WO2023016575A1

WO2023016575A1 - Vegetable harvesting and clamping device and robot

Info

Publication number: WO2023016575A1
Application number: PCT/CN2022/115699
Authority: WO
Inventors: 李绍华; 张炳鑫; 李阳
Original assignee: 福建省中科生物股份有限公司
Priority date: 2021-08-12
Filing date: 2022-08-30
Publication date: 2023-02-16
Also published as: CN113575109A

Abstract

The present invention relates to the technical field of vegetable harvesting, and discloses a vegetable harvesting and clamping device and a robot. The vegetable harvesting and clamping device comprises a rotating air cylinder, a pneumatic clamping jaw, and a pair of clamping sheets; each clamping sheet comprises a horizontal clamping sheet and a vertical pulling sheet; one end of the horizontal clamping sheet is connected to the bottom end of the vertical pulling sheet; a pulling rotating shaft is provided at the connection positions of the vertical pulling sheets and the horizontal clamping sheets; the clamping sheets are pivotally connected to an output end of the pneumatic clamping jaw by means of the pulling rotating shaft; an output shaft of the rotating air cylinder is connected to the top ends of the vertical pulling sheets; and the rotating air cylinder drives the clamping sheets to rotate with the pulling rotating shaft as a rotating center. According to the present invention, the rotating air cylinder pulls the clamping sheets to rotate around the pulling rotating shaft, so that the clamping sheets clamp a planting cup to be separated from a planting plate at a certain inclination angle, the breaking phenomenon caused by mutual collision and pulling of adjacent vegetable leaves is avoided, the harvesting quality of vegetables is effectively improved, and waste is avoided.

Description

A vegetable harvesting and picking device and robot

technical field

The invention relates to the technical field of vegetable harvesting, in particular to a vegetable harvesting and clamping device and a robot.

Background technique

Vegetables in plant factories are planted in rows at fixed intervals on flat planting boards. Harvesting of mature vegetables is currently done manually by hand, and then pruning the roots with scissors. Manual harvesting is not only inefficient , and artificial manual work will also cause a certain degree of pollution to vegetables. Some existing mechanical arm clamping devices can only clamp vegetables planted with planting cups in the vertical direction when harvesting and clamping vegetables, so that the vegetable planting board is detached. During the vertical clamping process, due to the relative Pulling between adjacent rows of vegetable leaves will cause the leaves to break and scatter, resulting in waste and ultimately affecting harvest quality.

Contents of the invention

For this reason, it is necessary to provide a harvesting and picking device for growing vegetables, so as to solve the problem that the leaves of the vegetables are easily broken and scattered when the existing picking devices are picking vegetables.

In order to achieve the above object, the present invention provides a vegetable harvesting and gripping device, which includes a rotary cylinder, pneumatic grippers and a pair of clips, the clips include a horizontal clip and a vertical pull sheet, and the horizontal clip One end of the vertical pull piece is connected to the bottom end of the vertical pull piece, and the connection between the vertical pull piece and the horizontal clip is provided with a pull shaft, and the clip is pivotally connected to the output end of the pneumatic gripper through the pull shaft, and the rotation The output shaft of the cylinder is connected with the top of the vertical pulling piece, and the rotating cylinder drives the clamping piece to rotate with the pulling rotating shaft as the rotation center.

Further, it also includes an air injection assembly, the air injection assembly includes an air nozzle, an air pipe and an air pipe joint, the air nozzle communicates with the air pipe joint through the air pipe, the air nozzle is located between the two clips, and the air spray is directed toward The side away from the pneumatic gripper. When the clip clamps the planting cup, the left and right clips are close to the planting cup with vegetables, and the air nozzle blows air outwards to blow away the vegetable leaves in the forward direction of the clips, so as to avoid the vegetable leaves being stabbed by the left and right clips, ensuring Harvest quality.

Further, the top end of the vertical pulling piece is provided with a driving through groove, and the driving through groove is extended in the vertical direction, and a horizontal sliding rod is fixed on the output shaft of the rotating cylinder, and the two ends of the sliding rod Pass through the driving slots of the two clips respectively, and the rotating cylinder drives the clips to rotate with the pulling shaft as the rotation center by sliding the pull rod. The drive through groove has a certain extension length, which is convenient for the output shaft of the rotating cylinder to drive the clip to rotate when it shrinks horizontally, so as to effectively prevent the clamping device from being stuck when clamping the planting cup.

Further, a cylinder pushing block is fixed on the output shaft of the rotary cylinder, and two tie rod fixing plates oppositely arranged are fixed on the side of the cylinder pushing block far away from the rotating cylinder, and a fixing hole is arranged on the tie rod fixing plate. The two ends of the sliding pull rod respectively pass through the fixing hole and the driving slot of the vertical pulling piece in turn, and the sliding pull rod is fixed to the pull rod fixing plate through the fixing hole. The tie rod fixing plate is used to fix the two ends of the sliding rod, and the sliding rod can drive the clip to rotate after passing through the driving slot. Specifically, in order to prevent the sliding rod from falling off the driving slot, the two ends of the sliding rod The part can be fixed with a raised edge.

Further, the air pipe joint is fixed on the cylinder pushing block, and the air pipe passes through the space between the sliding rod and the cylinder pushing block. The air pipe is limited in the space between the sliding rod and the cylinder pushing block, so as to avoid the air pipe winding phenomenon in the continuous working process, ensure the stable operation of the clamping device, and make the structure of the entire clamping device more concise .

Further, the driving through groove is a waist-shaped hole.

Further, the horizontal clip includes a connected connecting piece and a clamping piece, one end of the connecting piece is connected to the bottom end of the vertical pulling piece, the other end of the connecting piece is connected to the clamping piece, and the connecting piece faces Outer slope. The connecting pieces are inclined outwards so that there is a larger inlet in front of the two opposite clamping pieces, which is more convenient for clamping the planting cup.

Further, it also includes a clamping fixed plate, the clamping fixed plate is vertically arranged, the rotating cylinder and the pneumatic gripper are fixed on the same side of the clamping fixed plate, and the rotating cylinder is located above the pneumatic gripper.

Further, the side of the middle part of the clamping and fixing plate protrudes and fixes a cylinder fixing boss, the rotating cylinder is fixed on the cylinder fixing boss, and the bottom of the clamping and fixing plate protrudes and fixes a clamping claw The fixed boss, the pneumatic gripper is fixed on the fixed boss of the gripper. The fixed bosses of the cylinder and the fixed bosses of the jaws have a certain positioning effect on the installation positions of the rotating cylinder and the pneumatic grippers on the clamping fixing plate.

Further, the clip is rotated with the pulling shaft as the rotation center, so that it has an included angle α with the horizontal plane, and the included angle α ranges from 10° to 25°.

A vegetable harvesting robot, comprising a plurality of above-mentioned vegetable harvesting and gripping devices and gripping mechanical arms, slide rails are fixed on the output ends of the gripping robotic arms, and a plurality of vegetable harvesting and gripping devices are slidably arranged on on the rails.

The above technical solution has the following beneficial effects:

In the present invention, the rotating cylinder rotates around the pulling shaft by pulling the clip, so that the clip clamps the planting cup and separates it from the planting plate at a certain inclination angle. The inclined angle is used to separate the adjacent vegetable leaves through a certain angle, which can avoid the breakage caused by the collision and pulling of the adjacent vegetable leaves, effectively improve the harvest quality of vegetables, and avoid waste.

Description of drawings

Fig. 1 is a structural diagram of the clamping device described in the specific embodiment.

Fig. 2 is a diagram of the installation structure of the clip described in the specific embodiment.

Fig. 3 is a schematic diagram of the rotation inclination angle of the clip according to the specific embodiment.

Fig. 4 is a structural diagram of the robot described in the specific embodiment.

Explanation of reference signs:

1. Rotating cylinder; 11. Cylinder pushing block; 12. Sliding rod; 13. Rod fixing plate; 2. Pneumatic gripper; 3. Clip; 31. Vertical pulling piece; 321, connecting piece; 322, clamping piece; 4, pulling the rotating shaft; 5, clamping and fixing plate; 51, cylinder fixing boss; 52, jaw fixing boss; 6, jet assembly; 61, air nozzle; 62. Air pipe; 63. Air pipe connector; 7. Clamping mechanical arm; 71. Slide rail; 8. Vegetable harvesting and clamping device.

Detailed ways

In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

Please refer to Figures 1-3, this embodiment discloses a vegetable harvesting and picking device, including a rotating cylinder 1, a pneumatic gripper 2, a pair of clips 3, an air jet assembly 6 and a fixing plate 5 for gripping and fixing The plate 5 is vertically arranged, the rotating cylinder 1 and the pneumatic gripper 2 are fixed on the same side of the clamping fixed plate 5, the rotating cylinder 1 is located above the pneumatic gripper 2, and the clamping piece 3 includes a horizontal clamping piece 32 and a vertical pulling piece 31, one end of the horizontal clip 32 is connected to the bottom end of the vertical pull piece 31, and the connection between the vertical pull piece 31 and the horizontal clip 32 is provided with a pulling shaft 4, and the clip 3 is connected to the pneumatic gripper 2 through the pull shaft 4. The output end of the rotating cylinder 1 is pivotally connected, and the output shaft of the rotating cylinder 1 is connected with the top of the vertical pulling piece 31, and the rotating cylinder 1 drives the clamping piece 3 to rotate with the pulling rotating shaft 4 as the rotation center. Specifically, the rotary cylinder 1 is a three-axis cylinder. The three-axis cylinder has high stroke accuracy, which is convenient for controlling the inclination angle of the clip 3, and the power of the three-axis cylinder is relatively large, and the action is fast.

The top of the vertical pull piece 31 is provided with a drive through groove 311, which drives the through groove 311 to extend vertically, and the output shaft of the rotating cylinder 1 is fixed with a horizontal sliding rod 12. The driving through groove 311 of a clip 3, the rotating cylinder 1 drives the clip 3 by sliding the pull rod 12 to rotate with the pulling shaft 4 as the center of rotation. The drive through groove 311 has a certain extension length, which is convenient to rotate the output shaft of the cylinder 1 to drive the clip 3 to rotate when it shrinks horizontally, so as to effectively avoid the clamping device from being stuck when clamping the planting cup. In this embodiment, the driving slot 311 is a waist-shaped hole.

Further, the output shaft of the rotating cylinder 1 is fixed with a cylinder pushing block 11, and the cylinder pushing block 11 is away from the side of the rotating cylinder 1 to fix two pull rod fixing plates 13 which are oppositely arranged. The two ends of 12 respectively pass through the fixing hole and the driving through groove 311 of the vertical pulling piece 31 successively, and the sliding pull rod 12 is fixed with the pull rod fixing plate 13 through the fixing hole. The pull rod fixing plate 13 is used to fix the two ends of the slide rod pull rod, and after the slide pull rod 12 passes through the driving through groove 311, it can drive the clip 3 to rotate. Specifically, in order to prevent the slide pull rod 12 from falling off from the driving through groove 311, Both ends of the sliding rod 12 can be fixed with convex edges.

The air injection assembly 6 includes an air nozzle 61, an air pipe 62 and an air pipe joint 63. The air nozzle 61 communicates with the air pipe joint 63 through the air pipe 62. The air nozzle 61 is located between the two clips 3. side. When the clip 3 clamps the planting cup, the left and right clips 3 are close to the planting cup with vegetables, and the air nozzle 61 blows air outwards to blow away the vegetable leaves in the forward direction of the clip 3 to prevent the vegetable leaves from being clipped by the left and right clips. 3 poking wounds to ensure harvest quality.

Specifically, the air pipe joint 63 is fixed on the cylinder pushing block 11 , and the air pipe 62 passes through the space between the sliding rod 12 and the cylinder pushing block 11 . The air tube 62 is limited in the space between the sliding rod 12 and the cylinder pushing block 11, so as to avoid the air tube 62 from being entangled in the continuous working process, ensure the stable operation of the clamping device, and make the entire clamping device stable. The structure is more concise.

The horizontal clip 32 includes a connected connecting piece 321 and a clamping piece 322, one end of the connecting piece 321 is connected with the bottom end of the vertical pulling piece 31, the other end of the connecting piece 321 is connected with the clamping piece 322, and the connecting piece 321 faces Outer slope. The connecting piece 321 is inclined outward so that there is a larger entrance in front of the two opposite clamping pieces 322, which is more convenient for clamping the planting cup. Specifically, the connecting piece 321 , the clamping piece 322 and the vertical pulling piece 31 are integrally structured.

In the present embodiment, the cylinder fixing boss 51 protruding and fixing is fixed on the side of the middle part of the clamping fixing plate 5, and the rotating cylinder 1 is fixed on the cylinder fixing boss 51, and the bottom edge of the clamping fixing plate 5 protrudes and fixes it. There is a jaw fixing boss 52, and the pneumatic jaw 2 is fixed on the jaw fixing boss 52. The fixed boss 51 of the cylinder and the fixed boss 52 of the jaws have a certain positioning effect on the installation positions of the rotating cylinder 1 and the pneumatic gripper 2 on the clamping fixed plate 5 .

As shown in Figure 4, a vegetable harvesting robot includes a plurality of above-mentioned vegetable harvesting and gripping devices 8 and gripping mechanical arms 7, and a slide rail 71 is fixed on the output end of the gripping robotic arms 7, and a plurality of gripping arms 7 The fetching device 8 is slidably arranged on the slide rail 7, and the vegetable harvesting and gripping device 8 is slidably arranged to facilitate spacing adjustment, and the gripping mechanical arm 7 is a six-axis mechanical arm.

Action process of the present invention:

1. The operator places the planting board on the planting board conveying line, and the planting board is transported to the end,

2. The clamping mechanical arm 7 is started, and the pneumatic gripper 2 of the clamping device on the output end is in an open state and is close to the planting plate, passes through the vegetable leaves, and approaches the planting cup on the planting plate (vegetables are planted in the planting cup) top) to the clamping position, while the air nozzle 61 sprays air to avoid damaging the clip 3 vegetable leaves;

3. The pneumatic gripper 2 is closed, and the clip 3 of the pneumatic gripper 2 clamps the planting cup;

4. The clip 3 of the pneumatic gripper 2 takes the pulling shaft 4 as the rotating shaft, and the output shaft of the rotating cylinder 1 shrinks, so that the clip 3 tilts upward and rotates at an angle of inclination α, so that the clamped vegetables are separated from the vegetables in the back row, tilted The angle α can be 10°, 21° or 25°. The inclination angle α is related to the length of the driving channel 311 . In this embodiment, the inclination angle α is set to be 21°.

5. The gripping mechanical arm 7 continues to move, and takes out the planting cup and vegetables along the normal direction of the inclination angle of the gripper jaws.

In the present invention, the rotating cylinder 1 rotates around the pulling rotating shaft 4 by pulling the clamp piece 3, so that the clamp piece 3 clamps the planting cup and separates from the planting plate at a certain inclination angle. The planting cup is separated at a certain inclination angle, so that the adjacent vegetable leaves are separated at a certain angle, which can avoid the breakage caused by the collision and pulling of adjacent vegetable leaves, effectively improve the harvest quality of vegetables, and avoid waste .

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the words "comprising..." or "comprising..." does not exclude the presence of additional elements in the process, method, article or terminal device comprising said element. In addition, in this article, "greater than", "less than", "exceeding" and so on are understood as not including the original number; "above", "below", "within" and so on are understood as including the original number.

Although the above-mentioned embodiments have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept, so the above-mentioned are only the implementation of the present invention For example, it is not intended to limit the scope of patent protection of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly used in other related technical fields, is also included in this patent. Inventions within the scope of patent protection.

Claims

A vegetable harvesting and clamping device is characterized in that it includes a rotating cylinder, pneumatic grippers and a pair of clamping pieces, the clamping pieces include a horizontal clamping piece and a vertical pulling piece, and one end of the horizontal clamping piece is connected to the vertical pulling piece. The bottom end of the pulling piece is connected, and the connection between the vertical pulling piece and the horizontal clip is provided with a pulling shaft, and the clip is pivotally connected to the output end of the pneumatic gripper through the pulling shaft, and the output shaft of the rotating cylinder is connected to the The top ends of the vertical pulling pieces are connected, and the rotating cylinder drives the clamping pieces to rotate with the pulling rotating shaft as the rotation center.
The vegetable harvesting and gripping device according to claim 1, further comprising an air jet assembly, the air jet assembly comprising an air nozzle, an air pipe and an air pipe joint, the air nozzle communicates with the air pipe joint through the air pipe, so The air nozzle is located between the two clips, and the air is sprayed toward the side away from the pneumatic gripper.
The vegetable harvesting and clamping device according to claim 2, wherein the top of the vertical pulling piece is provided with a drive slot, and the drive slot extends vertically, and the output of the rotating cylinder A horizontal sliding rod is fixed on the shaft, and the two ends of the sliding rod pass through the drive slots of the two clips respectively, and the rotating cylinder drives the clip through the sliding rod to rotate with the rotating shaft as the center of rotation.
The vegetable harvesting and clamping device according to claim 3, wherein a cylinder pushing block is fixed on the output shaft of the rotating cylinder, and two opposite pull rods are fixed on the side of the cylinder pushing block away from the rotating cylinder The fixing plate is provided with a fixing hole on the tie rod fixing plate, and the two ends of the sliding tie rod respectively pass through the fixing hole and the driving slot of the vertical pulling piece respectively, and the sliding tie rod is fixed with the tie rod fixing plate through the fixing hole .
The vegetable harvesting and clamping device according to claim 4, wherein the air pipe joint is fixed on the cylinder pushing block, and the air pipe passes through the space between the sliding rod and the cylinder pushing block.
The vegetable harvesting and clamping device according to claim 3, characterized in that, the driving through groove is a waist-shaped hole.
The vegetable harvesting and clamping device according to claim 1, wherein the horizontal clamping piece comprises a connected connecting piece and a clamping piece, one end of the connecting piece is connected to the bottom end of the vertical pulling piece, The other end of the connecting piece is connected with the clamping piece, and the connecting piece is inclined towards the outside.
The clamping device for harvesting vegetables according to claim 1, further comprising a clamping fixed plate, the clamping fixed plate is vertically arranged, and the rotating cylinder and pneumatic clamping jaws are fixed on the clamping fixed plate. On the same side, the rotary cylinder is located above the pneumatic gripper.
The vegetable harvesting and clamping device according to claim 8, characterized in that, the side of the middle part of the clamping and fixing plate protrudes and fixes a cylinder fixing boss, and the rotating cylinder is fixed on the cylinder fixing boss, A jaw fixing boss protrudes from the bottom of the clamping fixing plate, and the pneumatic gripper is fixed on the jaw fixing boss.
The combined vegetable harvesting mechanism according to claim 1, wherein the clip is rotated with the pulling shaft as the rotation center, so that it has an angle α with the horizontal plane, and the range of the angle α is 10 °-25°.
A vegetable harvesting robot, characterized in that it comprises a plurality of vegetable harvesting and gripping devices as claimed in any one of claims 1-10 and a gripping mechanical arm, the output end of the gripping mechanical arm is fixed with a sliding rails, and a plurality of vegetable harvesting and clamping devices are slidably arranged on the slide rails.