CN116018934B - Spherical fruit shearing and swallowing device, robot and harvesting method - Google Patents
Spherical fruit shearing and swallowing device, robot and harvesting method Download PDFInfo
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- CN116018934B CN116018934B CN202211668317.3A CN202211668317A CN116018934B CN 116018934 B CN116018934 B CN 116018934B CN 202211668317 A CN202211668317 A CN 202211668317A CN 116018934 B CN116018934 B CN 116018934B
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 115
- 230000009747 swallowing Effects 0.000 title claims abstract description 66
- 238000010008 shearing Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000003306 harvesting Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 9
- 230000009748 deglutition Effects 0.000 abstract description 14
- 239000012636 effector Substances 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 241000132456 Haplocarpha Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000152 swallowing effect Effects 0.000 description 1
Abstract
The invention discloses a shearing and swallowing device for spherical fruits, a robot and a harvesting method, comprising the following steps: the fixed grabbing module comprises grabbing fingers, a finger driving mechanism and a shearing blade, wherein the finger driving mechanism drives the grabbing fingers to wrap fruits, the shearing blade is arranged on the grabbing fingers and can shear wrapped fruit stalks, and after the grabbing fingers are cut off, the fruits are pressed into the swallowing module by the grabbing fingers; the deglutition module at least comprises three groups of deglutition sub-modules, each deglutition sub-module comprises a first driving motor and a telescopic deglutition sheet, the telescopic deglutition sheets are driven to rotate by the first driving motor, when fruits are pressed into the deglutition module, the first driving motor drives the telescopic deglutition sheets to swallow the fruits, and the fruits are transferred to the next procedure. The invention can effectively solve the problem of low picking efficiency of the traditional picking end effector.
Description
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a shearing and swallowing device for spherical fruits, a robot and a harvesting method.
Background
During picking and collecting of the fruit, the fruit skin may be damaged due to insufficient flexibility of the end effector picking member.
Picking and collecting fruits is the most time-consuming and laborious link in the whole production campaign. Traditional end effectors can only pick single fruits at a time in a complete execution period, and the method has the advantages of high energy consumption and low picking efficiency. .
Disclosure of Invention
The embodiment of the application aims to provide a shearing and swallowing device, a robot and a harvesting method for spherical fruits, which are used for solving the technical problem of low harvesting and collecting efficiency in the related technology.
According to a first aspect of embodiments of the present application, there is provided a shearing and swallowing device for spherical fruits, comprising:
The fixed grabbing module comprises grabbing fingers, a finger driving mechanism and a shearing blade, wherein the finger driving mechanism drives the grabbing fingers to wrap fruits, the shearing blade is arranged on the grabbing fingers and can shear wrapped fruit stalks, and after the grabbing fingers are cut off, the fruits are pressed into the swallowing module by the grabbing fingers;
The deglutition module at least comprises three groups of deglutition sub-modules, each deglutition sub-module comprises a first driving motor and a telescopic deglutition sheet, the telescopic deglutition sheets are driven to rotate by the first driving motor, when fruits are pressed into the deglutition module, the first driving motor drives the telescopic deglutition sheets to swallow the fruits, and the fruits are transferred to the next procedure.
Further, the grabbing fingers comprise shearing fingers and squeezing fingers, and the shearing fingers and the squeezing fingers respectively grab fruits through respective finger driving mechanisms.
Further, the shearing blade is arranged on the shearing finger, and the squeezing finger and the shearing blade can form a shearing surface.
Further, the finger driving mechanism comprises a second driving motor and a transmission mechanism, and the power of the second driving motor is transmitted to the grabbing finger through the transmission mechanism.
Further, the transmission mechanism is a bevel gear transmission mechanism.
Further, the retractable swallow tablet comprises:
The base is driven by the first driving motor to rotate;
one end of the spring is fixed on the base;
And the swallowing part is fixed at the other end of the spring.
Further, the fruit conveying device also comprises a conveying module, wherein the conveying module comprises a conveying channel and a fruit output channel which are communicated, and after the fruits are conveyed to the conveying module, the fruits are conveyed to the fruit output channel through the conveying channel.
Further, an end fixing part is also included for fixing the shearing swallowing device of the spherical fruit on the working unit.
According to a second aspect of embodiments of the present application, there is provided a robot comprising a shearing and swallowing device for spherical fruits according to the first aspect.
According to a third aspect of embodiments of the present application, there is provided a method of harvesting spherical fruits, the method being implemented in an apparatus according to the first aspect, the method comprising:
Step 1: the finger driving mechanism drives the grabbing fingers to gradually wrap the fruits, in the process, the wrapped fruit stalks are sheared by the shearing blades, and after the fruits are cut off, the grabbing fingers press the fruits into the swallowing module;
step2: when fruits are pressed into the swallowing module, the first driving motor drives the telescopic swallowing piece to swallow the fruits, and then harvesting is completed.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
According to the embodiment, the flexible fruit picking part is adopted, so that the damage of the traditional fruit picking end effector to the surface of the fruit is overcome, and the effect of protecting the surface of the fruit is further achieved; the original active shearing swallowing method is adopted, the problem that the traditional picking is time-consuming and low-efficiency is solved, and the effect of improving the picking efficiency is achieved; the motor is used as a driving piece, so that the problem of overlarge pneumatic device is solved, and the effect of shrinking the device is achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
Fig. 1 is an overall schematic diagram of a shearing swallowing device for spherical fruits, according to an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating a bevel gear mesh drive according to an exemplary embodiment.
Fig. 3 is a schematic diagram illustrating a process of shearing fruit stalks according to an exemplary embodiment.
Fig. 4 is a schematic structural view of a retractable swallow tablet, according to an exemplary embodiment.
Fig. 5 is a top view of a swallowing process tablet, according to an example embodiment.
Fig. 6 is a side view illustrating a tablet swallowing process according to an exemplary embodiment.
Fig. 7 is a connection structure diagram of a driving motor and a swallowing piece according to an exemplary embodiment.
FIG. 8 is a block diagram of a collection channel shown according to an exemplary embodiment.
The reference numerals in the figures are:
1. A fixed grabbing module; 11. grabbing fingers; 12. a finger driving mechanism; 13. a shear blade; 111. shearing the finger; 112. squeezing the finger; 121. a second driving motor; 122. a transmission mechanism;
2. a swallowing module; 21. a first driving motor; 22. a retractable swallow tablet; 23. a swallowing component;
3. a transport module; 31. a transport channel; 21. a fruit output channel;
4. and a terminal fixing member.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.
Referring to fig. 1-8, an embodiment of the present invention provides a device for cutting and swallowing spherical fruits, which comprises a fixed grabbing module 1 and a swallowing module 2, wherein the fixed grabbing module 1 comprises grabbing fingers 11, a finger driving mechanism 12 and a cutting blade 13, the finger driving mechanism 12 drives the grabbing fingers 11 to wrap the fruits, the cutting blade 13 is arranged on the grabbing fingers 11 and can cut off wrapped fruit stalks, and the grabbing fingers 11 press the fruits into the swallowing module 2 after cutting off; the swallowing module 2 at least comprises three groups of swallowing sub-modules, the swallowing sub-modules comprise a first driving motor 21 and a telescopic swallowing piece 22, the telescopic swallowing piece 22 is driven to rotate by the first driving motor 21, when fruits are pressed into the swallowing module 2, the first driving motor 21 drives the telescopic swallowing piece 22 to swallow the fruits, and then the fruits are transferred to the next procedure.
According to the embodiment, through the structural design and layout of the whole end effector, the novel swallowing structure is provided, the problem that the end effector of the existing fruit picking type is low in efficiency is solved, and nondestructive picking, continuous picking and collection of fruits are realized.
In an embodiment, the grabbing fingers 11 comprise a shearing finger 111 and a squeezing finger 112, and the shearing finger 111 and the squeezing finger 112 respectively grab fruits through respective finger driving mechanisms 12. The method can be used for grabbing and fixing fruits after the fruit stalks are cut, and swallowing actions after efficient connection can be achieved.
The shearing blade 13 is arranged on the shearing finger 111, the squeezing finger 112 and the shearing blade 13 can form a shearing surface, and the shearing and clamping actions are integrated by the method, so that unnecessary flow between the shearing and clamping processes is reduced.
In one embodiment, referring to fig. 2, the finger driving mechanism 12 includes a second driving motor 121 and a transmission mechanism 122, and power of the second driving motor 121 is transmitted to the grasping finger 11 through the transmission mechanism 122. When the second driving motor 121 rotates, the finger is driven to rotate together. This transmission allows the second drive motor 121 to be attached to the side of the end effector, optimizing the spatial configuration.
Specifically, the transmission mechanism 122 is a bevel gear transmission mechanism 122. The gear transmission has the characteristics of high efficiency and accuracy, and can maximize the output power of the transmission driving motor.
As shown in fig. 3, the complete fruit picking process is illustrated. The second driving motor 121 rotates the shearing finger 111 by a certain angle through bevel gear transmission, the squeezing finger 112 rotates towards the center, the fruits are squeezed to the position of the swallowing module 2, each finger has one degree of freedom, the shearing finger 111 is provided with the shearing blade 13, and the shearing finger 111 pushes the fruit handle to the squeezing finger 112 to form a shearing surface with the squeezing finger 112. The states a, b, c in fig. 3 explain the complete shearing process, d showing the shearing plane for the side view.
In an embodiment, referring to fig. 4, the retractable swallow tablet 22 includes a base, a spring and a swallow unit 23, the base being rotated by the first driving motor 21; one end of the spring is fixed on the base; the swallowing part 23 is fixed at the other end of the spring. The spring enables the telescopic swallowing piece to swallow spherical fruits with the diameter within a certain range, and the application range is enlarged.
Further, the swallowing part 23 is provided with a concave part, and the concave part is contacted with the surface of the fruit. The concave part can be attached to the surface of most spherical fruits, so that the integrity of the fruits is ensured.
In an embodiment, the fruit delivery device may further comprise a transportation module 3, wherein the transportation module 3 comprises a transportation channel 31 and a fruit delivery channel 21 which are communicated, and the fruit is transported to the transportation module 3 and then passes through the transportation channel 31 to the fruit delivery channel 21. Other pipelines can be connected to the external part for collecting fruits. Thus, the continuous picking and collecting of fruits is realized, and the phenomenon that the fruits block the pipeline is avoided.
In an embodiment, an end fixture 4 may also be included for securing the shearing swallowing device for the spherical fruit to the working unit. This provides the end effector with the ability to operate in a variety of different environments, being able to be secured to operate at a variety of different units of work.
The embodiment of the invention also provides a robot, which comprises the shearing swallowing device for the spherical fruits.
The embodiment of the invention also provides a spherical fruit harvesting method, which is realized in the device, and comprises the following steps:
step 1: the finger driving mechanism 12 drives the grabbing fingers 11 to gradually wrap fruits, in the process, the wrapped fruit stalks are cut off through the cutting blades 13, and after the fruit stalks are cut off, the grabbing fingers 11 press the fruits into the swallowing module 2;
step 2: when the fruits are pressed into the swallowing module 2, the first driving motor 21 drives the telescopic swallowing piece 22 to swallow the fruits, and then harvesting is completed.
As shown in fig. 5 and 6, the state of the tablet at the time of swallowing is exhibited. In the initial state, the first driving motor 21 drives the telescopic swallowing piece 22 to incline upwards, the swallowing part 23 faces to the fruits, when the fruits are contacted with the fruits and the fruit stalks are cut, the first driving motor 21 is used for carrying out downward rotation and movement, the springs are compressed during the downward rotation and movement, the pressure and friction force of the swallowing part 23 on the fruits are enhanced to prevent the fruits from being ejected, and when the base rotates to the end point, the fruits automatically slide down and enter the transportation module 3.
As shown in fig. 8, the working principle of the transport module 3 is shown, fruits enter the transport channel 31 through the retractable tablet 22, slide down to the fruit output channel 21 by gravity, and are collected by connecting other pipes externally. Finally, the fruit is fixed on the working unit through the end fixing piece 4, and after swallowing of one fruit is completed, the fruit falls from the collecting channel shown in fig. 7, and the collection of one fruit is completed.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (9)
1. A device for cutting and swallowing spherical fruit, comprising:
The fixed grabbing module comprises grabbing fingers, a finger driving mechanism and a shearing blade, wherein the finger driving mechanism drives the grabbing fingers to wrap fruits, the shearing blade is arranged on the grabbing fingers and can shear wrapped fruit stalks, and after the grabbing fingers are cut off, the fruits are pressed into the swallowing module by the grabbing fingers;
The swallowing module at least comprises three groups of swallowing sub-modules, the swallowing sub-modules comprise a first driving motor and a telescopic swallowing piece, the telescopic swallowing piece is driven to rotate by the first driving motor, when fruits are pressed into the swallowing module, the first driving motor drives the telescopic swallowing piece to swallow the fruits, and the fruits are transferred to the next working procedure;
the retractable swallow tablet comprises:
The base is driven by the first driving motor to rotate;
one end of the spring is fixed on the base;
A swallowing part fixed at the other end of the spring; the swallowing part is provided with a concave part, and the concave part is contacted with the surface of the fruit.
2. A device for cutting and swallowing spherical fruits according to claim 1, wherein the gripping fingers comprise a cutting finger and a squeezing finger, the cutting finger and squeezing finger respectively effecting gripping of the fruit by respective finger driving mechanisms.
3. A device for cutting and swallowing spherical fruits according to claim 2, wherein the cutting blade is provided on the cutting finger, and the squeezing finger and the cutting blade form a cutting surface.
4. A device for cutting and swallowing spherical fruits according to claim 1, wherein the finger drive mechanism comprises a second drive motor and a transmission mechanism, the power of the second drive motor being transmitted to the gripping fingers through the transmission mechanism.
5. The device for cutting and swallowing spherical fruits of claim 4, wherein said transmission is a bevel gear transmission.
6. The device of claim 1, further comprising a transport module comprising a transport channel and a fruit output channel in communication, wherein the fruit is transported to the transport module and then transported through the transport channel to the fruit output channel.
7. The device for shearing and swallowing a spherical fruit as defined in claim 1, further comprising an end fixture for securing the device to the working unit.
8. A robot comprising a shearing and swallowing device for spherical fruits according to any one of claims 1 to 7.
9. A method for harvesting spherical fruits, characterized in that it is carried out in the device according to claim 1, which method comprises:
Step 1: the finger driving mechanism drives the grabbing fingers to gradually wrap the fruits, in the process, the wrapped fruit stalks are sheared by the shearing blades, and after the fruits are cut off, the grabbing fingers press the fruits into the swallowing module;
step2: when fruits are pressed into the swallowing module, the first driving motor drives the telescopic swallowing piece to swallow the fruits, and then harvesting is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211668317.3A CN116018934B (en) | 2022-12-23 | Spherical fruit shearing and swallowing device, robot and harvesting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211668317.3A CN116018934B (en) | 2022-12-23 | Spherical fruit shearing and swallowing device, robot and harvesting method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116018934A CN116018934A (en) | 2023-04-28 |
| CN116018934B true CN116018934B (en) | 2024-07-16 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN112997694A (en) * | 2021-03-26 | 2021-06-22 | 江苏大学 | Robot end effector for picking fruit flat-leaved stalks and operation method |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567815A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of gasbag-type citrus picking mechanical arm end effector and picking method |
| CN112997694A (en) * | 2021-03-26 | 2021-06-22 | 江苏大学 | Robot end effector for picking fruit flat-leaved stalks and operation method |
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