阅读说明：本技术 适应多种花柄长度要求的西蓝花采摘装置及其采摘方法 (Picking device and picking method for broccoli suitable for various flower stalk length requirements ) 是由 牛晨宇 常数数 俞高红 李祥 叶阿康 于 2019-11-04 设计创作，主要内容包括：本发明公开了适应多种花柄长度要求的西蓝花采摘装置及其采摘方法。现有采摘装置不能满足西兰花采摘要求。本发明的转动装置包括减速器和步进电机一；横向调整组件包括T型板、步进电机二、丝杆和导轨；动平台组件包括电动推杆、上铰链座、直线滑块和滚珠螺母；多级连杆组件包括连杆传动组件、连杆导向组件、第一侧链和第二侧链；末端执行器包括基座、支撑臂板、推出组件、切割组件、固定面板、固定环、电磁换向阀一和电磁换向阀二。本发明的多级连杆组件能使末端执行器快速移动至西蓝花花球上方,提高采摘效率；末端执行器中三个切割组件合拢与切刀片切割动作是单独驱动的,能保留不同采摘工艺要求的花柄长度,同时有效降低对花球的损伤。(The invention discloses a broccoli picking device and a broccoli picking method which are suitable for various flower stalk length requirements. The existing picking device can not meet the picking requirement of broccoli. The rotating device comprises a speed reducer and a first stepping motor; the transverse adjusting assembly comprises a T-shaped plate, a second stepping motor, a screw rod and a guide rail; the movable platform assembly comprises an electric push rod, an upper hinge seat, a linear slide block and a ball nut; the multistage connecting rod assembly comprises a connecting rod transmission assembly, a connecting rod guide assembly, a first side chain and a second side chain; the end effector comprises a base, a supporting arm plate, a pushing-out assembly, a cutting assembly, a fixing panel, a fixing ring, a first electromagnetic reversing valve and a second electromagnetic reversing valve. The multistage connecting rod assembly can enable the end effector to rapidly move above the broccoli ball, so that the picking efficiency is improved; the folding of the three cutting components in the end effector and the cutting action of the cutting blade are independently driven, the lengths of flower stalks required by different picking processes can be reserved, and meanwhile, the damage to flower balls is effectively reduced.)

1. Device is picked to broccoli that adapts to multiple flower stalk length requirement, including frame, rotating device, horizontal adjusting part, multistage link assembly, end effector and switch board, its characterized in that: the control cabinet is fixed at the bottom of the frame; the rotating device is arranged at the top of the frame;

the rotating device comprises a fixed seat, a thrust ball bearing, a cylindrical roller bearing, a speed reducer and a first stepping motor; the fixed seat is fixed on the top of the frame through a bolt; the thrust ball bearing and the cylindrical roller bearing are both positioned in the fixed seat; the outer ring of the cylindrical roller bearing is in interference fit with the inside of the fixed seat, and the seat ring of the thrust ball bearing is in interference fit with the inside of the fixed seat; the shell of the speed reducer is connected with the fixed seat through a bolt; the base of the first stepping motor is connected with the speed reducer through a bolt, and the output shaft of the first stepping motor is fixed with the input shaft of the speed reducer;

the adjusting assembly comprises a transverse adjusting assembly and a movable platform assembly; the transverse adjusting assembly comprises a T-shaped plate, a rotary connecting piece, a second stepping motor, a bracket, a coupler, a fixed block, a screw rod, a supporting block and a guide rail; the top end of the rotary connecting piece is connected with the bottom surface of the T-shaped plate through a bolt, and the bottom end of the rotary connecting piece penetrates through a thrust ball bearing and a cylindrical roller bearing of the rotating device and is fixed with an output shaft of the speed reducer; the support, the supporting block and the fixed block are all connected with the T-shaped plate through bolts, and the base of the stepping motor II is connected with the support through bolts; two ends of the screw rod respectively form a rotating pair with the fixed block and the supporting block; an output shaft of a stepping motor II at one end of the coupler is fixedly connected through a bolt, and the other end of the coupler is fixedly connected with a screw rod through a bolt; the two guide rails are arranged on two sides of the screw rod and are connected with the T-shaped plate through bolts;

the movable platform assembly comprises an assembly panel, a fixed plate, an upper connecting plate, an electric push rod, an upper hinge seat, a connecting block, a linear sliding block, a nut seat and a ball nut; the four upper hinge seats are arranged in a matrix manner and are fixed on the bottom surface of the component panel through bolts; the two fixing plates are fixed on the top surface of the component panel through bolt intervals, and the top surfaces of the two fixing plates are fixedly connected through two upper connecting plates; the two electric push rods are arranged between the two fixed plates, and the cylinder bodies of the two electric push rods are respectively connected with the two upper connecting plates through bolts; piston rods of the two electric push rods penetrate through the component panel; the four connecting blocks are arranged in a matrix manner and are fixed on the bottom surface of the component panel through bolts; a linear sliding block is fixed on each connecting block; each guide rail of the transverse adjusting assembly and the two linear sliding blocks form a sliding pair; the nut seat is fixed on the bottom surface of the assembly panel through a bolt; the ball nut is fixed in the nut seat through a bolt and forms a screw pair with a screw rod of the transverse adjusting assembly;

the multistage connecting rod assembly comprises a connecting rod transmission assembly, a connecting rod guide assembly, a first side chain and a second side chain, wherein the first side chain and the second side chain are identical in structure; the first side chain and the second side chain respectively comprise a first-stage connecting rod, a second-stage connecting rod, a first transmission shaft, a third-stage connecting rod, a second transmission shaft, a fourth-stage connecting rod assembly, a fifth-stage connecting rod assembly and an actuator guide assembly; the middle parts of the two second-stage connecting rods are hinged through a first transmission shaft, and the top ends of the two second-stage connecting rods are hinged with one ends of the two first-stage connecting rods through first pin shafts respectively; the middle parts of the two third-stage connecting rods are hinged through a second transmission shaft, and the top ends of the two third-stage connecting rods are respectively hinged with the bottom ends of the two second-stage connecting rods; the four-stage connecting rod assemblies are three in number and comprise second pin shafts and two four-stage connecting rods, and the middle parts of the two four-stage connecting rods are hinged through the second pin shafts; the top ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the middle position are respectively hinged with the bottom ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the topmost end; the bottom ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the middle position are respectively hinged with the top ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the bottommost end; the top ends of two fourth-stage connecting rods of the topmost fourth-stage connecting rod assembly are respectively hinged with the bottom ends of two third-stage connecting rods; the fifth-stage connecting rod assembly comprises a lower hinge seat and two fifth-stage connecting rods; the top ends of the two fifth-stage connecting rods are respectively hinged with the bottom ends of the two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the bottommost end, and the bottom ends are hinged with the lower hinge base; the actuator guide assembly comprises a T-shaped guide block, a slotted slide block, a slotted guide rod and a movable support; two ends of the guide rod with the groove and the two movable supports form sliding pairs respectively; the slotted slide block is fixed on the slotted guide rod and forms a sliding pair with the T-shaped guide block; the other ends of the two first-stage connecting rods of the first side chain and the two first-stage connecting rods of the second side chain are hinged with four upper hinge seats of the movable platform assembly through upper pin shafts respectively; except the hinged position of the first-stage connecting rod and the second-stage connecting rod, the hinged positions of the end parts of the other connecting rods of each stage of the first side chain and the hinged positions of the end parts of the connecting rods at the corresponding positions of the second side chain are fixedly connected through an auxiliary rod; two movable supports of the first side chain are respectively fixed with two auxiliary rods at the top ends of the two fifth-stage connecting rods, and two movable supports of the second side chain are respectively fixed with two auxiliary rods at the top ends of the two fifth-stage connecting rods; two sides of the first connecting plate are fixedly connected with first transmission shafts of the first side chain and the second side chain through bolts respectively; the two guide rod seats are fixedly connected to the bottom of the first connecting plate through bolts; the first connecting plate and the two guide rod seats form a connecting rod transmission assembly; two sides of the second connecting plate are fixedly connected with second transmission shafts of the first side chain and the second side chain through bolts respectively; the two flange bearings penetrate through the second connecting plate and are fixed on the second connecting plate through bolts; the two side chain guide rods and the two flange bearings respectively form a sliding pair, and the top ends of the two side chain guide rods are respectively fixed with the two guide rod seats; the top ends of the two side chain guide rods penetrate through the corresponding first connecting plates and are respectively fixed with the push rods of the two electric push rods of the movable platform assembly; the two flange bearings and the two side chain guide rods form a connecting rod guide assembly;

the end effector comprises a base, a supporting arm plate, a pushing assembly, a cutting assembly, a fixing panel, a first hinge, a fixing ring, a first electromagnetic reversing valve and a second electromagnetic reversing valve; the pushing assembly comprises a guide column, an upper mounting plate, a first air cylinder, a first piston rod, a moving plate, a second hinge, a connecting plate and a third hinge; the upper mounting plate is fixed with the T-shaped guide blocks of the first side chain and the second side chain and is fixed with the lower hinge seats of the first side chain and the second side chain; the cylinder body of the first air cylinder is connected with the upper mounting plate through a bolt, and a first piston rod of the first air cylinder is fixedly connected with the moving plate through a bolt; the three guide posts are uniformly distributed along the circumferential direction, and the top ends of the three guide posts are fixed with the upper mounting plate; the moving plate and the three guide columns form a sliding pair; the bottom ends of the three guide columns are fixedly connected with the base through bolts; the moving plate is arranged between the upper mounting plate and the base; the three support arm plates are uniformly distributed along the circumferential direction, one end of each support arm plate is fixed on the base through a bolt, and the other end of each support arm plate is fixedly connected with the fixed ring through a fixed panel; three connecting plates are uniformly distributed along the circumferential direction, and one end of each connecting plate is hinged with the movable plate through a second hinge; the cutting assembly comprises a cutting mounting plate, a cylinder mounting seat, a second cylinder, a second piston rod, a cutter mounting seat, a cutter blade, a linear bearing and a guide rod; the two cylinder mounting seats are fixed at the two ends of the cutting mounting plate through bolts; the cylinder body of the second cylinder is fixed with the two cylinder mounting seats; a piston rod II of the air cylinder II is fixed with the cutter mounting seat; the cutting blade is fixed on the cutting blade mounting seat through a bolt; a guide rod fixed on the cutter mounting seat is supported on the cylinder mounting seat through a linear bearing; the bottom end of the cutting mounting plate of each cutting assembly is hinged with a fixed panel through a first hinge, and the middle part of the cutting mounting plate of each cutting assembly is hinged with the other end of a connecting plate through a third hinge; the first electromagnetic reversing valve and the second electromagnetic reversing valve are both fixed on the rack; two air outlets of the first electromagnetic directional valve are respectively communicated with two air cavities of the first air cylinder, and two air outlets of the second electromagnetic directional valve are respectively communicated with two air cavities of each second air cylinder; the air inlets of the first electromagnetic directional valve and the second electromagnetic directional valve are communicated with the air outlet of the safety valve, and the air inlet of the safety valve is communicated with the air pump; a magnetic proximity switch I and a magnetic proximity switch II are arranged on the cylinder I; a magnetic proximity switch III and a magnetic proximity switch IV are arranged on the cylinder II; the bottom surface of the base is provided with a pressure sensor; the signal output ends of the first magnetic proximity switch, the second magnetic proximity switch, the third magnetic proximity switch, the fourth magnetic proximity switch and the pressure sensor are all connected with a controller in the control cabinet, and the first stepping motor, the second stepping motor, the electric push rod, the first electromagnetic reversing valve and the second electromagnetic reversing valve are all controlled by the controller.

2. The picking device for broccoli adapted to various flower stalk length requirements according to claim 1, wherein: the swing angle of the cutting assembly is 0-60 degrees.

3. The picking method of the broccoli picking device adapting to various flower stalk length requirements according to claim 1, wherein the picking method comprises the following steps: the method comprises the following specific steps:

step one, the controller controls a first stepping motor of the rotating device to rotate, so that the transverse adjusting assembly is driven to rotate until the transverse adjusting assembly, the broccoli and the rack are aligned on a vertical surface, and the controller controls the first stepping motor to stop rotating; then, the controller controls a second stepping motor of the transverse adjusting assembly to rotate to drive the screw rod to rotate, so that the ball nut in the movable platform assembly moves, the linear sliding block slides along the guide rail, the nut seat, the assembly panel, the multistage connecting rod assembly and the end effector move along with the ball nut, and the second stepping motor is controlled to stop rotating by the controller until the end effector is positioned right above the broccoli;

step two, the controller controls two electric push rods in the movable platform assembly to start to act to drive the connecting rod transmission assembly and the two side chain guide rods to move downwards, and the connecting rod transmission assembly drives the first side chain and the second side chain to synchronously extend downwards; in the process that the first side chain or the second side chain extends downwards, the first-stage connecting rod rotates around the upper hinge base, the second-stage connecting rod and the connecting rod guide assembly move downwards along with the first-stage connecting rod to drive the three sequentially connected fourth-stage connecting rod assemblies to move downwards, and then the fifth-stage connecting rod assemblies are driven to move downwards, and finally the end effector moves downwards; when a pressure sensor on the bottom surface of a base of the end effector contacts the top end of the broccoli, the pressure sensor outputs a pressure signal to the controller, and the controller controls the electric push rod to stop acting to complete the positioning of the end effector;

step three, the controller controls a first air cylinder of the end effector to act through a first electromagnetic directional valve, a first piston rod of the first air cylinder extends out, a moving plate and a connecting plate are driven to drive three cutting assemblies to swing inwards and fold, when the first piston rod of the first air cylinder extends out to a second magnetic proximity switch, the second magnetic proximity switch sends a signal to the controller, and the controller stops the first air cylinder to act to finish the action of the cutting assemblies to grab broccoli; when the first air cylinder stops acting, the controller controls the second three air cylinders to synchronously act through the second electromagnetic directional valve, the second piston rod of the second air cylinder extends out to drive the mounting seat to drive the cutter to move and cut into roots and stems of broccoli, when the second piston rod of the second air cylinder extends out to the third magnetic proximity switch, the third magnetic proximity switch sends a signal to the controller, and the controller stops the action of the second air cylinder to cut off the roots and stems of the broccoli, so that the broccoli is picked;

fourthly, the controller controls the electric push rod to retract, so that the first side chain and the second side chain of the multistage connecting rod assembly retract upwards synchronously to complete lifting of the end effector; then, the controller controls a second stepping motor of the transverse adjusting assembly and a first stepping motor of the rotating device to reset, and the picked broccoli is lifted above the placing platform; then, the controller controls the second air cylinder to act through the second electromagnetic reversing valve, the second piston rod of the second air cylinder retracts, when the second piston rod of the second air cylinder moves to the fourth magnetic proximity switch, the fourth magnetic proximity switch sends a signal to the controller, the controller stops the second air cylinder to act to reset the cutter, meanwhile, the first air cylinder is controlled to act through the first electromagnetic reversing valve, the first piston rod of the first air cylinder retracts, the moving plate and the connecting plate are driven to drive the three cutting assemblies to swing outwards, when the first piston rod of the first air cylinder extends to the first magnetic proximity switch, the magnetic proximity switch sends a signal to the controller, the controller stops the first air cylinder to act to reset the cutting assemblies, and the broccoli falls onto the placing platform.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a broccoli picking device and a broccoli picking method which are suitable for various flower stalk length requirements.

Background

In modern broccoli agricultural production activities, the picking of broccoli balls is the most time-consuming and labor-consuming link in the whole production, and the picked fruits need to be protected from mechanical damage to the maximum extent in the picking process, so that most farmers adopt a manual picking mode in most cases. At present, the picking devices for the crops and fruits near the ground and with thick fruit stalks like broccoli are fewer in China, or the existing picking devices can not meet the picking requirements of broccoli, so that the picking devices which can ensure the integrity of the fruits, have high efficiency and relatively simple structure and can adapt to the requirements of various flower stalk lengths need to be developed to gradually replace the manual work.

Disclosure of Invention

The invention aims to provide a broccoli picking device and a picking method thereof which are suitable for various flower stalk length requirements, can pick the fruits of crops, such as broccoli, with near-ground and thick fruit stalks, and solve the problems of low manual picking efficiency, high cost and the like.

The technical problem to be solved by the invention is realized by adopting the following technical scheme.

The invention relates to a broccoli picking device suitable for various flower stalk length requirements, which comprises a rack, a rotating device, a transverse adjusting assembly, a multistage connecting rod assembly, an end effector and a control cabinet, wherein the rack is provided with a plurality of guide rails; the control cabinet is fixed at the bottom of the frame; the rotating device is arranged at the top of the frame.

The rotating device comprises a fixed seat, a thrust ball bearing, a cylindrical roller bearing, a speed reducer and a first stepping motor; the fixed seat is fixed on the top of the frame through a bolt; the thrust ball bearing and the cylindrical roller bearing are both positioned in the fixed seat; the outer ring of the cylindrical roller bearing is in interference fit with the inside of the fixed seat, and the seat ring of the thrust ball bearing is in interference fit with the inside of the fixed seat; the shell of the speed reducer is connected with the fixed seat through a bolt; the base of the first stepping motor is connected with the speed reducer through a bolt, and the output shaft of the first stepping motor is fixed with the input shaft of the speed reducer.

The adjusting assembly comprises a transverse adjusting assembly and a movable platform assembly; the transverse adjusting assembly comprises a T-shaped plate, a rotary connecting piece, a second stepping motor, a bracket, a coupler, a fixed block, a screw rod, a supporting block and a guide rail; the top end of the rotary connecting piece is connected with the bottom surface of the T-shaped plate through a bolt, and the bottom end of the rotary connecting piece penetrates through a thrust ball bearing and a cylindrical roller bearing of the rotating device and is fixed with an output shaft of the speed reducer; the support, the supporting block and the fixed block are all connected with the T-shaped plate through bolts, and the base of the stepping motor II is connected with the support through bolts; two ends of the screw rod respectively form a rotating pair with the fixed block and the supporting block; an output shaft of a stepping motor II at one end of the coupler is fixedly connected through a bolt, and the other end of the coupler is fixedly connected with a screw rod through a bolt; two guide rails are arranged on two sides of the screw rod and are connected with the T-shaped plate through bolts.

The movable platform assembly comprises an assembly panel, a fixed plate, an upper connecting plate, an electric push rod, an upper hinge seat, a connecting block, a linear sliding block, a nut seat and a ball nut; the four upper hinge seats are arranged in a matrix manner and are fixed on the bottom surface of the component panel through bolts; the two fixing plates are fixed on the top surface of the component panel through bolt intervals, and the top surfaces of the two fixing plates are fixedly connected through two upper connecting plates; the two electric push rods are arranged between the two fixed plates, and the cylinder bodies of the two electric push rods are respectively connected with the two upper connecting plates through bolts; piston rods of the two electric push rods penetrate through the component panel; the four connecting blocks are arranged in a matrix manner and are fixed on the bottom surface of the component panel through bolts; a linear sliding block is fixed on each connecting block; each guide rail of the transverse adjusting assembly and the two linear sliding blocks form a sliding pair; the nut seat is fixed on the bottom surface of the assembly panel through a bolt; the ball nut is fixed in the nut seat through a bolt and forms a screw pair with a screw rod of the transverse adjusting assembly.

The multistage connecting rod assembly comprises a connecting rod transmission assembly, a connecting rod guide assembly, a first side chain and a second side chain, wherein the first side chain and the second side chain are identical in structure; the first side chain and the second side chain respectively comprise a first-stage connecting rod, a second-stage connecting rod, a first transmission shaft, a third-stage connecting rod, a second transmission shaft, a fourth-stage connecting rod assembly, a fifth-stage connecting rod assembly and an actuator guide assembly; the middle parts of the two second-stage connecting rods are hinged through a first transmission shaft, and the top ends of the two second-stage connecting rods are hinged with one ends of the two first-stage connecting rods through first pin shafts respectively; the middle parts of the two third-stage connecting rods are hinged through a second transmission shaft, and the top ends of the two third-stage connecting rods are respectively hinged with the bottom ends of the two second-stage connecting rods; the four-stage connecting rod assemblies are three in number and comprise second pin shafts and two four-stage connecting rods, and the middle parts of the two four-stage connecting rods are hinged through the second pin shafts; the top ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the middle position are respectively hinged with the bottom ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the topmost end; the bottom ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the middle position are respectively hinged with the top ends of two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the bottommost end; the top ends of two fourth-stage connecting rods of the topmost fourth-stage connecting rod assembly are respectively hinged with the bottom ends of two third-stage connecting rods; the fifth-stage connecting rod assembly comprises a lower hinge seat and two fifth-stage connecting rods; the top ends of the two fifth-stage connecting rods are respectively hinged with the bottom ends of the two fourth-stage connecting rods of the fourth-stage connecting rod assembly at the bottommost end, and the bottom ends are hinged with the lower hinge base; the actuator guide assembly comprises a T-shaped guide block, a slotted slide block, a slotted guide rod and a movable support; two ends of the guide rod with the groove and the two movable supports form sliding pairs respectively; the slotted slide block is fixed on the slotted guide rod and forms a sliding pair with the T-shaped guide block. The other ends of the two first-stage connecting rods of the first side chain and the two first-stage connecting rods of the second side chain are hinged with four upper hinge seats of the movable platform assembly through upper pin shafts respectively; except the hinged position of the first-stage connecting rod and the second-stage connecting rod, the hinged positions of the end parts of the other connecting rods of each stage of the first side chain and the hinged positions of the end parts of the connecting rods at the corresponding positions of the second side chain are fixedly connected through an auxiliary rod; two movable supports of the first side chain are respectively fixed with two auxiliary rods at the top ends of the two fifth-stage connecting rods, and two movable supports of the second side chain are respectively fixed with two auxiliary rods at the top ends of the two fifth-stage connecting rods; two sides of the first connecting plate are fixedly connected with first transmission shafts of the first side chain and the second side chain through bolts respectively; the two guide rod seats are fixedly connected to the bottom of the first connecting plate through bolts; the first connecting plate and the two guide rod seats form a connecting rod transmission assembly; two sides of the second connecting plate are fixedly connected with second transmission shafts of the first side chain and the second side chain through bolts respectively; the two flange bearings penetrate through the second connecting plate and are fixed on the second connecting plate through bolts; the two side chain guide rods and the two flange bearings respectively form a sliding pair, and the top ends of the two side chain guide rods are respectively fixed with the two guide rod seats; the top ends of the two side chain guide rods penetrate through the corresponding first connecting plates and are respectively fixed with the push rods of the two electric push rods of the movable platform assembly; two flange bearings and two side chain guide rods form a connecting rod guide assembly.

The end effector comprises a base, a supporting arm plate, a pushing assembly, a cutting assembly, a fixing panel, a first hinge, a fixing ring, a first electromagnetic reversing valve and a second electromagnetic reversing valve; the pushing assembly comprises a guide column, an upper mounting plate, a first air cylinder, a first piston rod, a moving plate, a second hinge, a connecting plate and a third hinge; the upper mounting plate is fixed with the T-shaped guide blocks of the first side chain and the second side chain and is fixed with the lower hinge seats of the first side chain and the second side chain; the cylinder body of the first air cylinder is connected with the upper mounting plate through a bolt, and a first piston rod of the first air cylinder is fixedly connected with the moving plate through a bolt; the three guide posts are uniformly distributed along the circumferential direction, and the top ends of the three guide posts are fixed with the upper mounting plate; the moving plate and the three guide columns form a sliding pair; the bottom ends of the three guide columns are fixedly connected with the base through bolts; the moving plate is arranged between the upper mounting plate and the base; the three support arm plates are uniformly distributed along the circumferential direction, one end of each support arm plate is fixed on the base through a bolt, and the other end of each support arm plate is fixedly connected with the fixed ring through a fixed panel; three connecting plates are uniformly distributed along the circumferential direction, and one end of each connecting plate is hinged with the movable plate through a second hinge; the cutting assembly comprises a cutting mounting plate, a cylinder mounting seat, a second cylinder, a second piston rod, a cutter mounting seat, a cutter blade, a linear bearing and a guide rod; the two cylinder mounting seats are fixed at the two ends of the cutting mounting plate through bolts; the cylinder body of the second cylinder is fixed with the two cylinder mounting seats; a piston rod II of the air cylinder II is fixed with the cutter mounting seat; the cutting blade is fixed on the cutting blade mounting seat through a bolt; a guide rod fixed on the cutter mounting seat is supported on the cylinder mounting seat through a linear bearing; the bottom end of the cutting mounting plate of each cutting assembly is hinged with a fixed panel through a first hinge, and the middle part of the cutting mounting plate of each cutting assembly is hinged with the other end of a connecting plate through a third hinge; the first electromagnetic reversing valve and the second electromagnetic reversing valve are both fixed on the rack; two air outlets of the first electromagnetic directional valve are respectively communicated with two air cavities of the first air cylinder, and two air outlets of the second electromagnetic directional valve are respectively communicated with two air cavities of each second air cylinder; the air inlets of the first electromagnetic directional valve and the second electromagnetic directional valve are communicated with the air outlet of the safety valve, and the air inlet of the safety valve is communicated with the air pump; a magnetic proximity switch I and a magnetic proximity switch II are arranged on the cylinder I; a magnetic proximity switch III and a magnetic proximity switch IV are arranged on the cylinder II; the bottom surface of the base is provided with a pressure sensor; the signal output ends of the first magnetic proximity switch, the second magnetic proximity switch, the third magnetic proximity switch, the fourth magnetic proximity switch and the pressure sensor are all connected with a controller in the control cabinet, and the first stepping motor, the second stepping motor, the electric push rod, the first electromagnetic reversing valve and the second electromagnetic reversing valve are all controlled by the controller.

The swing angle of the cutting assembly is 0-60 degrees.

The picking method of the broccoli picking device suitable for various flower stalk length requirements comprises the following specific steps:

step one, the controller controls a first stepping motor of the rotating device to rotate, so that the transverse adjusting assembly is driven to rotate until the transverse adjusting assembly, the broccoli and the rack are aligned on a vertical surface, and the controller controls the first stepping motor to stop rotating; and then, the controller controls the second stepping motor of the transverse adjusting assembly to rotate to drive the screw rod to rotate, so that the ball nut in the movable platform assembly moves, the linear sliding block slides along the guide rail, the nut seat, the assembly panel, the multistage connecting rod assembly and the end effector move along with the ball nut, and the second stepping motor is controlled to stop rotating by the controller until the end effector is positioned right above the broccoli.

Step two, the controller controls two electric push rods in the movable platform assembly to start to act to drive the connecting rod transmission assembly and the two side chain guide rods to move downwards, and the connecting rod transmission assembly drives the first side chain and the second side chain to synchronously extend downwards; in the process that the first side chain or the second side chain extends downwards, the first-stage connecting rod rotates around the upper hinge base, the second-stage connecting rod and the connecting rod guide assembly move downwards along with the first-stage connecting rod to drive the three sequentially connected fourth-stage connecting rod assemblies to move downwards, and then the fifth-stage connecting rod assemblies are driven to move downwards, and finally the end effector moves downwards; when the pressure sensor on the bottom surface of the base of the end effector contacts the top end of the broccoli, the pressure sensor outputs a pressure signal to the controller, and the controller controls the electric push rod to stop acting, so that the positioning of the end effector is completed.

Step three, the controller controls a first air cylinder of the end effector to act through a first electromagnetic directional valve, a first piston rod of the first air cylinder extends out, a moving plate and a connecting plate are driven to drive three cutting assemblies to swing inwards and fold, when the first piston rod of the first air cylinder extends out to a second magnetic proximity switch, the second magnetic proximity switch sends a signal to the controller, and the controller stops the first air cylinder to act to finish the action of the cutting assemblies to grab broccoli; when the first air cylinder stops acting, the controller controls the second three air cylinders to synchronously act through the second electromagnetic directional valve, the second piston rod of the second air cylinder extends out to drive the mounting seat to drive the cutter to move and cut into roots and stems of broccoli, when the second piston rod of the second air cylinder extends out to the third magnetic proximity switch, the third magnetic proximity switch sends a signal to the controller, and the controller stops the action of the second air cylinder to cut off the roots and stems of the broccoli, so that the broccoli picking is completed.

Fourthly, the controller controls the electric push rod to retract, so that the first side chain and the second side chain of the multistage connecting rod assembly retract upwards synchronously to complete lifting of the end effector; then, the controller controls a second stepping motor of the transverse adjusting assembly and a first stepping motor of the rotating device to reset, and the picked broccoli is lifted above the placing platform; then, the controller controls the second air cylinder to act through the second electromagnetic reversing valve, the second piston rod of the second air cylinder retracts, when the second piston rod of the second air cylinder moves to the fourth magnetic proximity switch, the fourth magnetic proximity switch sends a signal to the controller, the controller stops the second air cylinder to act to reset the cutter, meanwhile, the first air cylinder is controlled to act through the first electromagnetic reversing valve, the first piston rod of the first air cylinder retracts, the moving plate and the connecting plate are driven to drive the three cutting assemblies to swing outwards, when the first piston rod of the first air cylinder extends to the first magnetic proximity switch, the magnetic proximity switch sends a signal to the controller, the controller stops the first air cylinder to act to reset the cutting assemblies, and the broccoli falls onto the placing platform.

The invention has the following beneficial effects:

the end effector of the picking device adopts a motion mode from top to bottom, so that the influence of broccoli plant bodies on the picking device is effectively avoided, the multi-stage connecting rod assembly can realize quick response, the end effector can quickly move to the position above broccoli balls, and the picking efficiency is improved; the end effector designed by the invention can pick broccoli with the diameter within 230mm, and the folding of the three cutting components and the cutting action of the cutting blade are independently driven, so that the length of the flower stalk required by different picking processes can be reserved, and the mechanical damage to the flower ball can be effectively reduced.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a rotating device according to the present invention;

FIG. 3 is a schematic view of the lateral adjustment assembly of the present invention;

FIG. 4 is a schematic structural view of the movable platform assembly of the present invention;

FIG. 5 is a schematic structural view of the multi-stage connecting rod assembly of the present invention;

FIG. 6 is a schematic structural view of an end effector of the present invention;

FIG. 7 is a schematic view of a cutting assembly according to the present invention;

fig. 8 is a schematic view of the pneumatic control structure of the present invention.

Detailed Description

The invention is further illustrated by the following specific examples.

As shown in fig. 1, the broccoli picking device suitable for various flower stalk length requirements comprises a frame 1, a rotating device 2, a transverse adjusting assembly 3, a multistage connecting rod assembly 4, an end effector 5 and a control cabinet 6; the control cabinet 6 is fixed at the bottom of the frame 1; the rotating device 2 is arranged at the top of the frame 1; the rotating device 2 drives the transverse adjusting component 3 to rotate; the transverse adjusting component 3 drives the multistage connecting rod component 4 to move horizontally and vertically; the end effector 5 is driven by the multi-stage connecting rod assembly 4 to lift and open and close.

As shown in fig. 1 and 2, the rotating device 2 includes a fixed seat 21, a thrust ball bearing 22, a cylindrical roller bearing 23, a speed reducer 24, and a first stepping motor 25; the fixed seat 21 is fixed on the top of the frame 1 through a bolt; the thrust ball bearing 22 and the cylindrical roller bearing 23 are both positioned in the fixed seat 21; the outer ring of the cylindrical roller bearing 23 is in interference fit with the inside of the fixed seat 21, and the race of the thrust ball bearing 22 is in interference fit with the inside of the fixed seat 21; the shell of the speed reducer 24 is connected with the fixed seat 21 through a bolt; the base of the first stepping motor 25 is connected with the speed reducer 24 through a bolt, and the output shaft of the first stepping motor 25 is fixed with the input shaft of the speed reducer 24.

As shown in fig. 1, the adjusting assembly 3 comprises a lateral adjusting assembly 31 and a movable platform assembly 32; as shown in fig. 3, the lateral adjustment assembly 31 includes a T-shaped plate 311, a rotary connector 312, a second stepping motor 313, a bracket 314, a coupling 315, a fixed block 316, a screw rod 317, a supporting block 318 and a guide rail 319; the top end of the rotary connecting piece 312 is connected with the bottom surface of the T-shaped plate 311 through a bolt, and the bottom end of the rotary connecting piece passes through the thrust ball bearing 22 and the cylindrical roller bearing 23 of the rotating device 2 and is fixed with the output shaft of the speed reducer 24; the support 314, the supporting block 318 and the fixed block 316 are all connected with the T-shaped plate 311 through bolts, and the base of the second stepping motor 313 is connected with the support 314 through bolts; two ends of the screw rod 317 respectively form a rotating pair with the fixed block 316 and the supporting block 318; an output shaft of a second stepping motor 313 at one end of the coupler 315 is fixedly connected through a bolt, and the other end of the coupler is fixedly connected with the screw rod 317 through a bolt; two guide rails 319 are arranged on both sides of the screw 317 and are both connected with the T-shaped plate 311 through bolts.

As shown in fig. 1 and 4, the movable platform assembly 32 includes an assembly panel 321, a fixed plate 322, an upper connecting plate 323, an electric push rod 324, an upper hinge seat 325, a connecting block 326, a linear slider 327, a nut seat 328 and a ball nut 329; the four upper hinge seats 325 are arranged in a matrix and are all fixed on the bottom surface of the component panel 321 through bolts; the two fixing plates 322 are fixed on the top surface of the assembly panel 321 by bolt spacing, and the top surfaces of the two fixing plates 322 are fixedly connected by two upper connecting plates 323; the two electric push rods 324 are arranged between the two fixing plates 322, and the cylinder bodies of the two electric push rods 324 are respectively connected with the two upper connecting plates 323 through bolts; the piston rods of the two electric push rods 324 are both arranged through the assembly panel 321; the four connecting blocks 326 are arranged in a matrix and are all fixed on the bottom surface of the assembly panel 321 through bolts; a linear sliding block 327 is fixed on each connecting block 326; each guide rail 319 of the transverse adjusting assembly 31 and the two linear sliding blocks 327 form a sliding pair; the nut seat 328 is fixed on the bottom surface of the assembly panel 321 through bolts; the ball nut 329 is fixed to the nut holder 328 by a bolt and forms a screw pair with the lead screw 317 of the lateral adjustment assembly 31.

As shown in fig. 1 and 5, the multistage link assembly 4 includes a link transmission assembly 412, a link guide assembly 413, and first and second side chains 41 and 42 having identical structures; each of the first and second side chains 41 and 42 includes a first stage link 411, a second stage link 4121, a first transmission shaft 4122, a third stage link 4131, a second transmission shaft 4132, a fourth stage link assembly 414, a fifth stage link assembly 416, and an actuator guide assembly 417; the middle parts of the two second-stage connecting rods 4121 are hinged through a first transmission shaft 4122, and the top ends of the two second-stage connecting rods 4121 are hinged with one end of each of the two first-stage connecting rods 411 through a first pin 4125; the middle parts of the two third-stage connecting rods 4131 are hinged through a second transmission shaft 4132, and the top ends of the two third-stage connecting rods 4131 are hinged with the bottom ends of the two second-stage connecting rods 4121 respectively; the number of the fourth-stage connecting rod assemblies 414 is three, and the four fourth-stage connecting rod assemblies comprise second pin shafts 4142 and two fourth-stage connecting rods 4141, and the middle parts of the two fourth-stage connecting rods 4141 are hinged through the second pin shafts 4142; the top ends of the two fourth-stage connecting rods 4141 of the middle fourth-stage connecting rod assembly 414 are respectively hinged with the bottom ends of the two fourth-stage connecting rods 4141 of the topmost fourth-stage connecting rod assembly 414; the bottom ends of the two fourth-stage connecting rods 4141 of the middle fourth-stage connecting rod assembly 414 are hinged with the top ends of the two fourth-stage connecting rods 4141 of the bottommost fourth-stage connecting rod assembly 414 respectively; the top ends of the two fourth connecting rods 4141 of the topmost fourth connecting rod assembly 414 are respectively hinged with the bottom ends of the two third connecting rods 4131; fifth stage link assembly 416 includes a lower hinge base 4162 and two fifth stage links 4161; the top ends of the two fifth-stage connecting rods 4161 are respectively hinged with the bottom ends of the two fourth-stage connecting rods 4141 of the fourth-stage connecting rod assembly 414 at the bottommost end, and the bottom ends are hinged with the lower hinge seat 4162; the actuator guide assembly 417 includes a T-shaped guide block 4171, a slotted slider 4172, a slotted guide bar 4173, and a moveable support 4174; two ends of the guide rod 4173 with the groove and the two movable supports 4174 form sliding pairs respectively; the slotted slider 4172 is fixed to the slotted guide 4173 and constitutes a sliding pair with the T-shaped guide 4171. The other ends of the two first-stage connecting rods 411 of the first side chain 41 and the two first-stage connecting rods 411 of the second side chain 42 are hinged with the four upper hinge seats 325 of the movable platform assembly 32 through upper pin shafts 3251 respectively; except for the hinged position of the first-stage connecting rod 411 and the second-stage connecting rod 4121, the hinged position of the end of each of the other connecting rods of the first side chain 41 and the hinged position of the end of the connecting rod at the corresponding position of the second side chain 42 are fixedly connected through an auxiliary rod 415; the two movable supports 4174 of the first side chain 41 are fixed to the two auxiliary levers 415 at the top ends of the two fifth-stage links 4161, and the two movable supports 4174 of the second side chain 42 are fixed to the two auxiliary levers 415 at the top ends of the two fifth-stage links 4161; both sides of the first connecting plate 4123 are fixedly connected with the first transmission shafts 4122 of the first and second side chains 41 and 42, respectively, by bolts; the two guide rod seats 4124 are fixedly connected to the bottom of the first connecting plate 4123 through bolts; the first connecting plate 4123 and the two guide bar seats 4124 constitute the link transmission assembly 412; both sides of the second connecting plate 4133 are fixedly connected with the second transmission shafts 4132 of the first and second side chains 41 and 42, respectively, by bolts; the two flange bearings 4134 are arranged through the second connecting plate 4133 and are fixed on the second connecting plate 4133 through bolts; the two side chain guide rods 4135 and the two flange bearings 4134 respectively form a sliding pair, and the top ends of the two side chain guide rods 4135 are respectively fixed with the two guide rod seats 4124; the top ends of the two side chain guide rods 4135 are arranged through the corresponding first connecting plate 4123 and fixed with the push rods of the two electric push rods 324 of the movable platform assembly 32 respectively; the two flange bearings 4134 and the two side chain guide bars 4135 constitute the link guide assembly 413.

As shown in fig. 1, 6, and 7, the end effector 5 includes a base 51, a support arm plate 52, a push-out assembly 53, a cutting assembly 54, a fixing panel 55, a first hinge 56, a fixing ring 57, a first electromagnetic directional valve 58, and a second electromagnetic directional valve 59; the pushing assembly 53 comprises a guide column 531, an upper mounting plate 532, a first air cylinder 533, a first piston rod 534, a moving plate 535, a second hinge 536, a connecting plate 537 and a third hinge 538; the upper mounting plate 532 is fixed with the T-shaped guide blocks 4171 of the first and second side chains 41 and 42 and is fixed with the lower hinge seats 4162 of the first and second side chains 41 and 42; the cylinder body of the first cylinder 533 is connected with the upper mounting plate 532 through a bolt, and the piston rod 534 of the first cylinder 533 is fixedly connected with the movable plate 535 through a bolt; the three guide posts 531 are uniformly distributed along the circumferential direction, and the top ends of the three guide posts are fixed with the upper mounting plate 532; the moving plate 535 and the three guide posts 531 form a sliding pair; the bottom ends of the three guide posts 531 are fixedly connected with the base 51 through bolts; the moving plate 535 is disposed between the upper mounting plate 532 and the base 51; the three support arm plates 52 are uniformly distributed along the circumferential direction, one end of each support arm plate is fixed on the base 51 through a bolt, and the other end of each support arm plate is fixedly connected with the fixed ring 57 through a fixed panel 55; three connecting plates 537 are uniformly distributed along the circumferential direction, and one ends of the three connecting plates are hinged with the moving plate 535 through second hinges 536; the cutting assembly 54 comprises a cutting mounting plate 541, a cylinder mounting seat 542, a second cylinder 543, a second piston rod 544, a cutter mounting seat 545, a cutter blade 546, a linear bearing 547 and a guide rod 548; the two cylinder mounting seats 542 are fixed at two ends of the cutting mounting plate 541 through bolts; the cylinder body of the second cylinder 543 is fixed with the two cylinder mounting seats 542; a second piston rod 544 of the second air cylinder 543 is fixed with the cutter mounting seat 545; the cutting blade 546 is fixed to the cutting blade mounting base 545 by a bolt; the guide rod 548 fixed to the cutter mounting base 545 is supported by the cylinder mounting base 542 via the linear bearing 547, and the guide rod 548 guides the cutter mounting base 545. The number of the cutting assemblies 54 is three, the bottom end of the cutting mounting plate 541 of each cutting assembly 54 is hinged with one fixed panel 55 through a first hinge 56, and the middle part of the cutting mounting plate 541 of each cutting assembly 54 is hinged with the other end of one connecting plate 537 through a third hinge 538; the swing angle of the cutting assembly 54 is 0-60 degrees; the first electromagnetic directional valve 58 and the second electromagnetic directional valve 59 are both fixed on the frame 1; as shown in fig. 8, two air outlets of the first electromagnetic directional valve 58 are respectively communicated with two air chambers of the first air cylinder 533, and two air outlets of the second electromagnetic directional valve 59 are respectively communicated with two air chambers of each second air cylinder 543; the air inlets of the first electromagnetic directional valve 58 and the second electromagnetic directional valve 59 are communicated with the air outlet of the safety valve, and the air inlet of the safety valve is communicated with the air pump; the first cylinder 533 is provided with a first magnetic proximity switch 5331 and a second magnetic proximity switch 5332; a magnetic proximity switch III 5431 and a magnetic proximity switch IV 5432 are arranged on the air cylinder II 543; a pressure sensor is arranged on the bottom surface of the base 51; the signal output ends of the first magnetic proximity switch 5331, the second magnetic proximity switch 5332, the third magnetic proximity switch 5431, the fourth magnetic proximity switch 5432 and the pressure sensor are all connected with a controller in the control cabinet 6, and the first stepping motor 25, the second stepping motor 313, the electric push rod 324, the first electromagnetic reversing valve 58 and the second electromagnetic reversing valve 59 are all controlled by the controller.

The frame 1 of the broccoli picking device which is suitable for various flower stalk length requirements is driven to move by external force, and the broccoli picking device which is suitable for various flower stalk length requirements can pick broccoli; the picking method of the broccoli picking device suitable for various flower stalk length requirements comprises the following specific steps:

step one, the controller controls a first stepping motor 25 of the rotating device 2 to rotate, so that the transverse adjusting assembly 31 is driven to rotate until the transverse adjusting assembly 31, the broccoli and the rack 1 are aligned on a vertical surface, and the controller controls the first stepping motor 25 to stop rotating; then, the controller controls the second stepping motor 313 of the lateral adjustment assembly 31 to rotate, so as to drive the screw rod 317 to rotate, so that the ball nut 329 in the movable platform assembly 32 moves, the linear slider 327 slides along the guide rail 319, and the nut seat 328, the assembly panel 321, the multi-stage connecting rod assembly 4 and the end effector 5 move along with the ball nut 329 until the end effector 5 is positioned right above the broccoli, and the second stepping motor 313 is controlled by the controller to stop rotating.

Step two, the controller controls the two electric push rods 324 in the moving platform assembly 32 to start to move, so as to drive the connecting rod transmission assembly 412 and the two side chain guide rods 4135 to move downwards, and the connecting rod transmission assembly 412 drives the first side chain 41 and the second side chain 42 to extend downwards synchronously; in the process that the first side chain 41 or the second side chain 42 extends downwards, the first-stage connecting rod 411 rotates around the upper hinge base 325, the second-stage connecting rod 4121 and the connecting rod guide assembly 413 move downwards along with the first-stage connecting rod 411 to drive the three fourth-stage connecting rod assemblies 414 connected in sequence to move downwards, and then drive the fifth-stage connecting rod assembly 416 to move downwards, and finally the end effector 5 moves downwards; when the pressure sensor on the bottom surface of the base 51 of the end effector 5 contacts the top end of the broccoli, the pressure sensor outputs a pressure signal to the controller, and the controller controls the electric push rod 324 to stop operating, thereby completing the positioning of the end effector 5.

Step three, the controller controls the first cylinder 533 of the end effector 5 to act through the first electromagnetic directional valve 58, the first piston rod 534 of the first cylinder 533 extends out, the moving plate 535 and the connecting plate 537 are driven to drive the three cutting assemblies 54 to swing inwards and fold, when the first piston rod 534 of the first cylinder 533 extends out to the second magnetic proximity switch 5332, the second magnetic proximity switch 5332 sends a signal to the controller, and the controller stops the action of the first cylinder 533 to finish the action of grabbing broccoli by the cutting assemblies 54; when the first cylinder 533 stops operating, the controller controls the second three cylinders 543 to synchronously operate through the second electromagnetic directional valve 59, the second piston rod 544 of the second cylinder 543 extends out to drive the mounting seat 545 to drive the cutter 546 to move and cut into the roots and stems of broccoli, when the second piston rod 544 of the second cylinder 543 extends out to the third magnetic proximity switch 5431, the third magnetic proximity switch 5431 sends a signal to the controller, and the controller stops the second cylinder 543 to operate to complete the cutting of the roots and stems of broccoli, so that the broccoli picking is completed.

Step four, the controller controls the electric push rod 324 to retract, so that the first side chain 41 and the second side chain 42 of the multistage connecting rod assembly 4 synchronously contract upwards to complete the lifting of the end effector 5; then, the controller controls a second stepping motor 313 of the transverse adjusting component 3 and a first stepping motor 25 of the rotating device 2 to reset, and the picked broccoli is lifted above the placing platform; then, the controller controls the action of the second air cylinder 543 through the second electromagnetic reversing valve 59, the second piston rod 544 of the second air cylinder 543 retracts, when the second piston rod 544 of the second air cylinder 543 moves to the fourth magnetic proximity switch 5432, the fourth magnetic proximity switch 5432 sends a signal to the controller, the controller stops the action of the second air cylinder 543 to reset the cutter 546, and simultaneously controls the action of the first air cylinder 533 through the first electromagnetic reversing valve 58 to retract the first piston rod 534 of the first air cylinder 533, the moving plate 535 and the connecting plate 537 drive the three cutting assemblies 54 to swing outwards, when the first piston rod 534 of the first air cylinder 533 extends to the first magnetic proximity switch 5331, the first magnetic proximity switch 5331 sends a signal to the controller, the controller stops the action of the first air cylinder 533 to reset the cutting assemblies 54, and broccoli falls onto the placing platform.