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CN-224218940-U - Negative pressure cylindrical two-finger picking device and robot thereof

CN224218940UCN 224218940 UCN224218940 UCN 224218940UCN-224218940-U

Abstract

The utility model provides a negative pressure cylindrical two-finger picker and a robot thereof, wherein the picker comprises a base, a telescopic push rod, a linkage mechanism and a finger assembly, wherein the telescopic push rod is in driving connection with the linkage mechanism on the base, the finger assembly comprises clamping jaws and collecting pipes, the clamping jaws are arranged in pairs, finger barrels are arranged at the claw ends of the clamping jaws, a concave cavity is arranged in each finger barrel, shearing teeth are arranged on the side surface of the top end of each finger barrel, the collecting pipe is respectively connected with a negative pressure source and at least one finger barrel, the clamping jaws are in driving connection with the linkage mechanism, and are controlled to open/close so as to drive the shearing teeth of a pair of finger barrels to be tangent and the concave cavity to be combined and communicated with the collecting pipe. Thereby significantly improving the reliability and efficiency of crop picking and collecting.

Inventors

  • GAO YUAN
  • LIU HAO

Assignees

  • 上海紫曜未来智能科技有限公司

Dates

Publication Date
20260512
Application Date
20250526

Claims (7)

  1. 1. A negative pressure cylindrical two-finger picking device is characterized by comprising a base, a telescopic push rod, a linkage mechanism and a finger assembly, wherein the telescopic push rod is in driving connection with the linkage mechanism on the base, the finger assembly comprises clamping jaws and a collecting pipe, the clamping jaws are arranged in pairs, finger barrels are arranged at the jaw ends of each clamping jaw, a concave cavity is arranged in each finger barrel, shearing teeth are arranged on the side face of the top end of each finger barrel, the collecting pipe is respectively connected with a negative pressure source and at least one finger barrel, the clamping jaws are in driving connection with the linkage mechanism, and are controlled to open/close to drive the shearing teeth of a pair of finger barrels to be tangent and communicated with the collecting pipe.
  2. 2. The negative pressure cylindrical two-finger picker according to claim 1, wherein the interlocking mechanism comprises: The device comprises a first linear guide rail, a second linear guide rail, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the second connecting rod, the third connecting rod and the fourth connecting rod are arranged in pairs, the first linear guide rail and the second linear guide rail are relatively distributed on a base in a longitudinal and transverse mode, the first connecting rod is fixed on a sliding block of the first linear guide rail, two ends of the first connecting rod are respectively connected with a telescopic push rod and the second connecting rod in a shaft mode, the wrist end of the third connecting rod is connected with the base in a shaft mode, the tail end of the third connecting rod is connected with the second connecting rod in a shaft mode, the fourth connecting rod is fixed on the sliding block of the second linear guide rail, and gear teeth are arranged at the tail end of the fourth connecting rod and the front end of the third connecting rod to be meshed with transmission.
  3. 3. The negative pressure cylindrical two-finger picker according to claim 1, wherein the interlocking mechanism comprises: The device comprises a base, a third linear guide rail, a fourth linear guide rail, a longitudinal tooth condition, a transmission gear and a transverse tooth condition, wherein the transmission gear and the transverse tooth condition are arranged in pairs, the third linear guide rail and the fourth linear guide rail are relatively and longitudinally distributed on the base, a longitudinal rack member is fixed on a sliding block of the third linear guide rail, the tail end of the longitudinal rack member is connected with a telescopic push rod, the transverse tooth condition is fixed on a sliding block of the fourth linear guide rail, and the transmission gear is connected with the base in a shaft mode and meshed with the transverse tooth condition and the longitudinal rack member respectively.
  4. 4. The negative pressure cylindrical two-finger picker according to claim 1, wherein the top end of the finger cylinder is conical, and an air hole communicated with the concave cavity is formed in the finger cylinder.
  5. 5. The negative pressure cylindrical two-finger picker according to claim 1, further comprising a pipe bracket provided on the base, wherein a duct is provided on the pipe bracket for passing the collecting pipe therethrough.
  6. 6. The negative pressure cylindrical two-finger picker according to claim 1 further comprising a depth camera, a camera mount, wherein the depth camera is secured above the base via the camera mount.
  7. 7. A robot comprising a negative pressure generating device, a mechanical arm and a picking device, and is characterized in that the picking device is made of the negative pressure cylindrical two-finger picking device according to any one of claims 1 to 6, wherein the picking device is arranged at the wrist end of the mechanical arm and is connected with the negative pressure generating device.

Description

Negative pressure cylindrical two-finger picking device and robot thereof Technical Field The utility model relates to the technical field of automatic picking of crops, in particular to a negative pressure cylindrical two-finger picker and a robot thereof. Background At present, the agricultural picking operation generally depends on the traditional manual operation. The traditional mode is low in efficiency, high in labor intensity and unstable in quality, and faces the serious challenges of high labor cost and labor shortage, so that the industrial development is severely restricted. Therefore, development of efficient, stable, low cost automated picking techniques and equipment that can replace manual labor has become a technical trend and urgent need in the art. Against this background, a number of automated picking protocols have emerged in the art, principally including the following types: One prior art solution has been to employ a multi-finger (e.g., three-finger) linkage clamp cutter. Such devices typically comprise three or more jaw segments arranged about a central axis, which are connected to driving means, such as servo-cylinder driven slides and shafts, by means of relatively complex linkages. When the driving device outputs linear motion, the linear motion is converted into a synchronous inward folding or outward unfolding motion of the clamping jaw pieces through the connecting rod mechanism. The ends of the clamping jaw pieces are usually designed with cutting edges, so that clamping and shearing of flower handles are completed simultaneously in the process of closing the clamping jaw pieces, and a closed cavity (often described as a bowl shape) formed after the clamping jaw pieces are closed is used for accommodating flower buds/fruits so as to prevent the flower buds/fruits from falling. The mode relies on the connecting rod to realize multi-finger linkage and clamping and cutting integration. Another prior art solution is a hand-held link driven cutting device. Such devices are designed as hand tools with a long rod, the end of which is provided with a cutting mechanism. The mechanism typically comprises two oppositely disposed cutting blades that do not have an active gripping function, which are connected to a manually driven member (e.g., a retractable rod) by a set of internal linkage systems. In operation, a user places the blades on both sides of the flower stem, and then drives the two blades to swing or translate inwards like scissors by operating the driving component (such as pulling the telescopic rod), so as to cut off the flower stem. In this way, the cut flowers typically fall by gravity into a collecting device (e.g., a collecting net) below. However, when the prior art is applied to automatic picking of small fruits like jasmine bud/medlar, the following disadvantages are also existed: ① The machine is easy to damage, and the existing mechanical mode has the influence of physical extrusion of clamping jaws, air flow disturbance of an external rotary blade and the like, and is easy to damage tender buds/fruits. ② The positioning and holding are unstable, accurate and stable control of buds/fruits is difficult to realize by means of simple suction guiding or mechanical holding, and the buds/fruits are easy to be disturbed by the environment. ③ The cutting effect is poor, and the partial cutting mode (such as external rotary blades and clamping jaws) has the problems of inaccurate cutting position, uneven incision or interference with adjacent branches and leaves. ④ The collecting reliability is low, and the cut buds/fruits are easy to drop and lose or damage secondarily in the conveying or collecting process. In view of this, there is a need in the art for an automated picking scheme for crops that addresses the problems faced by the prior art described above. Disclosure of utility model Therefore, it is a primary object of the present utility model to provide a negative pressure cylindrical two-finger picker and a robot thereof, which are capable of improving the shortcomings of the prior art mentioned in the background art. In order to achieve the aim, according to one aspect of the utility model, a negative pressure cylindrical two-finger picker is provided, which comprises a base, a telescopic push rod, a linkage mechanism and a finger assembly, wherein the telescopic push rod is in driving connection with the linkage mechanism on the base, the finger assembly comprises clamping jaws and a collecting pipe, the clamping jaws are arranged in pairs, finger barrels are arranged at the claw ends of the clamping jaws, a concave cavity is arranged in each finger barrel, shearing teeth are arranged at the side surface of the top end of each finger barrel, the collecting pipe is respectively connected with a negative pressure source and at least one finger barrel, the clamping jaws are in driving connection with the linkage mechanism, and the opening/closing of the clamping ja