CN215898430U

CN215898430U - Tomato picking device

Info

Publication number: CN215898430U
Application number: CN202121064910.8U
Authority: CN
Inventors: 王新; 王涛; 刘义哲; 李嫚嫚
Original assignee: China Agricultural University
Current assignee: China Agricultural University
Priority date: 2021-05-18
Filing date: 2021-05-18
Publication date: 2022-02-25
Anticipated expiration: 2031-05-18

Abstract

The utility model provides a tomato picking device which comprises a telescopic adsorption component, a picking component, a first driving mechanism and a second driving mechanism, wherein the telescopic adsorption component is arranged on the picking component; the telescopic adsorption assembly comprises a rear sleeve, a telescopic rod, a sucker and a vacuum air pump, the first driving mechanism is fixedly connected with the telescopic rod, the sucker is fixed at one end of the telescopic rod, which is far away from the first driving mechanism, and the vacuum air pump is connected with the sucker; picking the subassembly and including preceding sleeve, gasbag and pump, preceding telescopic one end opening, the sucking disc is used for absorbing the tomato and passes in and out before the sleeve under first actuating mechanism's effect, preceding telescopic other end and back sleeve rotatable coupling, second actuating mechanism is used for the relative back sleeve rotation of sleeve before the drive, and the gasbag is installed in the telescopic inner wall in front, and the gasbag passes through the trachea with the pump and links to each other with the centre gripping tomato. The tomato picking device provided by the utility model has the advantages that the picked tomatoes are complete and free of damage and have no stems or leaves, the steps of subsequent food processing are simplified, and high automation and integration are embodied.

Description

Tomato picking device

Technical Field

The utility model relates to the technical field of crop picking, in particular to a tomato picking device.

Background

With the development of society and the pursuit of people for quality of life, the quality demand and the processing yield of tomatoes in the market are gradually improved. However, since a long time ago, due to the characteristics that the skin of the tomato is thin and easy to damage and the stem is easy to fall, the tomato is difficult to pick, and the quality of the picked tomato cannot be effectively guaranteed. With the increasing of labor cost year by year, the shortage of labor force, difficulty in picking and increasing of cost become main problems limiting the development of the tomato industry, and the mechanized harvesting with small damage and high automation degree becomes the development direction of the tomato industry in the future.

With the diversification of tomato picking equipment, the tomato picking efficiency and process directly determine the value of the tomatoes, the tomatoes are picked lightly and are preferably picked without stalks to avoid loss in transportation. However, the characteristics of tomatoes are not fully considered in the tomato picking design in the prior art, most of the picking devices mainly comprise a holder and a cutting tool, the picking efficiency is low, the stems of the tomatoes are not completely removed in the picking process, the tomatoes are harvested in a whole string after being picked, the stems and the fruits need to be separated manually, each tomato is not processed, the requirements of integration and automation cannot be met, and the tomatoes can be damaged to a certain extent in transportation, so that the selling price is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a tomato picking device, which is used for solving the problems that in the prior art, the damage rate of tomato fruits is high, the automation degree is low, and the fruit stalks need to be manually removed.

The utility model provides a tomato picking device which comprises a telescopic adsorption component, a picking component, a first driving mechanism and a second driving mechanism, wherein the telescopic adsorption component is arranged on the picking component;

the telescopic adsorption assembly comprises a rear sleeve, a telescopic rod, a sucker and a vacuum air pump, the first driving mechanism is fixedly connected with the telescopic rod, the sucker is fixed at one end of the telescopic rod, which is far away from the first driving mechanism, and the vacuum air pump is connected with the sucker;

picking the subassembly and including preceding sleeve, gasbag and pump, the one end opening of preceding sleeve, the sucking disc is used for absorbing the tomato and is in business turn over under first actuating mechanism's the effect preceding sleeve, preceding telescopic other end with back sleeve rotatable coupling, second actuating mechanism is used for the drive preceding sleeve is relative back sleeve rotates, the gasbag install in preceding telescopic inner wall, the gasbag with the pump passes through the trachea and links to each other with the centre gripping tomato.

According to the tomato picking device, one end, close to the front sleeve, of the rear sleeve is provided with the connecting pipeline, one end, close to the rear sleeve, of the front sleeve is provided with the first through hole, the bearing is installed in the first through hole, and the front sleeve is sleeved on the connecting pipeline through the bearing.

According to the tomato picking device, the sucker comprises a sucker body and a sucker pipe;

the sucker pipe penetrates through the connecting pipeline, one end of the sucker pipe is connected with the telescopic rod, and the other end of the sucker pipe is connected with the sucker body;

the vacuum air pump is positioned in the inner cavity of the rear sleeve, and the sucker pipe is connected with the vacuum air pump through a vacuum air pipe.

According to the tomato picking device, the second driving mechanism comprises a rotating motor, a first gear and a second gear, the rotating motor is mounted on one side, close to the front sleeve, of the rear sleeve, the first gear is fixedly connected with a driving shaft of the rotating motor, the second gear is sleeved on the bearing, and the first gear is meshed with the second gear.

The tomato picking device further comprises a tomato stem righting mechanism;

the tomato stem righting mechanism comprises a front fork, a conversion device and a gripper which are sequentially connected;

the gripper and the front fork are movably arranged in the inner cavity of the front sleeve, and the gripper pushes the front fork to adjust the tomato stem through the conversion device under the action of the tomatoes clamped by the air bag.

According to the tomato picking device, the conversion device comprises a wedge-shaped block, a connecting rod and a guide rail;

the guide rail is fixed on the outer wall of the front sleeve, the connecting rod is slidably mounted on the guide rail, one end of the connecting rod is connected with the hand grip through a rocker arm rod, the hand grip is rotatably connected with the rocker arm rod, and the other end of the connecting rod is fixedly connected with the wedge-shaped block;

the front fork comprises a roller, a front fork rod and a front fork body which are connected in sequence, the roller is movably connected to the wedge-shaped block, the surface of the wedge-shaped block connected with the roller is inclined to a horizontal plane or a vertical plane, and the front fork body is positioned in an inner cavity of the front sleeve.

According to the tomato picking device, the surface of the wedge-shaped block connected with the roller is provided with a groove, and the roller is movably connected with the groove; and/or

Preceding sleeve is equipped with spacing slide, spacing slide follows preceding telescopic radial extension, preceding fork arm movably wears to locate spacing slide.

According to the tomato picking device, the tomato stem righting mechanism further comprises an extension spring, one end of the extension spring is fixedly connected with the wedge-shaped block, and the other end of the extension spring is fixedly connected with the guide rail.

The tomato picking device further comprises a camera, and the camera is used for positioning the position of the tomato.

According to the tomato picking device, the surface of the air bag is provided with the pressure sensor, and the pressure sensor is in communication connection with the air pump.

According to the tomato picking device provided by the utility model, the tomatoes are adsorbed by the sucking discs, so that the grabbing stability is enhanced; the tomatoes are pulled into the front sleeve through the telescopic rod and are fixed by the air bag, so that the damage of the tomatoes in the picking process is reduced; the front sleeve rotates to unscrew the tomatoes from the tomato stems, so that the picked tomatoes are complete and free of damage and have no stems and leaves, the steps of subsequent food processing are simplified, the damage rate of the tomato fruits is reduced, the tomato picking efficiency is improved, high automation and integration are reflected, and the tomato picking robot has interchangeability with end effectors of other picking robots and strong applicability.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a tomato picking device provided by the embodiment of the utility model;

fig. 2 is a schematic structural diagram of a tomato stem righting mechanism provided by the embodiment of the utility model;

fig. 3 is a schematic structural view of a picking assembly of an embodiment of the present invention;

FIG. 4 is a schematic structural view of an airbag according to an embodiment of the present invention;

reference numerals:

1. a first drive mechanism; 2. a telescopic rod; 3. a camera; 4. a rear sleeve; 5. a vacuum air pump; 6. a rotating electric machine; 7. a tomato stem righting mechanism; 71. a wedge block; 72. a guide rail; 73. a connecting rod; 74. an extension spring; 75. a rocker arm lever; 76. a gripper; 77. a front fork body; 8. an air bag; 9. a suction cup body; 10. an inflator pump; 11. a front sleeve; 12. an electrical slip ring; 13. an air pressure sensor; 14. an electromagnetic valve; 15. a pressure sensor; 16. a first gear; 17. a second gear.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

The tomato picking device provided by the embodiment of the utility model comprises a telescopic adsorption component, a picking component, a first driving mechanism and a second driving mechanism.

As shown in fig. 1, flexible absorption assembly includes back sleeve 4, telescopic link 2, sucking disc and vacuum air pump 5, first actuating mechanism 1 and telescopic link 2 fixed connection, and the sucking disc is fixed in telescopic link 2 and keeps away from the one end of first actuating mechanism 1, and vacuum air pump 5 is connected with the sucking disc, provides the air supply for the sucking disc.

The picking assembly comprises a front sleeve 11, an air bag 8 and an inflator 10. One end opening of preceding sleeve 11 is convenient for the tomato to get into preceding sleeve 11 inner chamber, and the sucking disc is used for absorbing the tomato and passes in and out preceding sleeve 11 under the effect of first actuating mechanism 1. The other end of the front sleeve 11 is rotatably connected with the rear sleeve 4, the air bag 8 is arranged on the inner wall of the front sleeve 11, and the air bag 8 is connected with the inflator pump 10 through an air pipe to clamp the tomatoes. The inflator 10 may be mounted to the inner cavity of the front sleeve 11 or may be mounted to the outside of the front sleeve 11 as shown in fig. 1.

First actuating mechanism 1 is installed in back sleeve 4, with telescopic link 2 fixed connection, and first actuating mechanism 1 is used for driving 2 axial movements of telescopic link, and then drives the sucking disc motion. When the telescopic rod 2 extends, the sucker extends out of the front sleeve 11 to adsorb the tomatoes; when the telescopic rod 2 is shortened, the tomato is pulled into the front sleeve 11 by the sucker.

After the tomatoes enter the front sleeve 11, the air bag 8 is inflated by the inflator pump 10, and as shown in fig. 3, the inner surface of the air bag 8 forms a restraint body wrapping the tomatoes to fix the tomatoes. It should be noted that, in order to ensure the fixation effect for the tomatoes, as shown in fig. 3, the air bag 8 is installed in a cylindrical shape around the circumference of the inner wall of the front sleeve 11. A plurality of air bags 8 can be arranged on the inner wall of the front sleeve 11 in a staggered mode, and the fixation stability of the tomatoes can be guaranteed.

After the tomatoes are fixed, the vacuum air pump 5 is deflated, the suckers do not adsorb the tomatoes any more, the second driving mechanism drives the front sleeve 11 to rotate relative to the rear sleeve 4, and the tomatoes are unscrewed from the tomato stems.

The end surface of one end of the rear sleeve 4 close to the front sleeve 11 is provided with a connecting pipeline vertical to the end surface, and the connecting pipeline is of a hollow structure. One end of the front sleeve 11 close to the rear sleeve 4 is provided with a first through hole, a bearing is fixedly installed in the first through hole, and the front sleeve 11 is sleeved on the connecting pipeline through the bearing, so that the front sleeve is driven by the second driving mechanism to rotate along the axis. Bearing and connecting line fixed connection, for example adopt interference fit's mode installation, precision and stability when guaranteeing preceding sleeve 11's rotation also can prevent that preceding sleeve 11 from taking place axial motion and leading to deviating from.

The sucking disc includes sucking disc body 9 and sucking disc pipe, and the one end and the telescopic link 2 of sucking disc pipe are connected, and the other end is connected with sucking disc body 9. The sucking disc pipe is worn to locate the connecting tube way, and under the drive of telescopic link 2, the sucking disc pipe is axial linear motion along the connecting tube way.

In this embodiment, the vacuum air pump 5 and the telescopic rod 2 are both located in the inner cavity of the rear sleeve 4, and the suction cup tube is connected with the vacuum air pump 5 through a vacuum air tube. For example, the vacuum air pump 5 is installed on the inner wall of the rear sleeve 4, the telescopic rod 2 is connected with the end part of the sucker pipe, and the side wall of the sucker pipe is provided with a through hole for connecting a vacuum air pipe, so that the sucker pipe can freely stretch and retract and the suction effect of the sucker body 9 can be guaranteed. For another example, the vacuum air pump 5 is installed at the end of the telescopic rod 2, and the vacuum air pump 5 is connected with the suction cup pipe through a vacuum air pipe or directly connected with the suction cup pipe. The utility model does not limit the installation position of the vacuum air pump 5 and can provide an air source for the sucker.

An air pressure sensor 13 is arranged between the vacuum air pipe and the vacuum air pump 5 and used for determining the adsorption effect of the sucker body 9 on the tomatoes and determining the working state of the telescopic rod 2.

The second drive mechanism includes the rotary electric machine 6, the first gear 16, and the second gear 17. The rotating electric machine 6 is mounted on the side of the rear sleeve 4 near the front sleeve 11, and may be mounted on the side wall of the rear sleeve 4. The first gear 16 is fixedly connected with a driving shaft of the rotating motor 6, the second gear 17 is sleeved on the bearing and fixedly connected with the bearing, and the first gear 16 is meshed with the second gear 17. The rotating motor 6 drives the first gear 16 to rotate, and further drives the second gear 17 and the bearing outer ring to rotate, so that the front sleeve 11 fixedly connected with the bearing outer ring rotates along the axis.

After the tomatoes are pulled into the front sleeve 11, the tomato stems may be inclined to the axis of the front sleeve 11, which affects the twisted picking of the tomatoes, so the tomato picking device provided by the embodiment of the utility model further comprises a tomato stem aligning mechanism 7 for aligning the tomato stems to be parallel to the axis of the front sleeve 11, which is convenient for picking the tomatoes.

The tomato stem righting mechanism 7 comprises a front fork, a conversion device and a gripper 76 which are connected in sequence.

The gripper 76 and the front fork are movably arranged in the inner cavity of the front sleeve 11, and the gripper 76 pushes the front fork to adjust the tomato stem through the conversion device under the action of the tomatoes clamped by the air bag 8.

As shown in fig. 2, the hand grip 76 is located on the side near the rear sleeve 4 and the front fork is located on the side away from the rear sleeve 4. A conversion device is fixed to the front sleeve 11, which converts the rotational movement of the grip 76 into an axial linear movement of the front fork. After the tomatoes are pulled into the front sleeve 11, the tomatoes touch the hand grips 76 to force the hand grips 76 to swing, and the conversion device is pushed to drive the front fork to move linearly, so that the tomato stems are pressed to be parallel to the axis of the front sleeve 11, and the tomato stems are righted. The front fork can be perpendicular to the axis of the front sleeve 11, and can also be inclined towards the direction far away from the front sleeve 11, so that the tomato stem can be righted.

The switching means comprises a wedge 71, a link 73 and a guide 72. The guide rail 72 is fixed on the outer wall of the front sleeve 11 through an angle bracket, the guide rail 72 is parallel to the axle center of the front sleeve 11, the connecting rod 73 is slidably arranged on the guide rail 72, one end of the connecting rod 73 is connected with the hand grip 76 through the rocker arm 75, the hand grip 76 is rotatably connected with the rocker arm 75, and the other end of the connecting rod 73 is fixedly connected with the wedge block 71.

The front fork comprises a roller, a front fork rod and a front fork body 77 which are connected in sequence, the roller is movably connected to the wedge block 71, and the front fork body 77 is positioned in the inner cavity of the front sleeve 11. The section of the wedge block 71 along the direction parallel to the axis of the front sleeve 11 is triangular, and the surface of the wedge block 71 connected with the roller is inclined to the horizontal plane or the vertical plane.

After the tomatoes are pulled into the front sleeve 11, the tomatoes touch the hand grip 76 to force the hand grip 76 to swing, so that the connecting rod 73 horizontally moves leftwards and drives the wedge-shaped block 71 to synchronously move, the inclined surface of the wedge-shaped block 71 connected with the roller pushes the roller to move downwards to drive the front fork rod to move downwards, and the front fork body 77 presses the tomato stems to be parallel to the axis of the front sleeve 11. Note that the above "left" and "lower" are directions shown in fig. 2.

The surface of the wedge block 71 connected with the roller is provided with a groove, the roller is movably connected with the groove, for example, the roller can be embedded in the groove, the roller takes the groove as a track to move, the function of connecting the front fork with the wedge block 71 is achieved, and the wedge block 71 can push the front fork to move linearly.

Optionally, the front sleeve 11 is provided with a limit slide for limiting the movement of the front fork rod. The limiting slide way extends along the radial direction of the front sleeve 11, and the front fork rod movably penetrates through the limiting slide way and moves along the limiting slide way.

Optionally, the front sleeve 11 is further provided with a second limit slide for limiting the swing range of the rocker arm lever 75.

The tomato stem righting mechanism 7 further comprises an extension spring 74, one end of the extension spring 74 is fixedly connected with the wedge block 71, and the other end of the extension spring is fixedly connected with the guide rail 72. When the tomato is pulled into the front sleeve 11 and the link 73 moves to the left, the extension spring 74 is extended; when the tomato leaves the front sleeve 11, the extension spring 74 contracts, resetting the front fork, wedge 71, link 73 and grip 76.

In order to obtain the position of the tomato and realize the working positioning of the tomato picking device, a camera 3 is also arranged. The camera 3 can be arranged on the rear sleeve 4, also can be arranged on the front sleeve 11, and can accurately obtain the position of the tomato before picking.

For improving the accuracy of positional information, the distance between the tomato picking device and the tomato can be accurately measured, and a binocular recognition camera can be adopted.

As shown in FIG. 4, a pressure sensor 15 is mounted on the surface of the air bag 8 and used for measuring the pressure applied to the surface of the tomato, the pressure sensor 15 is in communication connection with the inflator 10, the pressure sensor 15 feeds back the pressure to the inflator 10, and the inflator 10 adjusts the working state thereof according to the pressure. As shown in fig. 3, a solenoid valve 14 is further connected between the airbag 8 and the inflator 10, and the solenoid valve 14 is installed at the outside of the front sleeve 11.

In this embodiment, a plurality of air bags 8 are used for synchronously inflating and deflating, after the air bags 8 are inflated to fix tomatoes, in order to prevent the tomatoes from being damaged due to overlarge pressure, the air bags 8 are gradually deflated in stages according to a certain gradient under the action of the electromagnetic valve 14, and until the pressure sensor 15 detects that the pressure applied to the tomatoes meets a preset pressure value, the pressure sensor 15 sends a signal to the inflator pump 10, so that the inflator pump 10 stops inflating. It should be noted that the preset pressure value is required to ensure the reliability and safety of fixing the tomatoes, so that the tomatoes can be fixed without being damaged, and the tomatoes can be finely adjusted in the position of the restraint body formed by the air bag 8.

In another embodiment, after the tomatoes are pulled into the front sleeve 11, the air bags 8 are gradually inflated step by step according to a certain gradient until the pressure sensor 15 detects that the pressure applied to the tomatoes meets a preset pressure value, the pressure sensor 15 sends a signal to the inflator pump 10 to stop the inflation of the inflator pump 10, and then the righting of the tomato stems and the screwing picking of the tomatoes are carried out.

The air bags 8 inflated or deflated in stages enable the tomatoes to be stably wrapped and can be adjusted in position, and when the tomato stem righting mechanism 7 adjusts the tomato stems, the tomatoes can be correspondingly adjusted in position finely, so that the effect of screwing and picking is guaranteed.

Preferably, the pressure sensor 15 is a resistive film pressure sensor, which is adhered to the surface of the air bag 8.

The front sleeve 11 may also be provided with an electrical slip ring 12 to transmit power and signals to prevent the wires from being twisted during the rotation of the front sleeve 11.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A tomato picking device is characterized by comprising a telescopic adsorption component, a picking component, a first driving mechanism and a second driving mechanism;

2. The tomato picking device according to claim 1, wherein a connecting pipeline is arranged at one end of the rear sleeve close to the front sleeve, a first through hole is arranged at one end of the front sleeve close to the rear sleeve, a bearing is installed in the first through hole, and the front sleeve is sleeved on the connecting pipeline through the bearing.

3. The tomato harvesting device of claim 2, wherein the suction cup comprises a suction cup body and a suction cup tube;

4. The tomato picking device according to claim 2, wherein the second driving mechanism comprises a rotating motor, a first gear and a second gear, the rotating motor is mounted on one side of the rear sleeve close to the front sleeve, the first gear is fixedly connected with a driving shaft of the rotating motor, the second gear is sleeved on the bearing, and the first gear is meshed with the second gear.

5. The tomato harvesting apparatus of claim 1, further comprising a tomato stem righting mechanism;

6. Tomato harvesting apparatus according to claim 5, characterized in that the switching means comprise a wedge block, a connecting rod and a guide rail;

the front fork comprises a roller, a front fork rod and a front fork body which are connected in sequence, the roller is movably connected with the wedge block, the surface of the wedge block connected with the roller is inclined to a horizontal plane or a vertical plane, and the front fork body is located in an inner cavity of the front sleeve.

7. Tomato harvesting apparatus according to claim 6, wherein the surface of the wedge-shaped block connected to the roller is provided with a groove, the roller being movably connected to the groove; and/or

8. The tomato harvesting device of claim 7, wherein the tomato stem righting mechanism further comprises an extension spring, one end of the extension spring is fixedly connected with the wedge block, and the other end of the extension spring is fixedly connected with the guide rail.

9. The tomato picking device of claim 1, further comprising a camera for locating the position of the tomato.

10. Tomato harvesting apparatus according to claim 1, wherein the surface of the air chamber is fitted with a pressure sensor, which is in communication with the air pump.