CN115968653A - A pomegranate picking actuator, picking system and picking method - Google Patents

Abstract

The invention discloses a pomegranate picking actuator, a pomegranate picking system and a pomegranate picking method, wherein the pomegranate picking actuator, the pomegranate picking system and the pomegranate picking method comprise an actuator frame ring, an inner shearing ring module is arranged on the actuator frame ring, an outer shearing ring module is sleeved on the outer side of the inner shearing ring module, the outer shearing ring module is rotationally connected with the inner shearing ring module, and the outer shearing ring module is connected with a driving unit; the fruit picking device is characterized in that inner ring shearing blades distributed in the circumferential direction are arranged on the inner shearing ring module, outer ring shearing blades distributed in the circumferential direction are arranged on the outer shearing ring module, when the outer shearing ring module rotates along the circumferential direction of the inner shearing ring module, the inner ring shearing blades and the outer ring shearing blades are in an opening state or a closed state, the picking ring array is in a circle of shearing blades, specific angles are not needed, the picking fault tolerance rate is high, the end effector does not have clamping and other external force contact with fruits, the epidermis of the fruits cannot be damaged, and the picking efficiency is high.

Description

A pomegranate picking actuator, picking system and picking method

technical field

The invention belongs to the technical field of fruit picking, and relates to a pomegranate picking actuator, a picking system and a picking method.

Background technique

In the ripe season of pomegranates, the traditional manual picking method consumes a lot of labor, but the picking efficiency is low. At present, the existing automatic picking equipment uses the manipulator to hold and drag the pomegranate fruits from the branches, and will pick them in the The pomegranates are placed in the fruit collection box. The whole process has redundant steps and takes a long time. Although some automatic picking devices adopt the scissors shear actuator scheme, the single shear implementation scheme requires high positioning accuracy of the shear point. , in the face of complex production conditions of pomegranates, the accuracy will be reduced, and the picked pomegranates need to be put back into the fruit collector one by one after picking. The order of fruit distribution disturbs the accuracy of fruit picking, and the contact clamping picking scheme is easy to damage the fruit skin, resulting in a decrease in the whole fruit rate. At the same time, the existing pipeline extraction scheme can only be used for fruit with low connection strength When picking the fruit, when the pomegranate stalk is relatively thick, this picking method is not easy to quickly separate the pomegranate from the stalk, which reduces the efficiency of picking.

Contents of the invention

The purpose of the present invention is to solve the redundant and cumbersome picking process of pomegranates in the prior art, which takes a long time to pick, and the single shearer execution scheme requires high positioning accuracy of the shear point, which cannot flexibly adapt to the complex production of pomegranates. In addition, the growth sequence of the identified pomegranate will be disturbed due to dragging or the skin of the pomegranate will be damaged due to clamping and picking. To solve the problem, a pomegranate picking actuator, picking system and picking method are provided.

In order to achieve the above object, the present invention adopts the following technical solutions to achieve:

A pomegranate picking actuator, comprising an actuator frame ring, an inner shearing ring module is arranged on the actuator frame ring, an outer shearing ring module is sleeved on the outer side of the inner shearing ring module, and the outer shearing ring module is The cutting ring module is rotatably connected to the inner shearing ring module, and the outer shearing ring module is connected to the drive unit;

The inner shearing ring module is provided with circumferentially distributed inner ring shearing blades, and the outer shearing ring module is provided with circumferentially distributed outer ring shearing blades. When the ring cutting module rotates circumferentially, the inner ring shearing blade and the outer ring shearing blade are in an open-close state or a closed state.

A further improvement of the present invention is:

The inner shear ring module includes an inner shear ring, the inner shear ring is arranged on the actuator frame ring, and the inner ring shear blade is arranged on the inner shear ring;

The inner shearing ring is provided with circumferentially distributed bearings, the bearings are located below the shearing blades of the inner ring, and the inner shearing ring is rotatably connected to the outer shearing ring module through the bearings.

The outer shear ring module includes an outer rotating ring, and the inner side of the outer rotating ring is provided with a bearing support groove that is matched with the bearing;

A gear ring is sheathed on the outer side of the outer rotating ring, and the gear ring is connected with the drive unit;

The outer ring shearing blades are arranged on the outer rotating ring.

A bearing opening is opened on the side wall of the inner shearing ring, and the bearing is arranged in the bearing opening;

The outer side wall of the bearing is correspondingly connected with the bearing support groove.

The drive unit includes an actuator power motor connected to the actuator frame, the output end of the actuator power motor is provided with a motor end gear, and the motor end gear meshes with the gear ring.

A pomegranate picking system, comprising the actuator according to the present invention, the actuator is connected to a mechanical arm, and the mechanical arm is connected to a support frame assembly;

The lower end of the actuator is connected to the collecting unit.

The further improvement of the picking system disclosed in the present invention is:

The collection unit includes a collection pipe, one end of the collection pipe is connected to the actuator, and the other end is connected to the collection box;

The collection box is installed on the support frame assembly.

The support frame assembly includes a chassis, the lower end of the chassis is provided with moving wheels, the upper end of the chassis is provided with a robot support frame, and the mechanical arm is arranged on the robot support frame;

The collection box is installed on the chassis.

The mechanical arm is provided with a camera.

A kind of pomegranate picking method, comprises the following steps:

The robotic arm moves the actuator to where the pomegranate is, keeping the pomegranate inside the inner shear ring module;

The mechanical arm rotates the actuator so that the inner ring shear blade and the outer ring shear blade are close to the pomegranate handle. Between the inner ring shear blade and the outer ring shear blade;

Start the drive unit, and the drive unit drives the outer shearing ring module to rotate along the inner ring shearing blades. At this time, the inner ring shearing blades and the outer ring shearing blades are gradually closed until the pomegranate stalk is cut off and the picking is completed.

Compared with the prior art, the present invention has the following beneficial effects:

The invention discloses a pomegranate picking actuator. The actuator frame ring is used as a support, and an inner shearing ring module and an outer shearing ring module are sequentially arranged on the actuator frame ring from the inside to the outside. When the cutting ring module rotates along the inner cutting ring module, the relative positional relationship between the inner ring cutting blade and the outer ring cutting blade can be changed, thereby realizing the locking and cutting of the pomegranate stalk, which can be adapted to any thickness of the fruit stalk, and at the same time Both the inner ring shearing blades and the outer ring shearing blades are distributed in the circumferential direction, and there are multiple distributions. There is no need to set a specific angle when picking. Just adjust the angle of the actuator to snap the fruit stem into any set of blades Between groups, the requirements for angular positioning accuracy are low, and the picking error tolerance rate is high, which can adapt to the complex growth conditions of pomegranates, and in the process of picking, the pomegranate itself can be cut off without clamping and fixing the pomegranate itself. The skin of the pomegranate will not be damaged, the fruit rate of the pomegranate is high, and the picking efficiency is high, which ensures the integrity of the pomegranate. The actuator can adapt to picking pomegranates in different growth conditions. The picking process is simple and the picking time is saved.

The invention also discloses a pomegranate picking system. The actuator is controlled by a mechanical arm, and the cutting angle of the actuator can be quickly changed according to the actual growth of the pomegranate. At the same time, a collection unit is connected to the lower end of the actuator, and the pomegranate can be directly entered after cutting. In the collection unit, there is no need to clamp the pomegranates, which not only saves the step of picking the pomegranates and putting them back into the fruit collector one by one, shortens the picking time, but also reduces the damage to the pomegranate skin.

Furthermore, in the pomegranate picking system disclosed in the present invention, the collection unit is connected to the collection box through the collection pipe, and the collection pipe can be adjusted in length according to the height of picking, as a buffer part in the middle, which can not only guide the pomegranate into the collection box, but also avoid The skin of the pomegranate is bumped, which increases the fruiting rate of the pomegranate.

Further, in the pomegranate picking system disclosed in the present invention, a camera is installed on the mechanical arm, and the camera can obtain the growth position of the pomegranate in real time, and quickly move the actuator to pick the pomegranate according to the acquired growth position, which saves labor and has higher picking efficiency .

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 is a structural diagram of the pomegranate picking actuator of the present invention;

Fig. 2 is the explosive exploded view of the pomegranate picking actuator of the present invention;

Fig. 3 is an explosion diagram of the inner shear ring module of the present invention;

Fig. 4 is the top view of the inner shear ring module of the present invention;

Fig. 5 is a structural diagram of the inner shear ring of the present invention;

Fig. 6 is a partially enlarged view at B of Fig. 5 in the present invention;

Fig. 7 is a partial enlarged view at C of Fig. 5 in the present invention;

Fig. 8 is a partial enlarged view at D of Fig. 5 in the present invention;

Figure 9 is an exploded view of the outer shear ring module of the present invention;

Fig. 10 is a partially enlarged view at A of Fig. 9 in the present invention;

Fig. 11 is a structural diagram of the open state of the upper inner ring shear blade and the outer ring shear blade of the actuator of the present invention;

Fig. 12 is a structural diagram of the closed state of the inner ring shear blade and the outer ring shear blade on the actuator of the present invention;

Fig. 13 is a structural diagram of the pomegranate picking system of the present invention.

1-Actuator, 2-Collection pipeline, 3-Robot support frame, 4-Chassis, 5-Collection box, 6-Robot arm;

100-outer shear ring module;

101-outer ring shear blade, 102-outer rotating ring, 103-gear ring, 104-bearing support groove, 105-outer ring blade groove;

110-inner shear ring module;

111-inner shearing ring, 112-bearing, 113-inner ring shearing blade, 114-bearing support seat, 115-inner shearing ring blade groove, 116-bearing piercing;

120-actuator frame ring, 121-actuator power motor, 122-motor end gear, 123-wrist adapter seat, 124-wrist extension rod, 125-visual support frame, 126-camera.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "horizontal", "inside" etc. is based on the orientation or positional relationship shown in the drawings , or the orientation or positional relationship that the product of the invention is usually placed in use is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed in a specific orientation and operation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In addition, when the term "horizontal" appears, it does not mean that the part is required to be absolutely horizontal, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the embodiments of the present invention, it should also be noted that, unless otherwise specified and limited, the terms "setting", "installation", "connection" and "connection" should be interpreted in a broad sense, for example, It can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The present invention is described in further detail below in conjunction with accompanying drawing:

Referring to FIG. 1 , the embodiment of the present invention discloses a pomegranate picking actuator. The actuator adopts a pair of hollow shearing rings, and a group of shearing blades are respectively arrayed in the circumferential direction on the two shearing rings. The inner shearing ring is fixed on the main frame of the actuator, and the outer shearing ring can be rotated by the motor through the gear set. The three-dimensional camera configured on the actuator is used to identify the position of the pomegranate on the tree. Cut the center of the ring over the center of the pomegranate. The end effector is tilted, and the pomegranate stalk can be placed between the inner ring cutting blade and the outer ring cutting blade, and the pomegranate stalk can be cut off when the cutting ring is closed. Pomegranates fall into the hollow shear ring and pass through the collection pipe into the fruit collection box

Referring to Figures 1-2, the embodiment of the present invention discloses a pomegranate picking actuator, including an actuator frame ring 120, an inner shear ring module 110 is arranged on the actuator frame ring 120, and the inner shear ring module The outer side of 110 is provided with an outer shearing ring module 100, the outer shearing ring module 100 is rotationally connected with the inner shearing ring module 110, and the outer shearing ring module 100 is connected to the drive unit; the inner shearing ring module 110 is provided with circumferentially distributed inner ring shear blades 113, and the outer shear ring module 100 is provided with circumferentially distributed outer ring shear blades 101, when the outer shear ring module 100 is along the inner shear ring When the module 110 rotates in the circumferential direction, the inner ring shearing blade 113 and the outer ring shearing blade 101 are in an open or closed state.

Referring to Fig. 3 to Fig. 8, further, in the embodiment of the present invention, the specific structure of the inner shearing ring module 110 is:

The inner shearing ring module 110 includes an inner shearing ring 111, the inner shearing ring 111 is coaxially fitted and fixedly installed together with the actuator frame ring 120, the side wall of the inner shearing ring 111 is provided with an inner shearing ring Blade slots 115 , each inner ring shearing blade slot 115 is fixed with a corresponding inner ring shearing blade 113 .

Further, the inner shear ring 111 is provided with seven bearing support seats 114 in the circumferential direction, the bearing support seats 114 are located below the blade groove 115 of the inner shear ring, and each bearing support seat 114 is provided with a corresponding bearing opening 116, a bearing 112 is arranged in the bearing opening 116.

Further, there are seven bearing supports 114 and fourteen inner shearing ring blade grooves 115. The number of bearing supports 114 and inner shearing ring blade grooves 115 can be adjusted according to actual needs.

Referring to Fig. 7 to Fig. 8, further, in the embodiment of the present invention, the specific structure of the outer shear ring module 100 is:

The outer shearing ring module 100 includes an outer rotating ring 102, the outer rotating ring 102 is sleeved on the outer side of the inner shearing ring 111, and the inner side wall of the outer rotating ring 102 is provided with a bearing support groove 104 corresponding to the bearing 112, and the bearing 112 and The bearing support groove 104 is tangentially matched, and the side wall of the bearing 112 can be snapped into the bearing support groove 104 , so that the bearing support groove 104 can rotate along the bearing 112 circumferential direction.

Referring to Fig. 9 to Fig. 10, further, an outer ring blade groove 105 is provided in the circumferential direction on the side wall of the outer rotating ring 102, and a corresponding outer ring shear blade 101 is fixedly installed in each outer ring blade groove 105, and the outer ring The ring shear blade 101 and the inner ring shear blade 113 constitute the shear opening of the actuator.

Further, the number of blade grooves 105 in the outer ring is the same as the number of blade grooves 115 in the inner shearing ring.

Further, a gear ring 103 is sleeved on the outer side of the outer rotating ring 102, and the gear ring 103 is connected with the driving unit.

Further, in the embodiment of the present invention, the specific structure of the drive unit is:

The drive unit includes an actuator power motor 121, the actuator power motor 121 is installed on the 120 actuator frame ring, the motor end gear 122 is installed on the power output shaft of the actuator power motor 121, and the motor end gear 122 meshes with the gear ring 103, Complete the rotation transmission from 121 actuator power motor to 100 outer shearing ring module 100.

Further, under the action of the 121 actuator power motor, the outer shear ring module 100 can rotate on the inner shear ring module 110, and fourteen outer ring shear blades 101 and fourteen inner ring shear blades 113 are composed Fourteen groups of shearing kinematic pairs are provided. When the outer shearing ring module 100 rotates along the inner shearing ring module 110, the distance between the outer ring shearing blade 101 and the inner ring shearing blade 113 can be changed to make the inner and outer rings The two sets of blades are either open or closed, see Figures 11-12.

Referring to Fig. 13, the embodiment of the present invention also discloses a pomegranate picking system, the actuator 1 is connected to the mechanical arm 6, the mechanical arm 6 is connected to the support frame assembly, and the lower end of the actuator 1 is connected to the collection unit.

Further, the actuator frame ring 120 is installed on the wrist adapter seat 123 as the main structural plate of the actuator 1, the wrist adapter seat 123 is connected with one end of the wrist extension rod 124, and the other end of the wrist extension rod 124 Connected to the end of the mechanical arm 6.

Further, a visual support frame 125 is fixed on the wrist extension rod 124, and a camera 126 is installed on the visual support frame 125. The camera 126 is used as a visual perception module of the end effector to obtain the growth status of the pomegranate.

Further, the collection unit includes a collection pipe 2 , one end of the collection pipe 2 is connected to the lower end of the actuator 1 , and the other end is connected to the collection box 5 .

Further, the support frame assembly includes a chassis 4. The lower end of the chassis 4 is connected to the moving wheel, which is a wheeled chassis. It is convenient to move at any time as a platform for the entire system. The upper end of the chassis 4 is provided with a robot support frame 3, and the mechanical arm 6 is fixed on the robot support. on frame 3.

The embodiment of the present invention also discloses a pomegranate picking method, comprising the following steps:

When picking, the camera 126 realizes the position of the pomegranate on the tree, the mechanical arm 2 moves the actuator 1 to the spatial position where the center of the picking ring coincides with the center of the pomegranate fruit, and the mechanical arm 6 rotates along the axis of the wrist extension rod 124 to move the Any one group in the fourteen groups of shearing pairs is close to the fruit handle of pomegranate, so that the fruit handle of pomegranate is between the inner ring shear blade 113 and the outer ring shear blade 101, and now the inner ring shear blade 113 and the outer ring shear blade 101 The outer ring shearing blade 101 is in an open and closed state, see FIG. 11 .

Further start the actuator power motor 121, the outer rotating ring 102 gradually rotates along the inner shearing ring 111, and the distance between the inner ring shearing blade 113 and the outer ring shearing blade 101 gradually becomes smaller until the fruit stalk of the pomegranate is cut off , referring to Fig. 12; the pomegranates cut off the stalks fall into the collection pipeline 2 at the lower end of the actuator 1, and enter the collection box 5 along the collection pipeline 2 to complete the picking and collection tasks of pomegranates.

The end effector disclosed in the embodiment of the present invention integrates picking and collecting. During the picking process, it is only necessary to put the cutting ring on the pomegranate and twist the wrist, and the motor drives the outer ring to rotate to cut off the pomegranate fruit stalk, and the picking ring is arrayed for one circle. The shearing blade does not require a specific angle, and the fruit handle can be inserted between the blade groups at any deflection angle, and the picking error tolerance rate is high; the end effector has no external force contact with the fruit, such as clamping, and will not cause damage to the skin of the fruit. The pomegranates whose stalks have been cut off fall into the center of the actuator and then enter the collection box along the collection pipeline. There is no need for an end effector to reciprocate the fruit into the collection box, which improves the collection efficiency.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A kind of pomegranate picking actuator is characterized in that, comprises actuator frame ring (120), and described actuator frame ring (120) is provided with inner shearing ring module (110), and described inner shearing ring module The outer side of (110) is sheathed with outer shearing ring module (100), and described outer shearing ring module (100) is rotatably connected with inner shearing ring module (110), and described outer shearing ring module (100) is connected Drive unit; The inner shearing ring module (110) is provided with circumferentially distributed inner ring shearing blades (113), and the outer shearing ring module (100) is provided with circumferentially distributed outer ring shearing blades (101 ), when the outer shearing ring module (100) rotates circumferentially along the inner shearing ring module (110), the inner ring shearing blade (113) and the outer ring shearing blade (101) are opened and closed state or closed state. 2. A kind of pomegranate picking implement according to claim 1, is characterized in that, described inner shearing ring module (110) comprises inner shearing ring (111), and described inner shearing ring (111) is arranged on On the actuator frame ring (120), the inner ring shear blade (113) is arranged on the inner shear ring (111); The inner shearing ring (111) is provided with circumferentially distributed bearings (112), the bearings (112) are located below the inner ring shearing blades (113), and the inner shearing ring (111) passes through the bearing (112) is rotationally connected with the outer shear ring module (100). 3. A kind of pomegranate picking implement according to claim 2, is characterized in that, described outer shearing ring module (100) comprises outer rotating ring (102), and the inner side of described outer rotating ring (102) is provided with A bearing support groove (104) that is matched and connected with the bearing (112); A gear ring (103) is sheathed on the outer side of the outer rotating ring (102), and the gear ring (103) is connected with a drive unit; The outer ring shearing blade (101) is arranged on the outer rotating ring (102). 4. A kind of pomegranate picking actuator according to claim 3, characterized in that, the side wall of the inner shearing ring (111) is provided with a bearing opening (116), and the bearing (112) is arranged on Inside the bearing hole (116); The outer side wall of the bearing (112) is correspondingly connected with the bearing support groove (104). 5. A kind of pomegranate picking implement according to claim 3, is characterized in that, described driving unit comprises actuator power motor (121), and described actuator power motor (121) is connected with actuator frame (120) , the output end of the actuator power motor (121) is provided with a motor end gear (122), and the motor end gear (122) meshes with the gear ring (103). 6. A pomegranate picking system, is characterized in that, comprises actuator (1) as claimed in claim 1, and described actuator (1) connects mechanical arm (6), and described mechanical arm (6) connects support frame components; The lower end of the actuator (1) is connected to the collection unit. 7. A kind of pomegranate picking system according to claim 6, characterized in that, the collection unit comprises a collection pipe (2), one end of the collection pipe (2) is connected to the actuator (1), and the other end is connected to the collection box (5); The collection box (5) is installed on the support frame assembly. 8. A kind of pomegranate picking system according to claim 7, is characterized in that, described support frame assembly comprises chassis (4), and described chassis (4) lower end is provided with moving wheel, and the upper end of described chassis (4) A robot support frame (3) is provided, and the mechanical arm (6) is arranged on the robot support frame (3); The collection box (5) is installed on the chassis (4). 9. A kind of pomegranate picking system according to claim 6, characterized in that a camera (126) is arranged on the mechanical arm (6). 10. a kind of pomegranate picking method according to claim 6, is characterized in that, comprises the following steps: The mechanical arm (6) moves the actuator (1) to the position where the pomegranate is located, keeping the pomegranate inside the inner shearing ring module (110); The mechanical arm (6) rotates the actuator (1), so that the inner ring shear blade (113) and the outer ring shear blade (101) are close to the fruit handle of the pomegranate, and now the inner ring shear blade (113) and the outer ring The shearing blade (101) is in the opening and closing state, and the actuator (1) is moved until the fruit handle is between the inner ring shearing blade (113) and the outer ring shearing blade (101); Start the drive unit, the drive unit drives the outer shear ring module (100) to rotate along the inner ring shear blade (113), at this time the inner ring shear blade (113) and the outer ring shear blade (101) are gradually closed until Cut off the stalk of the pomegranate to finish picking.

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