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CN-224218941-U - Negative pressure inserted sheet is from disconnected formula picking ware and robot thereof

CN224218941UCN 224218941 UCN224218941 UCN 224218941UCN-224218941-U

Abstract

The utility model provides a negative pressure insert self-breaking picking device and a robot thereof, wherein the picking device comprises a base, a telescopic push rod, a picking pipe, an insert controller and an insert cutting insert, wherein the picking pipe and the telescopic push rod are respectively connected with the base, the tail end opening of the picking pipe is connected with a negative pressure source, the insert controller is sleeved outside the picking pipe and is connected with the telescopic push rod, an insert passage is arranged in the pipe wall at the front end of the picking pipe so as to be communicated with the inside and the outside of the picking pipe, the tail end of the insert cutting insert is fixed on the insert controller, the front end of the insert cutting insert is inserted into the insert passage so as to displace along with the insert controller, the insert cutting insert is controlled to stretch at the front end opening of the picking pipe, and the insert cutting insert is surrounded by the picked object and cut into a branch handle. The soft positioning, stable holding and reliable collection of picked objects are realized by using negative pressure air flow, and the accurate and low-damage branch handle cutting is completed by combining the insert cutting mechanism, so that the high-efficiency and high-quality automatic picking of the picked objects is realized.

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 (9)

  1. 1. The negative pressure inserting piece self-breaking picking device is characterized by comprising a base, a telescopic push rod, a picking pipe, an inserting piece controller and an cutting inserting piece, wherein the picking pipe and the telescopic push rod are respectively connected with the base, a negative pressure source is connected to the tail end opening of the picking pipe, the inserting piece controller is sleeved outside the picking pipe and connected with the telescopic push rod, an inserting piece channel is arranged in the pipe wall at the front end of the picking pipe so as to be communicated with the inside and the outside of the picking pipe, the tail end of the cutting inserting piece is fixed on the inserting piece controller, the front end of the cutting inserting piece is inserted into the inserting piece channel so as to displace along with the inserting piece controller, the cutting inserting piece is controlled to stretch out and draw back at the front end opening of the picking pipe, and a picking object is encircled and a branch handle is cut.
  2. 2. The negative pressure insert self-breaking picking device as claimed in claim 1, further comprising a positioning insert, wherein the tail end of the positioning insert is fixed on the insert controller, the front end of the positioning insert is inserted into the insert channels, the insert channels are distributed on the picking tube at equal intervals, and the cutting insert and the positioning insert are respectively and alternately inserted into each insert channel so as to displace along with the insert controller, and the positioning insert is longitudinally and transversely surrounded at the front end opening of the picking tube.
  3. 3. The negative pressure inserting piece self-breaking picking device according to claim 2, wherein the front end of the picking tube is provided with a blocking wall, the inserting piece controller is sleeve-shaped, the inner tube wall is provided with a blocking part, the inserting piece controller drives displacement through a telescopic push rod, the blocking part of the inserting piece controller abuts against the blocking wall of the picking tube when the interlocking cutting inserting piece and the positioning inserting piece extend to the limit at the front end opening of the picking tube.
  4. 4. The negative pressure insert self-breaking picking device according to claim 2, wherein the cutting inserts are arranged at least in pairs, the front sections of the cutting inserts are arc-shaped and curved, cutting teeth are arranged at the ends of the front sections, the cutting inserts are clamped by the cutting teeth when extending to a limit, and the front sections are in an outer contour shape of the adapted picking object.
  5. 5. The negative pressure insert self-breaking picking device according to claim 2, wherein the positioning inserts are arranged at least in pairs, wherein the front sections of the positioning inserts are arc-shaped and bent, and the positioning inserts extend to the limit and are blocked at the side parts of the cutting inserts so as to be matched with the cutting inserts to form an outer contour shape of a picking object.
  6. 6. The negative pressure insert self-breaking picking device according to claim 1, wherein two ports of the insert channel are respectively positioned at an inner pipe wall of a front port of the picking pipe and an outer pipe wall of the picking pipe, and the ports of the insert channel close to the inside of the picking pipe are in arc transition shapes.
  7. 7. The negative pressure inserting piece self-breaking picking device according to claim 1, wherein the front section of the outer tube of the picking tube is provided with a round tube section, the rear section of the outer tube of the picking tube is provided with a square tube section, the diameter of the round tube section is larger than the diagonal length of the square tube section, the sleeve of the inserting piece controller is matched with the shape of the outer tube of the picking tube, the front section of the outer tube of the picking tube is provided with the round tube section, the rear section of the outer tube of the picking tube is provided with the square tube section, the inserting piece controller is sleeved outside the picking tube, and the square tube section of the sleeve of the inserting piece controller abuts against the round tube section of the picking tube to limit the limiting stroke of the inserting piece controller.
  8. 8. The negative pressure insert self-breaking picking device as claimed in claim 1, wherein the tube body near the front end of the picking tube is in the shape of an arc-shaped closing.
  9. 9. The robot comprises 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 inserting piece self-breaking picking device according to any one of claims 1 to 8, 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 inserted sheet is from disconnected formula picking ware and robot thereof Technical Field The utility model relates to the technical field of automatic picking of crops, in particular to a negative pressure inserting piece self-breaking type picking device and a robot thereof. Background The timely and high-quality picking of the buds of jasmine flowers serving as important cash crops is important to industries such as jasmine tea and the like, but the picking still generally depends on traditional manual operation at present. 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 solution is to combine suction with a cutting device. Such devices typically utilize negative pressure air flow created by suction to assist in positioning the bud or collecting the flower after cutting. This type of device provides two symmetrical cutting blades driven by separate rotating motors through a mounting plate at the periphery of the picking head (suction opening). In operation, flowers are sucked into the mouth of the picking head by suction, and then the two rotary motors are started to drive the respective cutting blades to perform rotary motion, so that flower handles positioned in the central area of the opening are cut off. The cut flowers are then transported by an air flow into a collection container. Another type of solution is to use mechanical jaws or clamping cutting structures. Such devices are typically designed with a plurality of synchronously openable and closable finger jaws or clamping tabs with cutting edges. When the flower bud cutting machine works, the parts are folded inwards and closed, the cutting edge at the tail end of the flower bud cutting machine can simultaneously cut flower stems, a temporary accommodating space can be formed by the closed structure, and cut flower buds are clamped and prevented from falling. Yet another type of solution is to use comb or hook-like structures for co-cutting. Such devices comb, position and support the flower by inserting comb-like members under the flower stem, or hook the flower with hook-like members, and then cut the flower stem with a separate, drivable cutting blade, such as a straight reciprocating blade. Cut flowers typically fall by gravity into an underlying collection device or may also be collected in combination with an air flow assist. 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, the utility model mainly aims to provide the negative pressure insert self-breaking picking device and the robot thereof, so that soft positioning, stable holding and reliable collection of picked objects are realized by utilizing negative pressure air flow, and accurate and low-damage branch handle cutting is completed by combining an insert cutting mechanism, thereby realizing high-efficiency and high-quality automatic picking of picked objects. In order to achieve the aim, according to one aspect of the utility model, a negative pressure insert self-breaking type picking device is provided, which comprises a base, a telescopic push rod, a picking pipe, an insert controller and an insert cutting insert, wherein the picking pipe and the telescopic push rod are respectively connected with the base, a negative pressure source is connected to the tail end opening of the picking pipe, the insert controller is sleeved outside the picking pipe and connected wit