CN103448061B - A kind of kiwifruit fruit picking end effector - Google Patents
A kind of kiwifruit fruit picking end effector Download PDFInfo
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- CN103448061B CN103448061B CN201310341023.4A CN201310341023A CN103448061B CN 103448061 B CN103448061 B CN 103448061B CN 201310341023 A CN201310341023 A CN 201310341023A CN 103448061 B CN103448061 B CN 103448061B
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Abstract
The invention discloses a kind of kiwifruit fruit picking end effector, comprise clamping device, rotation picking mechanism, nearly connection mechanism, sensor-based system and control system.Clamping device is pointed by former and later two arcwall faces the scissor-like structure formed and is formed, the separation that can realize adjoining fruit with reliably capture; Rotation picking mechanism adopts decelerating step motor to drive clamp system rotation to realize carpopodium and is separated with fruit; Remote holder is driven to depend on nearly fruit close to mechanism; Sensor-based system is by the pressure sensor, the Photoelectric infrared switch that are contained in front finger inner side, be contained in the hall position sensor in frame and limit switch composition, be respectively used to the anglec of rotation detecting clamping threshold force, fruit position, mechanism's repositioning information and control decelerating step motor; Control system is made up of single-chip microcomputer, controllor for step-by-step motor, is coordinated the control realizing whole system by sensor-based system.This actuator is accurately located fruit, is separated and reliably captured, and realize the harmless harvesting of fruit, frame for movement is simple.
Description
Technical field
The present invention relates to a kind of picking fruit end effector, particularly relate to a kind of kiwifruit fruit picking end effector, belong to picking robot field.
Background technology
Picking fruit end effector is the critical component of picking robot, directly acts on fruit, and therefore, the quality of end effector affects the results quality of fruit.More for the research of picking fruit end effector both at home and abroad, but due to fruit nature difference, versatility is not strong.Kiwifruit fruit is short for plucking cycle, and labour intensity is high, and standardized cropping pattern is conducive to realizing automation and plucks, but the feature that fruit adjoins growth requires that manipulator has the function being separated fruit." terminal executor of fruit and vegetable picking robot " that Chinese patent CN101019484A announces adopts the mode of sucker suction to be separated fruit, and this structure makes end effector structures design and controls complicated.Chinese patent CN102187766A discloses " a kind of Kiwi picking end effector ", and this end effector, due to the restriction of own vol, is restricted the harvesting of adjoining fruit.
Summary of the invention
In order to overcome the deficiency of existing picking method and picker, the invention provides a kind of adopt frame for movement to realize fruit is separated, sensor-based system obtains the kiwifruit fruit that fruit information realization reliably captures and can't harm picking end effector, present invention also offers a kind of simple and effective picking fruit method based on this end effector.
The present invention solves the technical scheme that its technical problem takes:
A kind of kiwifruit fruit picking end effector, comprises clamping device, rotation picking mechanism, nearly connection mechanism, sensor-based system and control system;
Described clamping device comprises front finger, rear finger, cross sliding clock, linear stepping motor I and support I; Described front finger shape is Bionic arc face, and within it with silica gel material, be connected with cross sliding clock pin, described rear finger shape is Bionic arc face, adopt pin to be connected with support I, between front finger with rear finger, adopt pin to be connected, form scissor-like structure, linear stepping motor I drives cross sliding clock to realize the folding of front finger and rear finger, and fruit is separated and captures by front finger and rear finger in closed process;
Described rotation picking mechanism comprises connector I, connector II, flange, decelerating step motor; Described connector I one end connects motor output shaft, other end connection bracket I, described connector II one end connects decelerating step motor, the other end connects connector III, described flange sleeve is on motor output shaft, be connected with connector I, decelerating step motor rotarily drives whole clamp system and rotates, fruit and carpopodium are acutangulated, and make carpopodium bear pulling force, fractureed reaching carpopodium maximum displacement place, decelerating step motor anglec of rotation limit switch I, II sets, and the position of described limit switch is adjustable;
Describedly comprise linear stepping motor II, upright slide block, connector III, support II, guide plate close to mechanism; Described upright slide block slides at the slide rail of support II, and is connected with the nut of linear stepping motor II, and leading screw and the motor output shaft of described linear stepping motor II have a style of one's own, and leading screw other end bearing is connected with support II; Described connector III connects and connector II for vertical connecting slide block, and its length is slightly larger than the leading screw length of linear stepping motor II; Have hole in the middle of described guide plate, connector III is through this hole; Connector III one end connects connector II, and the other end is connected with upright slide block, and upright slide block makes the nearly fruit of remote holder finger reach and plucks position under the driving of linear stepping motor II;
Described sensor-based system comprises pressure sensor, Photoelectric infrared switch sensor, hall position sensor I, II, III; Finger inner side before described pressure sensor is arranged on; Finger and defensive position span finger tip 1/3rd place before described Photoelectric infrared switch sensor is arranged on, front finger mounted transmitting terminal, rear finger mounted receiving terminal; Described hall position sensor I is arranged on support I; Described hall position sensor II, III is installed on the two ends of support II; Described connector I is provided with limit switch I, II, for detecting the anglec of rotation of decelerating step motor, the position of described limit switch I, II is adjustable.
Described control system comprises single-chip microcomputer, stepper motor driver I, stepper motor driver II, stepper motor driver III; Described single-chip microcomputer, by I/O mouth control step motor driver I, stepper motor driver II, stepper motor driver III, by serial ports sensor-lodging, realizes the FEEDBACK CONTROL of system.
The operation principle of kiwifruit fruit picking end effector of the present invention:
Step 1: start linear stepping motor I, motor rotates forward, and front finger is close fruit bottom fruit;
Step 2: start linear stepping motor II, motor rotates forward and catches fruit, and keeps promptly posture;
Step 3: start decelerating step motor, motor rotates forward, and front finger and rear finger envelope catch fruit to turn clockwise, and carpopodium is straightened gradually and acutangulates with the fruit axes of inertia, when the pulling force that carpopodium bears is greater than the pulling force that base of fruit can bear, carpopodium fractures from base of fruit.
Kiwifruit fruit picking end effector prior art of the present invention is compared, and has following beneficial effect:
The present invention adopts Single-chip Controlling, the feature of growth is adjoined for kiwifruit fruit, clamp system utilizes front finger and rear finger length difference, cross sliding clock and remote holder stylus pin follow closely link position and front and back point in the middle of the difference in height of pin link position, and after finger to relatively rotate with support and front finger opposite brackets had both rotated the version of movement, realize front finger and rear finger to close up in process and not only rise overally but also the movement locus of movement forward, front finger is close fruit bottom fruit, effectively achieve and adopt frame for movement to complete the separation and crawl of adjoining fruit, adopt rotary process, carpopodium is broken from base of fruit when the fruit axes of inertia and carpopodium being acutangulated and reaches carpopodium maximum rotating radius, reduce carpopodium separating force, harvesting action is completed by the anglec of rotation controlling end effector, simplify frame for movement and control, the position of limit switch is adjustable, thus ensure that the anglec of rotation of decelerating step motor is adjustable, by the FEEDBACK CONTROL of sensor, improve control accuracy, achieve the harmless harvesting of fruit.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is clamping device structural representation of the present invention;
Fig. 3 is rotation picking structure schematic diagram of the present invention;
Fig. 4 is of the present invention close to structural representation;
Fig. 5 is control system schematic diagram of the present invention;
Fig. 6 is that kiwifruit fruit of the present invention plucks flow chart.
Detailed description of the invention
See Fig. 1 and Fig. 2, a kind of kiwifruit fruit picking end effector, by clamping device, rotate picking mechanism, close to mechanism, sensor-based system and control system composition, described clamping device comprises connector I 1, hall position sensor I 3, cross sliding clock 4, support I 6, front finger 7, rear finger 10, linear stepping motor I 12.
Described clamping device comprises front finger 7 and rear finger 10 forms scissor-like structure, pin is adopted to connect between front finger 7 and rear finger 10, front finger 7 other end is connected by pin with cross sliding clock 4, rear finger 10 other end adopts pin to be connected with support I 6, described cross sliding clock 4 is connected with linear stepping motor I 12 by nut I 2, moves horizontally in the slide rail of support I 6; Silica gel is all adopted to do liner inside described front finger and rear finger.
Described rotation picking mechanism comprises decelerating step motor 11, flange 13, connector II 14(is shown in Fig. 3), the output shaft of described decelerating step motor 11 and connector I 1, flange 13 is connected by key, decelerating step motor 11 and connector II 14 are connected, described connector II 14 is connected with close to mechanism, decelerating step motor 11 projecting shaft rotarily drives whole clamping device and rotates, described connector I is provided with limit switch, limit switch controls the anglec of rotation of decelerating step motor, by the adjustment regulating the position of limit switch to realize the decelerating step motor anglec of rotation.
Describedly comprise guide plate 16, support II 18, connector III 20, upright slide block 21, linear stepping motor II 24 close to mechanism, described upright slide block 21 is connected with linear stepping motor II 24 by nut II 22, move up and down in the slide rail of support II 18, described connector III 20 is connected on upright slide block 21, the other end is connected with connector II 14, drive whole clamping device and rotate picking mechanism and move up and down, realize the object close to fruit.
Described sensor-based system comprises pressure sensor 8, Photoelectric infrared switch sensor 9, hall position sensor I 3, hall position sensor II 17, hall position sensor III 23; Before described pressure sensor 8 is arranged on inside finger 7; Described Photoelectric infrared switch sensor 9 is correlation combination, and front finger 7 installs transmitting terminal, and rear finger 10 installs receiving terminal; Described hall position sensor I 3 is arranged on support I 6, for the initial position of detection level slide block 4, be installed on front finger and rear finger end 1/3rd place, for detecting the position of fruit, finger inner side before described pressure sensor 8 is arranged on, for detecting default chucking power; Described hall position sensor II 17 and hall position sensor III 23 are arranged on inner top side place and the inside lower end place (see figure 4) of support II 18 respectively, for detecting upright slide block repositioning information and anti-locking mechanism collides.
Described control system comprises single-chip microcomputer, stepper motor driver I, stepper motor driver II, stepper motor driver III; Described single-chip microcomputer, by I/O control step motor driver I, stepper motor driver II, stepper motor driver III, by serial ports sensor-lodging (see figure 5), forms FEEDBACK CONTROL, reaches the accurate location of whole system.
For weight reduction, end effector is except standard component, and front finger and rear finger adopt plastic material, and other supports etc. adopt aluminium alloy and match steel to make;
This system authority is simple, control is convenient, possesses separation fruit, accurately captures the function be separated with carpopodium, supports for kiwifruit fruit picking robot provides key technology.
See Fig. 6, a kind of kiwifruit fruit picking end effector action flow chart.
Concrete steps are as follows:
1, end effector all parts resets, linear stepping motor I, decelerating step motor, linear stepping motor II reverse, Hall element I, III, whether detection level slide block and upright slide block get back to initial position respectively, decelerating step motor revolution set angle, after reset completes, motor stalls, wait command;
2, end effector is close to fruit, and linear stepping motor II rotates forward, and during Photoelectric infrared switch output low level, think that fruit has entered front finger interior, linear stepping motor II stops operating;
3, end effector captures fruit, during Photoelectric infrared switch transducers output low-level, linear stepping motor II stops operating, linear stepping motor I starts to rotate forward simultaneously, front finger and rear finger envelope capture fruit, until when pressure sensor detects and reaches preset pressure value, linear stepping motor I stops operating;
4, end effector rotating separation carpopodium, when pressure sensor detects preset pressure, linear stepping motor I stops operating, and decelerating step motor starts to rotate simultaneously, then stops until reaching default angle;
5, end effector release fruit is also planned and is adjoined picking fruit path, after decelerating step motor reaches predetermined angle, complete carpopodium separating action, then decelerating step motor resets, end effector is sent to fruit harvest device, linear stepping motor I reverses and discharges fruit, end effector is after the harvesting completing a fruit, the basis of present position calculates and arrives the next displacement of adjoining fruit coordinate needs and walking, carry out the harvesting of next fruit, until whole picking fruits of providing of computer complete after, motor all resets.
Claims (3)
1. a kiwifruit fruit picking end effector, comprises clamping device, and rotate picking mechanism, close to mechanism, sensor-based system and control system, is characterized in that:
Described clamping device is made up of connector I (1), cross sliding clock (4), support I (6), front finger (7), rear finger (10), linear stepping motor I (12); Between described front finger (7) and rear finger (10), pin is connected to form scissor-like structure, before described, finger (7) other end is connected with cross sliding clock (4) pin, described rear finger (10) other end is connected with support I (6) pin, and described cross sliding clock (4) is connected with linear stepping motor I (12) by nut I (2);
Described rotation picking mechanism is made up of decelerating step motor (11), flange (13), connector II (14), the output shaft of described decelerating step motor (11) is connected by key with connector I (1), flange (13), decelerating step motor (11) and connector II (14) are connected, and described connector II (14) is connected with close to mechanism;
Describedly to be made up of guide plate (16), support II (18), connector III (20), upright slide block (21), linear stepping motor II (24) close to mechanism, described upright slide block (21) is connected with linear stepping motor II (24) by nut II (22), described connector III (20) is connected on upright slide block (21), the other end is connected with connector II (14)
Described sensor-based system comprises pressure sensor (8), Photoelectric infrared switch sensor (9), hall position sensor I (3), hall position sensor II (17), hall position sensor III (23); Described pressure sensor (8) is arranged on front finger (7) inner side; Described Photoelectric infrared switch sensor (9) is correlation combination, and front finger (7) installs transmitting terminal, and rear finger (10) installs receiving terminal; Described hall position sensor I (3) is arranged on support I (6); Described hall position sensor II (17) and hall position sensor III (23) are arranged on the inner side upper/lower terminal of support II (18) respectively;
Described control system is made up of single-chip microcomputer, stepper motor driver I, stepper motor driver II, stepper motor driver III; Described single-chip microcomputer passes through I/O control step motor driver I, stepper motor driver II, stepper motor driver III, by serial ports sensor-lodging.
2. kiwifruit fruit picking end effector according to claim 1, is characterized in that, described front finger (7) is Bionic arc face, adopts silica gel to do liner.
3. kiwifruit fruit picking end effector according to claim 1, is characterized in that, described rear finger (10) is Bionic arc face, adopts silica gel to do liner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310341023.4A CN103448061B (en) | 2013-08-07 | 2013-08-07 | A kind of kiwifruit fruit picking end effector |
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| CN201310341023.4A CN103448061B (en) | 2013-08-07 | 2013-08-07 | A kind of kiwifruit fruit picking end effector |
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| CN103448061A CN103448061A (en) | 2013-12-18 |
| CN103448061B true CN103448061B (en) | 2015-08-12 |
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| CN106292410A (en) * | 2015-06-03 | 2017-01-04 | 安顺市晶英科技研发有限责任公司 | A kind of tea picking machine pressure monitoring system |
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| CN106584446B (en) * | 2017-03-14 | 2023-04-25 | 四川农业大学 | Tea-leaf picking manipulator |
| CN106941882A (en) * | 2017-03-23 | 2017-07-14 | 西北农林科技大学 | The automatic picking end effector of fruit more than cam move toward one another formula Kiwi berry in a row |
| CN106888684A (en) * | 2017-03-23 | 2017-06-27 | 西北农林科技大学 | One kind separates the comb-type automatic picking end effector of move toward one another Kiwi berry |
| CN107852958B (en) * | 2017-12-06 | 2023-05-23 | 湖南电气职业技术学院 | Fruit harvesting end effector based on touch sensing technology |
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| CN109392462B (en) * | 2018-12-18 | 2023-11-17 | 北方民族大学 | Robot and method for picking daylily |
| JP2020192614A (en) * | 2019-05-24 | 2020-12-03 | 京セラドキュメントソリューションズ株式会社 | Robot device and gripping method |
| CN110896732A (en) * | 2019-11-14 | 2020-03-24 | 塔里木大学 | Method and device for picking fruits |
| CN112660441A (en) * | 2020-12-31 | 2021-04-16 | 河北医科大学第二医院 | Device is got to infant's ground rice ration title |
| CN113243203B (en) * | 2021-05-28 | 2022-10-28 | 桂林电子科技大学 | Full-automatic kiwi fruit picking manipulator and method |
| CN114793628A (en) * | 2022-05-19 | 2022-07-29 | 温州大学激光与光电智能制造研究院 | Rotary peach picking device |
| CN115004948B (en) * | 2022-06-22 | 2023-08-15 | 河南科技大学 | End effector for picking fruits and vegetables of spheroid small fruits and control method thereof |
| CN115589849B (en) * | 2022-10-18 | 2023-06-30 | 大连理工大学 | Spherical fruit and vegetable picker |
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