CN113785692B - Pineapple picking device integrating clamping and cutting, picking method and picking robot - Google Patents
Pineapple picking device integrating clamping and cutting, picking method and picking robot Download PDFInfo
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- CN113785692B CN113785692B CN202111287512.7A CN202111287512A CN113785692B CN 113785692 B CN113785692 B CN 113785692B CN 202111287512 A CN202111287512 A CN 202111287512A CN 113785692 B CN113785692 B CN 113785692B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/002—Harvesting of standing crops of pineapples
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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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- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
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Abstract
The invention relates to a pineapple picking device integrating clamping and cutting, which comprises a three-dimensional frame, a clamping device and a cutting device, wherein the clamping device is arranged on the three-dimensional frame; the clamping device is arranged on the three-dimensional frame and comprises clamping pieces arranged in a surrounding manner and a clamping driving mechanism for driving the clamping pieces in the three-dimensional frame to move between an inner clamping position and an outer initial position, and when the clamping pieces are positioned at the initial positions, the clamping pieces and the annular opening of the three-dimensional frame form a channel for pineapple fruits to pass through; the cutting device is arranged on the three-dimensional frame and comprises a cutting tool and a cutting driving mechanism which are positioned below the clamping piece. The pineapple picking robot comprises a pineapple picking vehicle-mounted robot or a pineapple picking flying robot which can be used as an end effector carrier. Also relates to a pineapple picking method integrating clamping and cutting. The pineapple harvesting machine disclosed by the invention can be used for rapidly clamping pineapple fruits and rapidly cutting pineapple stalks to ensure that the fruits are complete and not damaged, and meanwhile, the success rate of pineapple cutting is ensured, and belongs to the field of pineapple harvesting machinery.
Description
Technical Field
The invention relates to a pineapple harvesting machine, in particular to a pineapple picking device and a picking method integrating clamping and cutting, and further relates to a pineapple picking robot.
Background
In recent years, the pineapple planting mode is transformed to an industrial cluster integrating planting production, storage transportation and product processing, and the problems that the picking workload of pineapple products in the mature period is suddenly increased, the labor shortage often occurs during the picking period, the picking equipment is thick and heavy and brings inconvenience and the like are faced, so that the problems of high labor intensity and labor shortage are urgently needed to be solved by automatic and intelligent picking equipment.
At present, the existing pineapple picking equipment is not provided with a clamping device, and meanwhile, the existing equipment has the problems of low speed, low pineapple picking success rate and high damage rate of pineapple picking fruits in pineapple picking operation.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention aims to: provides a pineapple picking device and a picking method which are integrated with clamp cutting and have the advantages of high picking operation speed, high success rate and low pineapple fruit damage rate.
Another object of the invention is: provides a pineapple picking robot carrying a pineapple picking device integrating clamping and cutting.
In order to achieve the purpose, the invention adopts the following technical scheme:
a pineapple picking device integrating clamping and cutting comprises a three-dimensional frame, a clamping device and a cutting device; the three-dimensional frame is an annular hollow frame; the clamping device is arranged on the three-dimensional frame and comprises at least two clamping pieces which are circumferentially arranged in a surrounding manner and a clamping driving mechanism which drives the clamping pieces in the three-dimensional frame to move between an inner clamping position and an outer initial position, and when the clamping pieces are positioned at the initial positions, a channel for pineapple fruits to pass through is formed between the clamping pieces and an opening of the three-dimensional frame; the cutting device is arranged on the three-dimensional frame and comprises a cutting tool positioned below the clamping piece and a cutting driving mechanism for driving the cutting tool to transversely sweep or leave the channel.
Preferably, the three-dimensional frame comprises an upper layer annular support plate, a middle layer annular support plate and a lower layer annular support plate, wherein the upper layer annular support plate, the middle layer annular support plate and the lower layer annular support plate are all horizontally arranged and are provided with circular through holes with the circle centers at the same position in the overlooking direction; the three-dimensional frame also comprises a plurality of support plate connecting rods, the support plate connecting rods are vertically arranged, the top ends of the support plate connecting rods are fixedly connected with the upper-layer annular support plate, the bottom ends of the support plate connecting rods are fixedly connected with the lower-layer annular support plate, the support plate connecting rods penetrate through the middle-layer annular support plate and are fixedly connected with the middle-layer annular support plate, and the support plate connecting rods are uniformly distributed outside the circular through holes; the outer side of the middle layer annular support plate is provided with a clamping driving connecting plate for mounting a clamping driving mechanism, and the outer side of the lower layer annular support plate is provided with a cutting driving connecting plate for mounting a cutting driving mechanism.
Preferably, the number of the clamping pieces is two; the clamping device is arranged between the middle-layer annular support plate and the lower-layer annular support plate, and further comprises a driving gear, a driven gear ring and two push rods, wherein the driving gear is fixedly connected with the output end of the clamping driving mechanism, the driven gear ring is meshed with the driving gear, the driven gear ring is sleeved on the outer side of the middle-layer annular support plate, the driven gear ring is rotatably connected with the middle-layer annular support plate, the clamping pieces are rotatably connected with the middle-layer annular support plate and the lower-layer annular support plate through rotating shafts fixedly arranged between the middle-layer annular support plate and the lower-layer annular support plate, one end of each push rod is hinged with the driven gear ring, the other end of each push rod is rotatably connected with the clamping pieces, and the two clamping pieces are axially symmetrically distributed along a vertical shaft where the circular through hole is; the clamping driving mechanism is fixedly arranged above the clamping driving connecting plate.
Preferably, the clamping piece comprises an arc-shaped surface and a straight surface, the arc-shaped surface is arranged at a position far away from the rotating shaft, the straight surface is arranged at a position close to the rotating shaft, the rotating shaft is arranged at the tail end of the straight surface, an included angle between the arc-shaped surface and the straight surface faces the circular through hole, and the arc-shaped surface and the straight surface form a sickle-shaped structure surrounding the circular through hole; one side of the clamping piece close to the circular through hole is provided with an elastic gasket, the elastic gasket is tightly attached to the arc surface and the straight surface of the clamping piece, and one side of the elastic gasket close to the circular through hole is a smooth arc surface.
Preferably, the cutting tool is arranged below the lower bottom surface of the lower annular support plate, the cutting driving mechanism is fixedly mounted above the cutting driving connecting plate, a through hole for an output shaft of the cutting driving mechanism to penetrate out is formed in the cutting driving mechanism, and the output shaft of the cutting driving mechanism is fixedly connected with the rotating end of the cutting tool.
Preferably, the cutting tool comprises an arc-shaped blade and a tool handle, the tool face of the arc-shaped blade, which is close to one side of the circular through hole, is identical to the shape of the outer circumferential arc of the circular through hole, and the rotating end of the tool handle is fixedly connected with the output shaft of the cutting driving mechanism.
Preferably, the pineapple picker integrating clamping and cutting further comprises piezoelectric sensors, the number of the piezoelectric sensors corresponds to that of the clamping pieces, and one piezoelectric sensor is arranged on the inner side face of each clamping piece.
Preferably, the upper-layer annular support plate is provided with a connecting support used for being connected with the movable equipment, the connecting support is arranged vertically, and the connecting support is provided with a plurality of connecting holes.
An end effector of the pineapple picking robot is an integrated pineapple picking device, and the pineapple picking device and a pineapple picking vehicle-mounted mechanical arm or a pineapple picking aircraft are combined to form a pineapple picking vehicle-mounted robot or a pineapple picking flying robot by changing a connecting support structure.
A clamp-cut integrated pineapple picking method is characterized in that a clamp-cut integrated pineapple picking device is used, the pineapple picking device moves downwards from the top of crown leaves of pineapple fruits to sleeve the pineapple fruits, the pineapple fruits are clamped through arc-shaped clamping pieces, and the stems of the pineapple fruits are cut through a cutter; the piezoelectric sensor on the clamping surface of the arc-shaped clamping piece transmits an electric signal to the driving motor controller, the driving motor controller controls the clamping driving motor to drive the motion stroke of the arc-shaped clamping piece, and the driving motor controller controls the cutting driving motor to drive cutting; after the pineapple stalks are cut off, the pineapple stalks are moved to a pineapple collecting point and the clamping pieces are loosened to throw the pineapples.
In summary, the present invention has the following advantages:
1. the technical scheme that the clamping piece is matched with the cutting knife vertically is adopted, so that pineapple fruits can be clamped quickly, pineapple fruit stems can be cut quickly, the completeness and the non-damage of the fruits are guaranteed, and the success rate of pineapple cutting is guaranteed.
2. The elastic gasket and the piezoelectric sensor are arranged on the clamping piece, so that the flexible contact between the clamping piece and the pineapple fruit can be ensured, and the clamping piece can be stopped moving in time after clamping the fruit to keep a clamping state.
3. The cylindrical frame structure consisting of the three layers of the annular support plates has the characteristics of simple structure, convenience in maintenance and convenience in feeding and discharging pineapples into and out of the pineapple picker.
4. The clamping piece and the cutting knife are respectively driven by the two motors, so that the motor is simple in structure and is not easy to lose efficacy.
5. According to the invention, the pineapple picking device is used as the end effector of the pineapple picking robot in a clamping and cutting integrated manner, so that a whole set of process of controlling clamping, cutting, conveying, collecting and storing of pineapples by the pineapple picking robot is realized, and full-automatic operation of cutting and picking pineapples is realized.
6. The pineapple picking method using the clamp-cut integrated pineapple picker has the advantages of high accuracy of positioning and clamping pineapples, rapid cutting and difficulty in losing pineapple fruits.
Drawings
Fig. 1 is an overall structure diagram of a clamping and cutting integrated pineapple picker.
Fig. 2 is a schematic structural diagram of a three-dimensional ring frame.
Fig. 3 is a schematic structural view of the clamping device.
Fig. 4 is a schematic structural view of the cutting device in a top view.
Fig. 5 is a perspective view of a clip portion of the clamping device.
FIG. 6 is a cross-sectional view of the middle annular support plate and the driven ring gear.
Fig. 7 is a schematic diagram of the pineapple picking vehicle-mounted robot.
Fig. 8 is a schematic diagram of a pineapple picking flying robot.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
In the attached drawings of the specification of the invention, 1 is a three-dimensional frame; 2 is a clamping device; 3 is a cutting device; 11 is an upper annular support plate; 12 is a middle layer annular support plate; 13 is a lower annular support plate; 14 is a support plate connecting rod; 21 is a clamping driving motor; 22 is a motor base; 23 is a driving gear; 24 is a clamping piece; 25 is a driven gear ring; 26 is a push rod; 27 is an elastic gasket; 28 is a rotating shaft; 31 is a cutting driving motor; and 32 is a cutting tool.
Example one
The embodiment relates to a clamping and cutting integrated pineapple picker, which specifically comprises a three-dimensional frame, a clamping device for fixing pineapples, a cutting device for cutting off fruit stems and a control system.
The three-dimensional frame comprises an upper layer annular support plate, a middle layer annular support plate, a lower layer annular support plate and four support plate connecting rods. The upper annular supporting plate comprises a horizontally arranged annular plate, a circular through hole of the upper annular supporting plate is formed in the annular plate, a vertical connecting support is fixedly arranged above the upper annular supporting plate, and four connecting holes for fixedly connecting with an external movable mechanical arm or movable equipment are uniformly formed in the connecting support. The middle-layer annular support plate comprises a horizontally arranged annular plate and a clamping driving connecting plate used for installing a clamping driving mechanism, a circular through hole of the middle-layer annular support plate is formed inside the annular plate, and the clamping driving connecting plate is fixedly arranged on the outer side of the annular plate. The lower annular support plate comprises a horizontally arranged annular plate and a cutting driving connecting plate used for installing a cutting driving mechanism, a circular through hole of the lower annular support plate is formed in the annular plate, the cutting driving connecting plate is fixedly arranged on the outer side of the annular plate, and the cutting driving connecting plate is arranged under the clamping driving connecting plate.
In the overlooking direction, the circle centers of the circular through holes of the upper layer of the annular supporting plate, the circular through holes of the middle layer of the annular supporting plate and the circular through holes of the lower layer of the annular supporting plate are the same and are positioned at the same position, the circular through holes of the three annular supporting plates form a cylindrical channel which penetrates up and down, and pineapple fruits enter and leave the clamp-cut integrated pineapple picker from the cylindrical channel. The support plate connecting rods are vertically arranged on the outer side of the cylindrical channel, the top ends of the support plate connecting rods are fixedly connected with the upper layer annular support plate, the bottom ends of the support plate connecting rods are fixedly connected with the lower layer annular support plate, the support plate connecting rods penetrate through the middle layer annular support plate and are fixedly connected with the middle layer annular support plate, and the four support plate connecting rods are uniformly distributed on the outer side of the cylindrical channel in a circumferential mode.
The clamping device comprises a clamping driving mechanism, a driving gear, a driven gear ring, two push rods and two clamping pieces. The clamping piece is arranged between the middle-layer annular support plate and the lower-layer annular support plate, a vertical rotating shaft is arranged at the tail end of the clamping piece, the upper end of the rotating shaft is fixedly connected with the middle-layer annular support plate, the lower end of the rotating shaft is fixedly connected with the lower-layer annular support plate, and the clamping piece is rotatably connected with the three-dimensional frame through the rotating shaft.
The clamping piece comprises an arc-shaped surface and an arc-shaped surface, the arc-shaped surface is arranged at a position far away from the rotating shaft, the arc-shaped surface is arranged at a position close to the rotating shaft, the rotating shaft is arranged at the tail end of the straight surface, an included angle between the arc-shaped surface and the straight surface faces the circular through hole, and the arc-shaped surface and the straight surface form a sickle-shaped structure surrounding the circular through hole; one side of the clamping piece close to the circular through hole is provided with an elastic gasket, the elastic gasket is tightly attached to the arc-shaped surface of the clamping piece and the arc-shaped surface of the clamping piece, and one side of the elastic gasket close to the circular through hole is a smooth arc surface. The two clamping pieces are distributed in central symmetry along the vertical axis where the circle center of the circular through hole is located. And a strip-shaped piezoelectric sensor for detecting whether the clamping mechanism clamps the pineapple is further arranged on one side of the clamping piece close to the circular through hole.
The driven gear ring is sleeved on the outer side of the circular plate of the middle-layer annular support plate and is rotatably connected with the circular plate, the inner ring of the driven gear ring is smooth, a section of external teeth is arranged on the outer ring of the driven gear ring, the external teeth of the driven gear ring are mutually meshed with the driving gear, the driving gear is fixedly connected with an output shaft of the clamping driving mechanism, and the clamping driving mechanism drives the driven gear ring to rotate.
Each clip is correspondingly provided with a push rod. One end of the push rod is rotatably connected with the driven toothed ring through a pin shaft, the pin shaft is arranged on the outer side of the driven toothed ring, and the push rod is arranged on the lower bottom surface of the driven toothed ring; the other end of the push rod is rotatably connected with the upper top surface of the clamping piece through a hinge, and the clamping piece is pushed to rotate along the rotating shaft by the rotation of the driven gear ring.
The centre gripping actuating mechanism sets up in the top of driving gear, and the driving gear is connected and sets up in the top of centre gripping drive connecting plate with centre gripping drive connecting plate rotary type, and the fixed motor cabinet that holds the driving gear that is provided with on the upper surface of centre gripping drive connecting plate, the motor cabinet is close to one side of driven ring gear and the equal fretwork setting of offside, and the upper surface of motor cabinet is provided with the hole that supplies the output shaft to pass, and centre gripping actuating mechanism fixed mounting is in the top of motor cabinet. The clamping driving mechanism is a servo motor.
The cutting device comprises a cutting driving mechanism and a cutting tool. The cutting tool is attached to the lower surface of the lower-layer annular support plate, the cutting driving mechanism is fixedly mounted on the upper surface of the cutting driving connecting plate, a through hole for an output shaft of the cutting driving mechanism to penetrate through is formed in the cutting driving connecting plate, and the output shaft of the driving mechanism is fixedly connected with the cutting tool. The cutting tool comprises an arc-shaped blade and a straight tool handle, wherein the arc-shaped section of the blade is the same as the arc shape of the outer circumference of the circular through hole. When the cutting tool is located at the initial position, the tool face of the blade close to one side of the circular through hole is attached to the outer circumference of the circular through hole. The cutting driving mechanism is a stepping motor. The stepping motor drives the cutting tool to rotate from the initial position and to span the whole circular through hole.
The control system comprises a control circuit of the clamp-cut integrated pineapple picker, and is used for controlling any actuating mechanism of the clamp-cut integrated pineapple picker. The control circuit comprises a single chip microcomputer chip, and a pressure detection module, a clamping control module, a cutting control module and a power supply module which are connected with the single chip microcomputer chip. The pressure detection module comprises two piezoelectric sensors and a piezoelectric sensor conditioning circuit, and the piezoelectric sensor conditioning circuit is connected with the single chip microcomputer chip; the piezoelectric sensor is used for detecting whether the clamping mechanism clamps the pineapple or not; the clamping control module comprises a clamping servo motor driving module, and the clamping servo motor driving module is connected with the single chip microcomputer chip; the cutting control module comprises a cutting stepping motor driving module, and the cutting stepping motor driving module is connected with the single chip microcomputer chip; the power module comprises a switching power supply and a lithium ion battery, the switching power supply converts 220V alternating current into 24V direct current to supply power for the clamping servo motor driving module and the cutting stepping motor driving module, and the lithium ion battery supplies power for the single chip microcomputer chip.
The working process of clamping and cutting the pineapple in the embodiment is as follows: firstly, the pineapple picker is sleeved on a pineapple from top to bottom from the top of the crown leaves of the pineapple fruit, so that the fruit stalks of the pineapple are positioned at the lower annular support plate. Then, servo motor drive driven ring gear rotates, the rotation of driven ring gear drives the push rod tip of being connected with driven ring gear and rotates, the push rod drives the clamping piece and rotates to circular through-hole center, until two clamping pieces hold the pineapple fruit, the elastic pad that the clamping piece is close to pineapple fruit one side is avoided the clamping piece to extrude the pineapple fruit with the contact of pineapple fruit and is caused the damage, the piezoelectric sensor on the clamping piece simultaneously transmits signal to control system when the clamping piece presss from both sides tight pineapple fruit, control system control servo motor stall, the clamping piece stall is and is held the pineapple fruit. And then, the stepping motor controls the cutting tool to rotate from the initial position and span the whole circular through hole, and the cutting tool cuts off the fruit stem of the pineapple. And then, the control system controls the stepping motor to drive the cutting tool to return to the initial position. And finally, the pineapple picking device is transferred to a pineapple collecting point under the control of the mechanical arm, the control system controls the clamping servo motor to rotate reversely, the clamping piece is loosened to the initial position, and the pineapples fall to the pineapple collecting point. Thus completing the picking work of the pineapples.
Example two
The embodiment relates to a pineapple picking vehicle-mounted robot, an end effector of the pineapple picking robot is an integrated pineapple picking device for clamping and cutting in the first embodiment, the pineapple picking robot is fixedly connected with a mechanical driving arm of the pineapple picking device through a connecting support on an upper annular supporting plate of the integrated pineapple picking device for clamping and cutting, meanwhile, a controller of the pineapple picking robot is electrically connected with a control circuit of the integrated pineapple picking device for clamping and cutting, and a software program is connected in a software mode. The using method of the embodiment comprises the following steps: the pineapple picking robot drives a mechanical arm to adjust the position of a picker through a pineapple visual identification and positioning system, and moves the picker to reach a crown She Dingbu of a pineapple; the driving picking device moves downwards from the top of the crown leaves of the pineapple to enable the lower layer of annular support plate to reach the stem of the pineapple (the stem of the pineapple is determined through the photoelectric sensor), then the clamping and cutting integrated pineapple picking device finishes clamping and cutting operation of the pineapple, then the mechanical arm of the pineapple picking robot moves to a pineapple collecting point, and then the clamping and cutting integrated pineapple picking device is controlled to lift off the pineapple fruits.
The embodiment is the same as the first embodiment except for the points mentioned above.
EXAMPLE III
The embodiment relates to a pineapple picking flying robot, namely the carrier in the second embodiment is replaced by a pineapple picking flying robot (namely an unmanned aerial vehicle), the pineapple picking flying robot comprises a flying component at the upper part and landing gears at the lower part, and a pineapple picker integrated with clamping and cutting is arranged at the bottom of the flying component and between the left landing gear and the right landing gear.
The embodiment is not mentioned and is the same as the embodiment.
Example four
The embodiment relates to a clamp-cut integrated pineapple picking method, which is characterized in that a clamp-cut integrated pineapple picker in the embodiment I is applied, the pineapple picker downwards sleeves pineapple fruits from the tops of crown leaves of the pineapple fruits, the pineapple fruits are clamped tightly through arc-shaped clamping pieces, and the stems of the pineapple fruits are cut through a cutter; the piezoelectric sensor on the arc-shaped clamping piece clamping surface transmits an electric signal to the driving motor controller, the driving motor controller controls the clamping driving motor to drive the arc-shaped clamping piece to move, and the driving motor controller controls the cutting driving motor to drive cutting.
The embodiment is the same as the first embodiment except for the points mentioned above.
In addition to the above embodiments, the present invention may also adopt a combination of multiple clips as the clamping mechanism, or adopt clips made by 3D printing of novel materials, meanwhile, the clamping driving mechanism of the present invention may adopt other existing technologies as alternatives, and any alternative schemes of driving the clamping mechanism by a link mechanism, a chain transmission mechanism, a belt transmission mechanism, a cylinder piston mechanism, etc. are within the protection scope of the present invention.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. The utility model provides a ware is picked to integrative pineapple of pinching cuts which characterized in that: comprises a three-dimensional frame, a clamping device and a cutting device; the three-dimensional frame is an annular hollow frame; the clamping device is arranged on the three-dimensional frame and comprises at least two clamping pieces which are circumferentially arranged in a surrounding manner and a clamping driving mechanism for driving the clamping pieces in the three-dimensional frame to move between an inner clamping position and an outer initial position, and when the clamping pieces are positioned at the initial positions, a channel for pineapple fruits to pass through is formed between the clamping pieces and an opening of the three-dimensional frame; the cutting device is arranged on the three-dimensional frame, comprises a cutting tool positioned below the clamping piece and also comprises a cutting driving mechanism for driving the cutting tool to transversely sweep or leave the channel;
the three-dimensional frame comprises an upper layer annular support plate, a middle layer annular support plate and a lower layer annular support plate, wherein the upper layer annular support plate, the middle layer annular support plate and the lower layer annular support plate are all horizontally arranged and are provided with circular through holes with the circle centers in the same position in the overlooking direction; the three-dimensional frame further comprises a plurality of support plate connecting rods, the support plate connecting rods are vertically arranged, the top ends of the support plate connecting rods are fixedly connected with the upper layer annular support plate, the bottom ends of the support plate connecting rods are fixedly connected with the lower layer annular support plate, the support plate connecting rods penetrate through the middle layer annular support plate and are fixedly connected with the middle layer annular support plate, and the support plate connecting rods are uniformly distributed on the outer side of the circular through hole; a clamping driving connecting plate for mounting a clamping driving mechanism is arranged on the outer side of the middle-layer annular support plate, and a cutting driving connecting plate for mounting a cutting driving mechanism is arranged on the outer side of the lower-layer annular support plate;
the cutting tool is arranged below the lower bottom surface of the lower layer annular support plate, the cutting driving mechanism is fixedly arranged above the cutting driving connecting plate, a through hole for an output shaft of the cutting driving mechanism to penetrate out is formed in the cutting driving mechanism, and the output shaft of the cutting driving mechanism is fixedly connected with the rotating end of the cutting tool;
the number of the clamping pieces is two; the clamping device is arranged between the middle-layer annular support plate and the lower-layer annular support plate, the clamping device further comprises a driving gear, a driven gear ring and two push rods, the driving gear is fixedly connected with the output end of the clamping driving mechanism, the driven gear ring is meshed with the driving gear, the driven gear ring is sleeved on the outer side of the middle-layer annular support plate, the driven gear ring is rotatably connected with the middle-layer annular support plate, the clamping pieces are rotatably connected with the middle-layer annular support plate and the lower-layer annular support plate through rotating shafts fixedly arranged between the middle-layer annular support plate and the lower-layer annular support plate, one end of each push rod is hinged to the driven gear ring, the other end of each push rod is rotatably connected with the clamping pieces, and the two clamping pieces are symmetrically distributed along a vertical axis where the circular through hole is; the clamping driving mechanism is fixedly arranged above the clamping driving connecting plate;
the clamping piece comprises an arc-shaped surface and a straight surface, the arc-shaped surface is arranged at a position far away from the rotating shaft, the straight surface is arranged at a position close to the rotating shaft, the rotating shaft is arranged at the tail end of the straight surface, an included angle between the arc-shaped surface and the straight surface faces the circular through hole, and the arc-shaped surface and the straight surface form a sickle-shaped structure surrounding the circular through hole; one side of the clamping piece close to the circular through hole is provided with an elastic gasket, the elastic gasket is tightly attached to the arc surface and the straight surface of the clamping piece, and one side of the elastic gasket close to the circular through hole is a smooth arc surface.
2. A pinching and cutting integrated pineapple picker according to claim 1, wherein: the cutting tool comprises an arc-shaped blade and a tool handle, the tool face of the arc-shaped blade, which is close to one side of the circular through hole, is the same as the shape of the outer circumferential arc surface of the circular through hole, and the rotating end of the tool handle is fixedly connected with an output shaft of the cutting driving mechanism.
3. A pinching and cutting integrated pineapple picker according to claim 1, wherein: still include piezoelectric sensor, piezoelectric sensor's quantity corresponds with the quantity of clamping piece, all is provided with a piezoelectric sensor on the medial surface of every clamping piece.
4. A pinching and cutting integrated pineapple picker according to claim 1, wherein: the upper annular support plate is provided with a connecting support used for being connected with the movable equipment, the connecting support is vertically arranged, and the connecting support is provided with a plurality of connecting holes.
5. A pineapple picking robot is characterized in that: the end effector of the pineapple picking robot is the integrated pineapple picking device of any one of claims 1 to 4, and the pineapple picking device is combined with a pineapple picking vehicle-mounted mechanical arm or a pineapple picking aircraft by changing a connecting support structure to form the pineapple picking vehicle-mounted robot or the pineapple picking flying robot.
6. A pineapple picking method integrating clamping and cutting is characterized in that: applying a clamp-cut integrated pineapple picker according to any one of claims 1 to 4, wherein the pineapple picker moves downwards from the top of the crown of the pineapple fruit to cover the pineapple fruit, clamps the pineapple fruit through an arc-shaped clamping piece, and cuts the stem of the pineapple fruit through a cutter; the piezoelectric sensor on the clamping surface of the arc-shaped clamping piece transmits an electric signal to the driving motor controller, the driving motor controller controls the clamping driving motor to drive the motion stroke of the arc-shaped clamping piece, and the driving motor controller controls the cutting driving motor to drive cutting; after the pineapple stalks are cut off, the pineapple stalks are moved to a pineapple collecting point and the clamping pieces are loosened to throw the pineapples.
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| CN114902866B (en) * | 2022-03-31 | 2023-10-27 | 重庆市农业科学院 | Common head cabbage picking device and picking method |
| CN114731847B (en) * | 2022-04-30 | 2023-06-27 | 浙江工业大学 | Turnover type automatic picking mechanism suitable for melon crops |
| US20240147903A1 (en) * | 2022-11-03 | 2024-05-09 | Automated Harvesting Solutions, LLC | End effector for harvesting plants |
| CN117426206A (en) * | 2023-11-03 | 2024-01-23 | 北京中科原动力科技有限公司 | Picking manipulator and picking equipment |
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