction hose 19 is connected with the blade treatment outlet 16, and the other end of the air extraction hose 19 is connected with an external blade collection box 20; the lower bottom surface of external blade collecting box 20 is provided with controllable switch door 22, and the up end of external blade collecting box 20 is provided with the suction opening, and the suction opening department of external blade collecting box 20 is provided with convex blade filter screen 21, and external air exhauster passes through the suction opening of exhaust tube connection external blade collecting box 20. The convex blade filter screen 21 is used for increasing the contact area between the blade and the filter screen and preventing the blade from being adsorbed on the filter screen to cause air passage blockage. The circumscribing blade collection bin 20 can temporarily store the extracted blades during the continuous picking process. The controllable switch door 22 can adopt any structural design capable of realizing controllable switch, and the controllable switch door 22 is opened to pour out blades in the picking gap.
The fruit dropping outlet 4 is a conical outlet bin, an open slot is formed in one side, close to the straight pipe 1, of the upper end of the fruit dropping outlet 4, and the fruit dropping door driver 14 is fixed on the lower end shell of the outer wall 2 of the negative pressure cavity through bolts.
The drop door driver 14 is a linear cylinder or a linear motor which can drive the drop door 13 to move horizontally, and can also adopt a design that a stay wire spring is matched with a common motor and the like to realize linear reciprocating motion.
The whole negative pressure cavity outer wall 2 is cylindrical, the front end of the negative pressure cavity outer wall 2 gradually shrinks inwards to match with the diameter of the front end and the outer diameter of the straight pipe 1, and the front end of the negative pressure cavity outer wall 2 is connected with the outer wall of the straight pipe 1 in a sealing mode.
The lower end of the horizontal opening is provided with a horizontal baffle plate for supporting the fruit drop door 13, the size of the horizontal opening and the size of the side surface of the fruit drop door are kept consistent as much as possible so as to improve the air tightness, and the horizontal baffle plate provides vertical support for the translational motion of the fruit drop door so as to ensure that the fruit drop door is as straight as possible in the motion process.
The negative pressure shell and the buffer shell are connected into a whole, the connection part between the negative pressure shell and the buffer shell is only communicated at the ventilation port 15, and the rest positions are in a sealing state.
The buffer surface 11 and the concave buffer surface 12 of the buffer cavity can be made of polyethylene, polypropylene, polystyrene, polyurethane sponge and other materials. The straight tube buffer surface 10 can be made of polyethylene, polypropylene, polystyrene and polyurethane sponge materials.
The negative pressure cavity 5 and the air duct opening 7 are provided with a pair of air suction hoses which are arranged in a bilateral symmetry mode, and the bilateral symmetry mode is used for enabling the forces from the air suction hoses on the left side and the right side to be consistent as much as possible when the end effector moves. The number of the air pipe openings 7 can be increased to increase the air flow and further improve the negative pressure adsorption force.
Picking the work when beginning, the door 13 closure that falls, the fan begins to bleed, the fruit is inhaled straight tube 1 from straight tube 1 entry, with the inside straight tube buffering face 10 contact of straight tube 1, straight tube buffering face 10 is with certain pressure parcel fruit surface, for it provide one with motion opposite direction's frictional force, realize first order extrusion friction buffering, the fruit has been prevented simultaneously because of jolting from top to bottom and inner wall collision production damage, because the existence of straight tube buffering face 10 makes the effective air inlet area of straight tube 1 reduce, suction has been strengthened, improve the negative pressure utilization ratio, reduce the energy consumption. When the fruits enter the buffer cavity 6, because the suction force applied to the fruits is larger than the friction force applied to the fruits in the straight pipe buffer surface 10, the apples have a certain initial speed when entering the buffer cavity 6 from the straight pipe 1. The negative pressure chamber 5 is separated from the buffer chamber 6 below the extension 8 by a separating wall 9, leaving a ventilation opening 15 only above the extension 8, thereby creating a unique air flow. When the fan works, air in the negative pressure cavity 5 is extracted from the air pipe opening 7 to enable the air to generate negative pressure inside the negative pressure cavity, the air enters the negative pressure cavity 5 from the buffer cavity 6 through the ventilating opening 15, the air flow trajectory enables a deceleration area to be formed inside the buffer cavity 6, resultant force for slowing down horizontal speed and resisting free falling bodies is provided for fruits entering the buffer cavity 6 through the straight pipe 1, second-level air flow buffering is achieved, the movement speed of the fruits is further reduced, and therefore the apples are prevented from being collided and damaged with the concave buffer surface 12 inside the buffer cavity 6 due to overlarge speed. The fruit after the secondary buffering will strike the concave buffering surface 12 in the buffering cavity 6, the horizontal speed is reduced to the minimum value, and the fruit is slowly rolled down towards the fruit falling outlet 4 along the concave buffering surface 12, so that the impact of the fruit generated by the free falling body and the bottom of the buffering cavity 6 is reduced, and the third-level collision buffering is realized. At the moment, the fruit dropping door 13 is controlled to be opened by the fruit dropping door driver 14, the fruit drops into the fruit dropping outlet 4 and is transported to a collecting system, and the fruit passes through the fruit dropping door 13 and is closed to keep the tightness of the buffer cavity 6, so that the picking is finished.
During picking, the picked fruit is sucked into the end effector together with the blades, through the straight tube 1 and into the buffer chamber 6. A part of the heavier blades may accompany the fruit and pass through the automatically opening drop door 13 into the drop outlet 4 and finally to the collecting device, and another part of the blades will be sucked into the upper transfer ports 15 by the air flow. Because the blade filter screen 17 is arranged between the buffer cavity 6 and the negative pressure cavity 5, the blade can not enter the negative pressure cavity 5 to cause blockage, and can only be sucked into the blade drawing cavity 18 under the action of adsorption force, and further enters the external blade collecting box 20 through the blade processing outlet 16 and the suction hose 19. The circumscribed blade collecting box 20 is provided with a convex blade filter screen 21 and a controllable opening and closing door 22. The convex blade filter screen 21 is designed to be convex so as to increase the contact surface area of the blade filter screen and prevent the sucked blades from completely attaching to cause unsmooth air passage. The controllable switch door 22 is in a normally closed state and is opened only when the picking robot finishes picking fruits that can be picked at the current position, closes the negative pressure generating device and moves from the current position to the next picking position. After the controllable switch door 22 is opened, the blades are poured out of the external blade collecting box 20 under the action of gravity, and the blade cleaning work is completed.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. The present disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. Such as "horizontal" simply means that its orientation is more horizontal than "vertical," and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (9)
1. A picking end effector with blade cleaning function, its characterized in that: comprises a straight pipe (1), a negative pressure cavity outer wall (2), a buffer cavity outer wall (3), a blade treatment outlet (16), a blade filter screen (17), a blade extraction cavity (18), an air extraction hose (19), an external blade collection box (20), a convex blade filter screen (21), a controllable switch door (22) and a fruit dropping outlet (4), one end of the outer wall (2) of the negative pressure cavity is fixedly connected with one end of the outer wall (3) of the buffer cavity, the other end of the outer wall (2) of the negative pressure cavity is fixedly connected with the outer wall of the straight pipe (1), the outer wall (2) of the negative pressure cavity and the outer side wall of the straight pipe (1) extending into the outer wall (2) of the negative pressure cavity form a negative pressure cavity (5), the buffer cavity (6) is arranged in the outer wall (3) of the buffer cavity, the buffer cavity (6) is communicated with the negative pressure cavity (5) only through a ventilation port (15), and the rest contact parts are all sealed by a separation wall (9); an air pipe opening (7) is formed in the outer wall (2) of the negative pressure cavity, and the air pipe opening (7) is connected with an external air extraction device through an air extraction pipe; the end part of one end, extending into the negative pressure cavity (5), of the straight pipe (1) is connected with the buffer cavity (6), an extension part (8) of the straight pipe (1) is further arranged in the buffer cavity (6), the extension part (8) extends into the buffer cavity (6), a separation wall (9) is arranged between the negative pressure cavity (5) at the lower end of the extension part (8) and the buffer cavity (6), the separation wall (9) is positioned on a vertical junction plane of the straight pipe (1) and the buffer cavity 6, the end surface of one side, close to the buffer cavity 6, of the extension part 8 and the straight pipe (1) and the outer wall 3 of the buffer cavity are wrapped to form a shape similar to a concave shape, a ventilation port is formed in the upper end of the extension part (8) of the negative pressure cavity (5) and the buffer cavity (6), and air in the negative pressure cavity (5) and the buffer cavity (6) is communicated through a ventilation port (; a straight pipe buffering surface (10) attached to the straight pipe (1) is arranged inside the straight pipe (1), the rear end of the straight pipe buffering surface (10) is attached to the end face of the isolation wall (9), the fruit dropping outlet (4) is arranged at the lower end of the shell of the buffering cavity (6), a buffering cavity buffering surface (11) is arranged on one side, close to the straight pipe (1), of the fruit dropping outlet (4), one end of the buffering cavity buffering surface (11) is close to the fruit dropping outlet (4), and the end face of the other end of the buffering cavity buffering surface (11) and the end face of the isolation wall (9) are in the same vertical plane; a concave buffering surface (12) is arranged on the inner wall of the shell of the buffering cavity (6) at one side of the fruit dropping outlet (4) far away from the straight pipe (1), and the concave buffering surface (12) extends downwards to the side surface of the fruit dropping outlet (4); an open slot is formed in one side of the fruit dropping outlet (4), a fruit dropping door (13) penetrates through the open slot and extends into the fruit dropping outlet (4), and the other end of the fruit dropping door (13) is connected with a fruit dropping door driver (14) and is driven by the fruit dropping door driver (14) to move linearly in the horizontal direction;
the blade treatment outlet (16) is arranged at the upper end of the outer wall of the buffer cavity, a blade filter screen (17) is arranged in front of a ventilation opening (15) between the negative pressure cavity and the buffer cavity, the blade filter screen (17) prevents blades from entering the negative pressure cavity (5), a blade extraction cavity (18) is arranged at the blade treatment outlet (16), one end of an air extraction hose (19) is connected with the blade treatment outlet (16), and the other end of the air extraction hose (19) is connected with an external blade collection box (20); the lower bottom surface of external blade collecting box (20) is provided with controllable switch door (22), and the up end of external blade collecting box (20) is provided with the suction opening, and the suction opening department of external blade collecting box (20) is provided with convex blade filter screen (21), and external air exhauster passes through the suction opening of exhaust tube connection external blade collecting box (20).
2. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the fruit dropping outlet (4) is a conical outlet bin, the open slot is formed in one side, close to the straight pipe (1), of the upper end of the fruit dropping outlet (4), and the fruit dropping door driver (14) is fixed on the lower end shell of the outer wall (2) of the negative pressure cavity through bolts.
3. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the drop fruit door driver (14) is a linear cylinder or a linear motor which can drive the drop fruit door (13) to move horizontally.
4. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the whole negative pressure cavity outer wall (2) is cylindrical, the front end of the negative pressure cavity outer wall (2) gradually shrinks inwards to match with the diameter of the front end and the outer diameter of the straight pipe (1), and the front end of the negative pressure cavity outer wall (2) is connected with the outer wall of the straight pipe (1) in a sealing mode.
5. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the lower end of the horizontal opening is provided with a horizontal baffle plate for supporting the fruit dropping door (13).
6. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the negative pressure shell and the buffer shell are connected into a whole, the connection part between the negative pressure shell and the buffer shell is only communicated at the ventilation port (15), and the rest positions are in a sealing state.
7. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the buffer surface (11) of the buffer cavity and the concave buffer surface (12) are made of polyethylene or polypropylene or polystyrene or polyurethane sponge materials.
8. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the straight pipe buffering surface (10) is made of polyethylene or polypropylene or polystyrene or polyurethane sponge material.
9. A picking end effector with blade cleaning capability as claimed in claim 1, wherein: the negative pressure cavity (5) and the air duct opening (7) are provided with a pair which is arranged in bilateral symmetry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010841249.0A CN112154784A (en) | 2020-08-20 | 2020-08-20 | Picking end effector with blade cleaning function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010841249.0A CN112154784A (en) | 2020-08-20 | 2020-08-20 | Picking end effector with blade cleaning function |
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| CN112154784A true CN112154784A (en) | 2021-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010841249.0A Pending CN112154784A (en) | 2020-08-20 | 2020-08-20 | Picking end effector with blade cleaning function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115245096A (en) * | 2022-01-05 | 2022-10-28 | 浙江理工大学 | Unmanned aerial vehicle device of picking tea-leaves based on scissors subassembly parallel |
| JP7485321B1 (en) | 2024-04-05 | 2024-05-16 | 株式会社トクイテン | Fruit and vegetable harvesting equipment |
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| CN206879473U (en) * | 2017-04-26 | 2018-01-16 | 广西职业技术学院 | Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism |
| CN110178546A (en) * | 2019-05-20 | 2019-08-30 | 湖州昊博智能科技有限公司 | A kind of picking executes end equipment and fruit picking |
| CN213548441U (en) * | 2020-08-20 | 2021-06-29 | 浙江工业大学 | Picking end effector with blade cleaning function |
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| CN102217461A (en) * | 2011-05-26 | 2011-10-19 | 中国农业大学 | End effector of picking machine and picking machine |
| CN206879473U (en) * | 2017-04-26 | 2018-01-16 | 广西职业技术学院 | Micro-vacuum wind-suction type green grass or young crops jujube picking mechanism |
| CN110178546A (en) * | 2019-05-20 | 2019-08-30 | 湖州昊博智能科技有限公司 | A kind of picking executes end equipment and fruit picking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115245096A (en) * | 2022-01-05 | 2022-10-28 | 浙江理工大学 | Unmanned aerial vehicle device of picking tea-leaves based on scissors subassembly parallel |
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| JP7485321B1 (en) | 2024-04-05 | 2024-05-16 | 株式会社トクイテン | Fruit and vegetable harvesting equipment |
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