CN102668818A - End effector of multi-melon-fruit picking robot - Google Patents
End effector of multi-melon-fruit picking robot Download PDFInfo
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- CN102668818A CN102668818A CN2012101604796A CN201210160479A CN102668818A CN 102668818 A CN102668818 A CN 102668818A CN 2012101604796 A CN2012101604796 A CN 2012101604796A CN 201210160479 A CN201210160479 A CN 201210160479A CN 102668818 A CN102668818 A CN 102668818A
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- shearing
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- shearing motion
- picking robot
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Abstract
The invention relates to the technical field of light picking robots, and in particular relates to an end effector of a multi-melon-fruit picking robot. The end effector of the multi-melon-fruit picking robot comprises an actuation end and a driving end, wherein the actuation end comprises a cutting fixed end (10) and a cutting moving end (5), the middle parts of the cutting fixed end (10) and the cutting moving end (5) are in rotary connection to form a shear shape, and the driving end comprises a motor (20) and a reel (19). According to the end effector of the multi-melon-fruit picking robot, the motor is controlled to rotate through receiving control signals, thereby three motions of clamping, shearing and putting are accomplished, and picking of melons and fruits is realized.
Description
Technical field
The present invention relates to light-weighted picking robot technical field, particularly a kind of end effector of many melons and fruits picking robot.
Background technology
China is agricultural production big country, and the cultivated area of annual China vegetables is 2.8 hundred million mu substantially, more than 600,000,000 ton of the yield of vegetables of China in 2011, and whole sowing of vegetable area has increased by 3% on basis in 2010.Traditional gathering is the cargo handling operation of muscle power, labour's consume significant, and along with the continuous expansion of cultivated area, labor cost is constantly soaring, and the automation equipment that melon and fruit is gathered has proposed new demand.Development melon and fruit picking robot can free the labour from this numerous and diverse, dull work.Along with popularizing of intelligentized development of agricultural and related science technology, picking robot will hold out broad prospects.
End effector is the picking robot most important component.End effector is mounted in the front end of mechanical arm, is attached to main frame, but relatively independent and program is accomplished the device of a certain task regularly automatically.Research has at home and abroad been experienced more than 20 year, has obtained certain achievement.But mainly concentrate on the gathering of vegetables such as fruit such as apple, oranges and tangerines and cucumber, eggplant.And the adaption object of these end effectors is all single relatively, and versatility is relatively poor.In order to improve working conditions,, raising reduces operating cost when gathering efficient and mechanization rate, therefore be necessary to design a kind of end effector that can be applicable to that multiple melon and fruit is plucked.
Summary of the invention
The object of the present invention is to provide a kind of end effector that can be applicable to many melons and fruits picking robot that many melons and fruits are plucked.
In order to achieve the above object, the invention provides following technical scheme:
A kind of end effector of many melons and fruits picking robot,
It comprises actuating station and drive end, wherein,
Said actuating station comprises shears stiff end 10 and shearing motion end 5, and said shearing stiff end 10 is hinged at the middle part with shearing motion end 5, is scissor;
Wherein, the header arrangement of shearing motion end 5 has shearing motion end block 8, has groove on the tail end, and an end of steel wire rope 3 is fixed in the said groove; The header arrangement of shearing stiff end 10 has the stiff end of shearing blade 6, shears stiff end blade 6 bottoms and is fixed with clamp 7; The afterbody of shearing stiff end 10 is fixed to fixed base plate 2; The two ends of spring 22 are separately fixed at the afterbody of shearing motion end 5 and shear on the afterbody of stiff end 10;
Said drive end comprises motor 20, reel 19, and wherein, the other end of steel wire rope 3 is connected on the reel 19, and reel 19 is connected on the motor shaft of motor 20.
Said shearing motion end block 8 is the arc of indent in the scissor inboard.
The distance of said clamp 7 and shearing motion end block 8 is greater than shearing the distance of stiff end blade 6 with shearing motion end block 8.
Beneficial effect of the present invention is:
1. end effector adopts the design that drive end and actuating station are separated, and has alleviated the terminal weight of mechanical arm.
2. the shearing of end effector and clamping function combine, and realize two functions of single driving completion.
3. after the manipulator motion, the distance between end effector actuating station and the drive end can change, and with the sleeve pipe and this kind of drive of rope, realizes that displacement is from transmission.
4. operating part adopts an end to fix, and the mode of an end motion with respect to the mode of moving simultaneously in two ends, has been simplified the difficulty of motion transmission.
5. shearing motion end block is an arc, can prevent that carpopodium skids off in the shear history.
Description of drawings
Fig. 1 is the actuating station sketch map of end effector of the present invention;
Fig. 2 is the drive end sketch map of end effector of the present invention.
[primary clustering symbol description]
1 mechanical arm
2 fixed base plates
3 steel wire ropes
4 pressure heads
5 shearing motion ends
6 shear the stiff end blade
7 clamps
8 shearing motion end blocks
9 atresia clamping pieces
10 shear stiff end
11 porose clamping pieces
12 sleeve pipes
13 sleeve pipe fixed blocks
14 nuts
15 mechanical arm connecting plates
16 bolts
17 keys
18 bolts
19 reels
20 motors
21 motor cabinets
22 springs
Embodiment
Be described further according to the accompanying drawing specific embodiments of the invention below.
The end effector of a kind of many melons and fruits picking robot of the present invention is made up of actuating station and drive end.
As shown in Figure 1; Be the actuating station sketch map of end effector of the present invention, this actuating station comprises shears stiff end 10 and shearing motion end 5, and pin is connected said shearing stiff end 10 at the middle part with shearing motion end 5; Form a hinge in relative rotation, be scissor.
Wherein, the header arrangement of shearing motion end 5 has shearing motion end block 8, and this shearing motion end block 8 direction inboard in scissor, that face clamp 7 and shearing stiff end blade 6 is the arc of indent.On the tail end of shearing motion end 5, have groove.One end bolt of steel wire rope 3 becomes a circle, by pressure head 4 it is stuck in the groove.
The header arrangement of shearing stiff end 10 has the stiff end of shearing blade 6, shears stiff end blade 6 bottoms and is fixed with clamp 7.This clamp 7 is slightly larger than the distance of shearing stiff end blade 6 and shearing motion end block 8 with the distance of shearing motion end block 8.The afterbody of shearing stiff end 10 is fixed on the fixed base plate 2 by clamping piece 9,11; Wherein, near clamping piece 11 perforates of shearing stiff end 10 afterbodys, steel wire rope 3 can pass thus, and an end of its while sleeve 12 together compresses, and is fixed in and shears on the stiff end 10.The two ends of spring 22 are separately fixed at shearing motion end 5 afterbodys and shear on stiff end 10 afterbodys.Fixed base plate 2 is connected to the mechanical arm connecting plate 15 of mechanical arm 1 through a plurality of bolts 16 and nut 14.
Fig. 2 is the drive end sketch map of end effector of the present invention, and this drive end comprises motor 20, reel 19, motor cabinet 21, sleeve pipe fixed block 13.Wherein, Motor 20 is fixed on the motor cabinet 21 by bolt 18, and the other end of sleeve pipe 12 also is fixed on the motor cabinet 21 through sleeve pipe fixed block 13, and the other end of steel wire rope 3 passes sleeve pipe 12 and is connected on the reel 19; Reel 19 usefulness keys 17 are connected on the motor shaft of motor 20
Under the general state, be open between the shearing motion end 5 of end effector actuating station and the shearing stiff end 10.When mechanical arm 1 moves to end effector assigned address (making the carpopodium of melon and fruit shear between stiff end blade 6 and the shearing motion end block 8), end effector is started working.
During work:
After picking robot detects the position of target melon and fruit; Mechanical arm 1 moves to end effector in the place ahead of target melon and fruit; Controller control end effector action then; And end effector is controlled the rotation and then the completion of motor to cut, press from both sides, put through receiving control signal, realizes the harvesting of melon and fruit.
Shearing, clamping process: drive end motor 20 is just changeing specified angle, is being with reel 19 just changeing through key 17, rolls steel wire rope 3 and accomplishes the coiling processes.The shearing motion end 5 of actuating station is drawn close to shearing stiff end 10 under the pulling of steel wire rope 3 gradually, and shearing motion end block 8 is drawn close to shearing stiff end blade 6 gradually simultaneously, and spring 22 is compressed, and shortens gradually.When shearing motion end block 8 is fitted with shearing stiff end blade 6 fully, accomplish cutting.And clamp 7 is assemblied in shearing stiff end blade 6 lower ends, and when shearing motion end block 8 was fitted with shearing stiff end blade 6 fully, clamp 7 and shearing motion end block 8 had been clamped the carpopodium of melon and fruit fully.
The mechanical arm band and is clipped the end effector of taking melon and fruit and move to the fruit frame, and next controller control end effector is placed fruit.
Place the process of fruit: specified angle is changeed in 20 counter-rotatings of drive end motor, is being with reel 19 counter-rotatings through key 17, emits steel wire rope 3 and accomplishes the unwrapping wire process.Because steel wire rope 3 loosens, spring 22 is unfolded the former length of recovery gradually, and gradually away from shearing stiff end 10, shearing motion end block 8 is gradually away from shearing stiff end blade 6 simultaneously under the effect of spring restoring force for the shearing motion end 5 of actuating station.Shear stiff end blade 6 lower ends because clamp 7 is assemblied in, thus when shearing motion end block 8 with shear stiff end blade 6 gradually away from the time, the gap between clamp 7 and the shearing motion end block 8 increases, with the fruit release of clamping.
At this moment, mechanical arm 1 resets, and end effector is got back to the preliminary examination position, has accomplished a harvesting process.
Claims (3)
1. the end effector of melon and fruit picking robot more than a kind is characterized in that:
It comprises actuating station and drive end, wherein,
Said actuating station comprises shears stiff end (10) and shearing motion end (5), and said shearing stiff end (10) and shearing motion end (5) are hinged at the middle part, are scissor;
Wherein, the header arrangement of shearing motion end (5) has shearing motion end block (8), has groove on the tail end, and an end of steel wire rope (3) is fixed in the said groove; The header arrangement of shearing stiff end (10) has the stiff end blade (6) of shearing, shears stiff end blade (6) bottom and is fixed with clamp (7); The afterbody of shearing stiff end (10) is fixed to fixed base plate (2); The two ends of spring (22) are separately fixed at the afterbody of shearing motion end (5) and shear on the afterbody of stiff end (10);
Said drive end comprises motor (20), reel (19), and wherein, the other end of steel wire rope (3) is connected on the reel (19), and reel (19) is connected on the motor shaft of motor (20).
2. the end effector of many melons and fruits picking robot as claimed in claim 1 is characterized in that: said shearing motion end block (8) is the arc of indent in the scissor inboard.
3. according to claim 1 or claim 2 the end effector of many melons and fruits picking robot is characterized in that: the distance of said clamp (7) and shearing motion end block (8) is greater than shearing the distance of stiff end blade (6) with shearing motion end block (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101604796A CN102668818A (en) | 2012-05-22 | 2012-05-22 | End effector of multi-melon-fruit picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101604796A CN102668818A (en) | 2012-05-22 | 2012-05-22 | End effector of multi-melon-fruit picking robot |
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| Publication Number | Publication Date |
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| CN102668818A true CN102668818A (en) | 2012-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012101604796A Pending CN102668818A (en) | 2012-05-22 | 2012-05-22 | End effector of multi-melon-fruit picking robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103004374A (en) * | 2012-12-11 | 2013-04-03 | 江苏大学 | End effector of clamp-shear integrated pick robot |
| CN105580561A (en) * | 2015-12-10 | 2016-05-18 | 华南农业大学 | Self-adaption under-actuation picking tail end executing device and method |
| CN106576460A (en) * | 2016-12-18 | 2017-04-26 | 宁秀芬 | Park and garden management robot |
| CN107231891A (en) * | 2017-05-11 | 2017-10-10 | 华南农业大学 | A kind of tea picking machine and its implementation |
| CN107343680A (en) * | 2016-05-05 | 2017-11-14 | 所罗门股份有限公司 | The method and apparatus of automatic wear shoes band |
| CN107750644A (en) * | 2017-10-31 | 2018-03-06 | 江苏理工学院 | A kind of Portable fruit picker |
| CN109315144A (en) * | 2018-07-27 | 2019-02-12 | 湖南人文科技学院 | Intelligent fruits picker and its picking method |
| CN109328633A (en) * | 2018-12-18 | 2019-02-15 | 山东农业大学 | It is a kind of to cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A kind of self-balancing type apple-picking vehicle |
| CN109788732A (en) * | 2016-07-19 | 2019-05-21 | 欧科体尼恩公司 | For selecting fruit and with the device of robotic arm |
| CN110012730A (en) * | 2019-03-11 | 2019-07-16 | 潍坊学院 | A kind of terminal executor of picking robot |
| CN110558043A (en) * | 2019-10-21 | 2019-12-13 | 南京工程学院 | Fruit stalk clamping and shearing type picking robot end effector |
| CN111296069A (en) * | 2020-03-20 | 2020-06-19 | 李堂勇 | Ware is picked to portable agricultural product |
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| CN201758577U (en) * | 2010-09-01 | 2011-03-16 | 张才清 | Multi-purpose fruit plucking shears |
| CN102282969A (en) * | 2010-06-17 | 2011-12-21 | 吴必汉 | Convenient fruit picker |
| CN202340439U (en) * | 2011-11-23 | 2012-07-25 | 浙江工业大学 | End effector of pecan picking robot |
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Patent Citations (5)
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| CN201015313Y (en) * | 2007-03-30 | 2008-02-06 | 刘梦旸 | Fruit tree lopping shears |
| CN101395989A (en) * | 2008-10-10 | 2009-04-01 | 江苏大学 | End effector of apple picking robot |
| CN102282969A (en) * | 2010-06-17 | 2011-12-21 | 吴必汉 | Convenient fruit picker |
| CN201758577U (en) * | 2010-09-01 | 2011-03-16 | 张才清 | Multi-purpose fruit plucking shears |
| CN202340439U (en) * | 2011-11-23 | 2012-07-25 | 浙江工业大学 | End effector of pecan picking robot |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103004374A (en) * | 2012-12-11 | 2013-04-03 | 江苏大学 | End effector of clamp-shear integrated pick robot |
| CN105580561A (en) * | 2015-12-10 | 2016-05-18 | 华南农业大学 | Self-adaption under-actuation picking tail end executing device and method |
| CN107343680A (en) * | 2016-05-05 | 2017-11-14 | 所罗门股份有限公司 | The method and apparatus of automatic wear shoes band |
| CN109788732A (en) * | 2016-07-19 | 2019-05-21 | 欧科体尼恩公司 | For selecting fruit and with the device of robotic arm |
| CN106576460A (en) * | 2016-12-18 | 2017-04-26 | 宁秀芬 | Park and garden management robot |
| CN107231891A (en) * | 2017-05-11 | 2017-10-10 | 华南农业大学 | A kind of tea picking machine and its implementation |
| CN107750644A (en) * | 2017-10-31 | 2018-03-06 | 江苏理工学院 | A kind of Portable fruit picker |
| CN107750644B (en) * | 2017-10-31 | 2023-11-03 | 江苏理工学院 | Portable fruit picking device |
| CN109315144B (en) * | 2018-07-27 | 2021-10-08 | 湖南人文科技学院 | Intelligent fruit picking device and picking method thereof |
| CN109315144A (en) * | 2018-07-27 | 2019-02-12 | 湖南人文科技学院 | Intelligent fruits picker and its picking method |
| CN109328643A (en) * | 2018-12-17 | 2019-02-15 | 青岛科技大学 | A kind of self-balancing type apple-picking vehicle |
| CN109328633A (en) * | 2018-12-18 | 2019-02-15 | 山东农业大学 | It is a kind of to cut rolling end effector and collecting method suitable for white asparagus selectively harvesting robot |
| CN110012730A (en) * | 2019-03-11 | 2019-07-16 | 潍坊学院 | A kind of terminal executor of picking robot |
| CN110558043A (en) * | 2019-10-21 | 2019-12-13 | 南京工程学院 | Fruit stalk clamping and shearing type picking robot end effector |
| CN110558043B (en) * | 2019-10-21 | 2024-03-29 | 南京工程学院 | End effector of fruit stem clamping and shearing type picking robot |
| CN111296069A (en) * | 2020-03-20 | 2020-06-19 | 李堂勇 | Ware is picked to portable agricultural product |
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Application publication date: 20120919 |