CN-121986655-A - Intelligent agricultural picking end effector based on single drive

CN121986655ACN 121986655 ACN121986655 ACN 121986655ACN-121986655-A

Abstract

The invention provides an intelligent agricultural picking end effector based on single driving, which comprises a base, a driving device, a movable base and a movable limiting base, wherein the movable base comprises a first base and a second base, the movable limiting base is arranged in the base in a sliding mode, an installation limiting block is arranged in front of the movable limiting base on the base, a locking swinging piece capable of acting on and separating from the second base is hinged between the first base and the movable limiting base, a locking component is arranged between the first base and the second base, a clamping jaw component is arranged between the base and the first base, a fixed clamping jaw is arranged at one end, close to the clamping jaw component, of the base, a cutting component connected with the second base is arranged on one side of the base in a sliding mode, and the cutting component is arranged on one side of the clamping jaw component. According to the invention, the clamping and cutting actions are controlled through single driving, and the clamping and cutting are sequentially carried out, so that the control is simpler, and meanwhile, the structure volume can be reduced, so that the device is more compact.

Inventors

LI BIN
LIU ZHANHE
Xiao Miaobin
WEI XINYU
LUO YIZHI

Assignees

广东省农业科学院设施农业研究所

Dates

Publication Date: 20260508
Application Date: 20260330

Claims (10)

1. The intelligent agricultural picking end effector based on single driving is characterized by comprising a base, a driving device, a movable base and a movable limiting base, wherein the driving device drives the movable base to linearly move, the movable base comprises a first base and a second base which can mutually slide, the movable limiting base is arranged in the base in a sliding manner, the movable limiting base can slide relative to the first base, an installation limiting block is arranged on the base and positioned in front of the movable limiting base, a locking swinging piece which can act and separate from the second base is hinged between the first base and the movable limiting base, and a locking assembly is arranged between the first base and the base; Be provided with clamping jaw subassembly between base and the first base, the one end that the base is close to clamping jaw subassembly is provided with fixed clamping jaw, slides on one side of base and is provided with the cutting subassembly of being connected with the second base, cutting subassembly is located clamping jaw subassembly one side.
2. The intelligent agricultural picking end effector based on driving of claim 1 is characterized in that a first accommodating cavity capable of allowing the upper end of a locking swinging piece to pass through is formed in a first base, a second accommodating cavity capable of allowing the upper end of the locking swinging piece to extend in is formed in a second base, the locking swinging piece comprises a locking swinging arm and a locking swinging plate, one end of the locking swinging arm is hinged to a movement limiting base, the other end of the locking swinging arm is hinged to the locking swinging plate, and the locking swinging plate is hinged to the first base.
3. The intelligent agricultural picking end effector based on driving of claim 2, wherein the movable limiting base is provided with an open groove, one side of the open groove, which is close to the front end, is provided with an inclined surface, and one end of the locking swing arm is positioned in the open groove.
4. The intelligent agricultural picking end effector based on driving of claim 2, wherein more than two locking swinging pieces are arranged between the movement limiting base and the first base, and the adjacent locking swinging pieces are arranged in a staggered mode in the transverse direction.
5. The intelligent agricultural picking end effector based on driving is characterized in that the locking assembly comprises a sliding positioning block, a sliding limiting block and an elastic piece, a first sliding rail is arranged at the front end of a first base, the sliding positioning block is arranged on the first sliding rail in a sliding mode, the elastic piece is arranged between the sliding positioning block and the first base, a base limiting groove matched with the sliding positioning block in position is formed in the bottom of the front end of a second base, a second sliding rail communicated with the first sliding rail is arranged at the front end of the first base, a sliding limiting block is arranged on the second sliding rail in a sliding mode, the sliding limiting block and the sliding positioning block can be driven to move in an angle mode through movement of the sliding positioning block, a first limiting surface is arranged at the lower end of the sliding limiting block, and a second limiting surface matched with the first limiting surface is arranged at the front end of a base.
6. The intelligent agricultural picking end effector based on single driving of claim 5 is characterized in that a first inclined plane is arranged on the front side of the sliding positioning block, a second inclined plane matched with the first inclined plane is arranged on the sliding limiting block, the first limiting surface is a third inclined plane, and the second limiting surface is a fourth inclined plane.
7. The intelligent agricultural picking end effector based on single driving of claim 1 is characterized in that a mounting cover is arranged on the upper portion of a base, the driving device comprises a driving mounting seat, a driving motor, a driving gear and a driving rack, the driving mounting seat is fixedly connected with the base or the mounting cover, the driving motor is fixedly connected with the driving mounting seat, the driving gear is mounted at the output end of the driving motor, the driving rack is mounted on a second base, and the driving gear is meshed with the driving rack.
8. The intelligent agricultural picking end effector based on single driving of claim 1 is characterized in that a cutting groove is formed in the second base, the cutting assembly comprises a cutting knife and a cutting installation seat, a cutting protruding block matched with the cutting groove is arranged on the cutting installation seat, the cutting installation seat is arranged on the base in a sliding mode, a cutting installation groove for accommodating the cutting knife is further formed in the cutting installation seat, a first connecting hole is further formed in the cutting installation seat, a second connecting hole is formed in the cutting knife, and a first fastening piece is arranged between the first connecting hole and the second connecting hole.
9. The intelligent agricultural picking end effector based on single driving of claim 8, wherein the base comprises a base and a mounting slide plate, a containing groove is formed in one side of the base, the mounting slide plate is arranged in the containing groove in a vertically sliding mode, a second fastening piece is arranged between the mounting slide plate and the base, and the cutting mounting seat is arranged on the mounting slide plate in a sliding mode.
10. The intelligent agricultural picking end effector based on single driving of claim 1 is characterized in that the clamping jaw assembly comprises a clamping jaw connecting rod and a movable clamping jaw, one end of the clamping jaw connecting rod is hinged with the first base, the other end of the clamping jaw connecting rod is hinged with the movable clamping jaw, the movable clamping jaw is hinged on the base below a hinged position where the other end of the clamping jaw connecting rod is hinged with the movable clamping jaw, and a clamping position is formed after the movable clamping jaw and the fixed clamping jaw are enclosed.

Description

Intelligent agricultural picking end effector based on single drive Technical Field The invention relates to the technical field of intelligent agricultural power machinery, in particular to a picking end effector based on single driving. Background Currently, in the field of intelligent picking of agricultural robots, end effectors are key terminal devices for achieving nondestructive separation of fruits. In order to realize the two core physical actions of grasping and cutting, the mainstream design adopts a double-power-source independent driving framework. In particular, one driving unit is generally responsible for opening and closing the gripping mechanism so as to realize flexible enveloping and stable gripping of the fruit stem diameter, and the other independent driving unit is responsible for driving the cutting tool in linear motion or rotary motion so as to cut off the fruit stalks or fruit stalks. The patent application number is 202411541093.9, the publication day 2025.10.31 discloses a picking actuator for self-adapting tomato growth postures, which comprises a first driving component, a rear fixing frame, a sleeve frame, a front movable frame, a second driving component and an image acquisition component, wherein the image acquisition component is connected with the first driving component, the rear fixing frame and the sleeve frame are in driving connection with the first driving component, the first driving component is used for driving the rear fixing frame and the sleeve frame to rotate, the sleeve frame is adjusted to the sleeve angle of the tomato fruit stalks, the rear fixing frame is provided with the second driving component, the front movable frame is in driving connection with the second driving component, the front movable frame is used for driving the front movable frame to move along the direction close to the sleeve frame, the front movable frame is provided with a shearing component, the front movable frame can drive the shearing component to reach the position of the tomato fruit stalks, the fruit stalks are sheared in a sleeve picking and shrinkage shearing mode, and the requirement on vision recognition precision can be reduced. The clamping stepping motor and the cutting stepping motor are required to be arranged, so that the clamping and cutting of the tomato fruit diameter are finished, the double-driving system inevitably causes huge volume and significant weight increase of the actuator body, the requirements on the loading capacity and the movement flexibility of the front-end mechanical arm are raised, the hardware cost is directly raised, the two actuators need high-precision time sequence coordination and position control, the control system is complex, meanwhile, the sleeving connection of fruits is realized in a ferrule mode, the fruits cannot be reliably clamped, the clamping position and the clamping synchronism of the left clamping device and the right clamping device affect the reliability of clamping, and the situation that fruit branches fall off easily after the fruits are clamped is caused if the left clamping device and the right clamping device are not aligned during clamping, so that the clamping reliability is poor. Disclosure of Invention The invention provides an intelligent agricultural picking end effector based on single drive, which controls two actions of clamping and cutting and realizes sequential clamping and cutting through single drive, so that the control is simpler, and meanwhile, the structure volume can be reduced to be more compact. The intelligent agricultural picking end effector comprises a base, a driving device, a movable base and a movable limiting base, wherein the driving device drives the movable base to move linearly, the movable base comprises a first base and a second base which can slide mutually, the movable limiting base is arranged in the base in a sliding mode, the movable limiting base can slide relative to the first base, an installation limiting block is arranged on the base and positioned in front of the movable limiting base, a locking swinging piece which can act on and separate from the second base is hinged between the first base and the movable limiting base, and a locking assembly is arranged between the first base and the base. Be provided with clamping jaw subassembly between base and the first base, the one end that the base is close to clamping jaw subassembly is provided with fixed clamping jaw, slides on one side of base and is provided with the cutting subassembly of being connected with the second base, cutting subassembly is located clamping jaw subassembly one side. The intelligent agricultural picking end effector based on single drive with the structure is characterized in that the locking swinging piece limits the first base, the second base and the movement limiting base into a linkage whole in the initial stage. When the driving device works, the driving device drives the second base to move