CN106233938A - The end effector of serial type fruit picking robot - Google Patents
The end effector of serial type fruit picking robot Download PDFInfo
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- CN106233938A CN106233938A CN201610843191.7A CN201610843191A CN106233938A CN 106233938 A CN106233938 A CN 106233938A CN 201610843191 A CN201610843191 A CN 201610843191A CN 106233938 A CN106233938 A CN 106233938A
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- steering wheel
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses the end effector of a kind of serial type fruit picking robot, be packed in the shearing mechanism in this shell including shell, one end of one end open, one end is packed in the clamping device in this shell and is arranged on the lift mechanism of described outer casing underpart；Described clamping device is for clamping the carpopodium of described serial type fruit, and when the pressure clamping carpopodium reaches the preset value that can clamp fruit string, triggers described lift mechanism and hold described serial type fruit；Described lift mechanism judges whether to lift put in place according to the change of its angle, and starts described shearing mechanism cut off the carpopodium of serial type fruit successfully lifting serial type fruit.This apparatus structure is simple, practical, lift mechanism, clamping device and shearing mechanism synergism, can efficiently accomplish fruit string clamping, lift and shearing work, prevent fruit sliding fall, traumatic injury, it is ensured that pluck quality.
Description
Technical field
The present invention relates to fruit picking robot field, the end particularly relating to a kind of serial type fruit picking robot is held
Row device.
Background technology
China is the important manufacturing country of the serial type fruit such as Fructus Vitis viniferae, Fructus Litchi, but these results eating fruit raw are leaned on substantially at present
Artificial harvesting, labor intensity is big, and harvesting expense accounts for the 50%-70% of production cost.Along with China's aged tendency of population aggravation
With the minimizing of between twenty and fifty labour force, the low damage of fruit, gather and become the difficult problem that orchard worker faces in time.Serial type fruit is being plucked by robot
Time, the sensors such as vision need to be first passed through fruit string is identified from complicated orchard environment, then believe further according to fruit space
Breath is plucked.Because serial type fruit is typically bunch life, and volume and weight is big and carpopodium bar stem is little, how can not damage fruit
Completing the difficult point that serial type fruit picking is picking robot design on the premise of reality, end effector is as picking robot
With pluck the mechanism that directly contacts of target it is considered to be one of the core technology of picking robot.
The most less to the research and development of serial type fruit picking robot end effector, and cost of manufacture is higher,
Adaptation to environment is limited in one's ability.It addition, the research and development that the feature of fruit string sarcocarp fragility softness is to terminal executor of picking robot
Higher requirement is proposed.Therefore, develop and design serial type fruit picking robot end effector to realizing fruit picking operation
Mechanization, automatization and intelligent and improve agriculture production environment, promote China's advance in agricultural science and technology and to accelerate agricultural existing
Have great significance for change process.
Summary of the invention
It is an object of the invention to provide a kind of robot completing serial type fruit picking on the premise of not damaging fruit
End effector.
To this end, technical scheme is as follows:
A kind of end effector of serial type fruit picking robot, including one end open shell, that one end is packed in this is outer
Shearing mechanism in shell, one end are packed in the clamping device in this shell and are arranged on the lift mechanism of described outer casing underpart；
Described clamping device is for clamping the carpopodium of described serial type fruit, and reaches to clamp presetting of fruit string at the pressure clamping carpopodium
During value, trigger described lift mechanism and hold described serial type fruit；Described lift mechanism judges whether to lift according to the change of its angle
Put in place, and start described shearing mechanism cut off the carpopodium of serial type fruit successfully lifting serial type fruit.
Described shearing mechanism includes the 1st base, be arranged on the 1st base shears support member, it is arranged on shears and supports
A pair intermeshing partial gear connector on part, the steering wheel being arranged on a described partial gear connector,
Cutting off steering wheel and shears body and a pair shears connector with described steering wheel is in transmission connection, described shears body is moved by a pair
Sword forms, and this is hinged on the edge of described base to the end, one end of dynamic sword, and the other end stretches out in described shell, each described in cut
One end of cutter connector is the most hinged with a described partial gear connector, and each dynamic sword described with of the other end is hinged, institute
State and cut off steering wheel drive steering wheel, partial gear connector and the rotation of shears connector, and then drive is moved sword for a pair and rotated
Shearing motion.Preferably, described 1st base is provided with a steering wheel support, described in cut off steering wheel and be arranged on described steering wheel
On support.
Described clamping device includes that the 2nd base, the guide rail being horizontally arranged at the 2nd pan frontward end face, interval are arranged on guide rail
On a pair slide block, the gripping finger connector being separately mounted on each slide block, middle part be hinged on the steering wheel on the 2nd base
Connector, a pair connector, a pair T-connecting piece, a pair gripping finger and clamping steering wheel, one end of a pair connector respectively with rudder
The two ends of dish connector are hinged, and the other end is hinged with one end of a pair T-connecting piece respectively, the pair of T-connecting piece another
One end is packed on a slide block by a gripping finger connector respectively；Opposite side in gripping finger described in a pair is provided with for detecting
The pressure transducer of the pressure of gripper mechanism grips carpopodium；One end of each described gripping finger is packed in a gripping finger connector respectively
On, described clamping steering wheel drives steering wheel connector, connector to rotate, and then drives T-connecting piece and gripping finger to translate along guide rail
Motion.
Preferably, the opposite side in gripping finger described in a pair is respectively provided with a steel disc, respectively pacifies on each described steel disc
Equipped with a rubber blanket, described pressure transducer is installed between described steel disc and gripping finger.It addition, described clamping steering wheel is arranged on
The bottom of 2 bases.
Described lift mechanism includes L-shaped connector, steering wheel base connector, steering wheel base, pallet, steering wheel connector, torr
Lifting steering wheel and angular transducer, the upper end of described L-shaped connector is fixedly mounted with on the housing, the other end and steering wheel base connector
One end is fixedly mounted with, and the other end of steering wheel base connector is packed in be lifted on steering wheel；One end of described steering wheel connector is hinged on torr
Lift on steering wheel, the other end of steering wheel connector is fixedly mounted with described pallet；The body of described angular transducer is installed on connector,
The axle of angular transducer is installed in be lifted on steering wheel；Described steering wheel drives described steering wheel connector, and then drives described pallet to do
Gyration.
Preferably, described shell is made up of the box-like of one end open, described 1st base and the 2nd base upper casing and lower casing
One end be packed in described shell by bolt respectively.
The end effector of the serial type fruit picking robot of the present invention has the advantages that
(1) this end effector has lift mechanism, can hold fruit string, thus prevent the landing of fruit string, prevent fruit
String traumatic injury, it is ensured that pluck quality.
(2) clamping device of this end effector uses linkage linkage, and band movable slider and gripping finger are done flat on guide rail
Shifting movement implements clipping operation, its simple in construction, and noise is little, stable movement.
(3) this end effector is provided with pressure transducer to detect clamping force in gripping finger, it is ensured that clamp system can press from both sides
Tight fruit string, that passes through angular transducer perception pallet lifts position simultaneously, it is ensured that pallet can hold fruit string, by using sense more
Device, the coordination linkage operation of many mechanisms achieve the lossless harvesting of fruit string.
Accompanying drawing explanation
Fig. 1 is the structural representation of serial type fruit picking robot end effector of the present invention；
Fig. 2 is the structural representation of the shearing mechanism of serial type fruit picking robot end effector of the present invention；
Fig. 3 is the structural representation of the clamping device of serial type fruit picking robot end effector of the present invention；
Fig. 4 is the structural representation of the lift mechanism of serial type fruit picking robot end effector of the present invention；
Fig. 5 is the control system schematic diagram of serial type fruit picking robot end effector of the present invention.
In figure,
1, shell；2, shearing mechanism；3, clamping device；4, lift mechanism；5, shears body；6, shears connector；7, rudder
Machine support；8, partial gear connector；9, steering wheel is cut off；10, steering wheel；11, shears support member；12, connector；13, T-shaped is even
Fitting；14, gripping finger；15, steel disc；16, rubber blanket；17, gripping finger connector；18, slide block；19, guide rail；20, clamping steering wheel；21、
Steering wheel connector；22, the 2nd base；23, L-shaped connector；24, steering wheel base connector；25, steering wheel base；26, pallet；27、
Steering wheel connector；28, steering wheel is lifted；29, angular transducer；30, the 1st base.
Detailed description of the invention
Below in conjunction with the accompanying drawings the structure of the end effector of the serial type fruit picking robot of the present invention is carried out specifically
Bright.
Seeing Fig. 1-Fig. 4, the end effector of the serial type fruit picking robot of the present invention includes shell 1, shearing mechanism
2, clamping device 3 and lift mechanism 4.
Described shearing mechanism 2 includes the 1st base 30, be arranged on the 1st base 30 shears support member 11, it is arranged on shears
A pair intermeshing partial gear connector 8 on support member 11, the rudder being arranged on a partial gear connector 8
What dish 10 and steering wheel 10 were in transmission connection cuts off steering wheel 9 and shears body 5 and a pair shears connector 6.Described shears body 5
Being moved sword by a pair to form, this is hinged on the edge of the 1st base 30 to the end, one end of dynamic sword, and the other end stretches out in described shell 1,
One end of each described shears connector 6 is respectively the most hinged with a described partial gear connector 8, and the other end is each and described in one
Dynamic sword is hinged, described in cut off steering wheel 9 and drive steering wheel 10, partial gear connector 8 and shears connector 6 to rotate, and then drive
Move sword for a pair and carry out rotational shear campaign.
1st base 30 is provided with a steering wheel support 7, described in cut off steering wheel 9 and be arranged on steering wheel support 7.Cutting machine
It is internal that one end of structure 2 is placed in shell 1, is driven partial gear connector 8, band follower link 6 to move by cutting off steering wheel 9, and then
The shears body 5 outside shell 1 is made to do shearing motion.
Described clamping device 3 includes that the 2nd base 22, the guide rail 19 being horizontally arranged at the 2nd base 22 front end face, interval are installed
A pair slide block 18 on rails 19, gripping finger connector 17, the middle part being separately mounted on each slide block 18 are hinged on this
Steering wheel connector 21 on 2nd base 31, a pair connector 12, a pair T-connecting piece 13, a pair gripping finger 14 and clamping steering wheel
20, one end of a pair connector 12 is hinged with the two ends of steering wheel connector 21 respectively, the other end respectively with a pair T-connecting piece 13
One end hinged.
The other end of the pair of T-connecting piece 13 is packed on a slide block 18 by a gripping finger connector 17 respectively；?
The opposite side of a pair gripping finger 14 is provided with the pressure transducer of the pressure for detecting gripper mechanism grips carpopodium (in figure not
Show)；One end of each described gripping finger 14 is packed on a gripping finger connector 17 respectively.Clamping steering wheel 20 drives steering wheel connector
21, connector 12 rotates, and then drives T-connecting piece 13 and gripping finger 14 to do translational motion along guide rail 19.
As it can be seen, the opposite side a pair gripping finger 14 is respectively provided with a steel disc 15, each on each described steel disc 15
One rubber blanket 16 is installed, between the steel disc 15 and gripping finger 14 of every side, a pressure transducer is installed.Shown in the figure
In embodiment, described clamping steering wheel 20 is arranged on the bottom of the 2nd base 22.
Described lift mechanism 4 includes L-shaped connector 23, steering wheel base connector 24, steering wheel base 25, pallet 26, steering wheel
Connector 27, lift steering wheel 28 and angular transducer 29.The upper end of described L-shaped connector 23 is packed on shell 1, the other end with
Steering wheel base connector 24 one end is fixedly mounted with, and the other end of steering wheel base connector 24 is packed in be lifted on steering wheel 28；Described steering wheel
One end of connector 27 is hinged on lifts on steering wheel 28, and the other end of steering wheel connector 27 is fixedly mounted with pallet 26；Described angle passes
Sensor 29 body is installed on connector 27, and the axle of angular transducer 29 is installed in be lifted on steering wheel 28, and exactly, angle passes
The axle of sensor 29 is installed together with the jointed shaft of connector 27.Steering wheel 28 drives steering wheel connector 27 to rotate, and then drives torr
Dish 26 does gyration, the angle that angular transducer perception turns in the process.
It addition, shell 1 is made up of the box-like of one end open upper casing and lower casing, one end of the 1st base the 30 and the 2nd base 22 is divided
It is not packed in shell 1 by bolt.
Although pallet shown in figure is the horizontal mesh with frame, it will be understood that in order to prevent fruit sliding from falling, it is also possible to
Surrounding at this Pallet side frame increases fence or baffle plate.
Fig. 5 show the control system schematic diagram of serial type fruit picking robot end effector of the present invention.This system with
Centered by Arduino microprocessor, worked by servo driving end effector.Pressure transducer is used for detecting clamping device folder
Hold the pressure of carpopodium, after clamping force reaches to clamp the preset value that fruit is gone here and there, drive lift mechanism 4 work by feedback control circuit
Make；Angular transducer 29, for detecting the angle that steering wheel 28 drives pallet 26 to be rotated when doing gyration, is used for controlling pallet
Fruit string is lifted, after tray motion to preset value, drives shearing mechanism 2 to work, by carpopodium by feedback control circuit
Cut off, complete fruit and go here and there harvesting.
In the end effector of the present invention, each mechanism structure all can use the design of material manufacture of lightweight, in the hope of effectively subtracting
The own wt of light end effector.
The process utilizing this executor to carry out plucking is as follows:
The present invention uses Arduino microcontroller to be controlled end effector.End effector is arranged on 6DOF
On mechanical arm, during harvesting, the clamping steering wheel 20 in clamping device 3 is energized work, drives steering wheel connector 21 to rotate, band
Follower link 12 moves, and makes T-connecting piece 13, slide block 18 and gripping finger 14 do translational motion on rails 19 so that gripping finger 14 is pressed from both sides
Tight carpopodium, during clamping carpopodium, the detection chucking power that pressure transducer is real-time, and the pressure Real-time Feedback Arduino that will detect
Microcontroller.When reaching preserved grip pressure, stop the work of clamping steering wheel 20, then lifted steering wheel 28 and power, drive
Its work, steering wheel drives pallet 26 to do gyration so that fruit string lifted by pallet from the back lower place, prevents fruit from going here and there and shakes and undertake one
Determining gravity, at this moment angular transducer 29 detects the angle of steering wheel revolution in real time, when pallet angle of revolution reaches preset value, i.e. and fruit
String is lifted, and now steering wheel 28 stops, then powers to cutting off steering wheel 9, drives partial gear linkage even by cutting off steering wheel 9
Linkage works, and drives shears connector 6 to move, and makes the shears body 5 outside shell 1 do shearing motion, cuts off carpopodium, finally
The clamping that fruit is gone here and there by realization-lift-shearing work, completes to win operation.
Claims (8)
1. the end effector of a serial type fruit picking robot, it is characterised in that: include the shell (1) of one end open, one
Clamping device (3) that the shearing mechanism (2) that is packed in this shell of end, one end are packed in this shell and be arranged on described outside
The lift mechanism (4) of shell bottom；
Described clamping device (3) is for clamping the carpopodium of described serial type fruit, and reaches to clamp fruit at the pressure clamping carpopodium
During the preset value gone here and there, trigger described lift mechanism and hold described serial type fruit；
Described lift mechanism (4) judges whether to lift put in place according to the change of its angle, and starts institute successfully lifting serial type fruit
State shearing mechanism and cut off the carpopodium of serial type fruit.
End effector the most according to claim 1, it is characterised in that: described shearing mechanism (2) includes the 1st base
(30), it is arranged on the shears support member (11) on the 1st base (30), is arranged on mutually nibbling for a pair on shears support member (11)
The partial gear connector (8) closed, the steering wheel (10) that is arranged on a described partial gear connector (8) are with described
What steering wheel (10) was in transmission connection cuts off steering wheel (9) and shears body (5) and a pair shears connector (6), described shears body
(5) being moved sword by a pair to form, this is hinged on the edge of described 1st base (30) to the end, one end of dynamic sword, and the other end stretches out in
Described shell (1), one end of each described shears connector (6) is the most hinged, separately with a described partial gear connector (8)
The each dynamic sword described with in one end is hinged, described in cut off steering wheel (9) drive steering wheel (10), partial gear connector (8) and cut
Cutter connector (6) rotates, and then drive is moved sword for a pair and carried out rotational shear campaign.
End effector the most according to claim 2, it is characterised in that: on described 1st base (30), a rudder is installed
Machine support (7), described in cut off steering wheel (9) and be arranged on described steering wheel support (7).
End effector the most according to claim 1, it is characterised in that: described clamping device (3) includes the 2nd base
(22), be horizontally arranged at the guide rail (19) of the 2nd base (22) front end face, interval is arranged on a pair slide block on guide rail (19)
(18) the gripping finger connector (17), the middle part that, are separately mounted on each slide block (18) are hinged on the 2nd base (on 31
Steering wheel connector (21), a pair connector (12), a pair T-connecting piece (13), a pair gripping finger (14) and clamping steering wheel (20),
One end of a pair connector (12) is hinged with the two ends of steering wheel connector (21) respectively, the other end respectively with a pair T-connecting piece
(13) one end is hinged, and the other end of the pair of T-connecting piece (13) is packed in one by a gripping finger connector (17) respectively
On slide block (18)；Opposite side in gripping finger described in a pair (14) is provided with the pressure for detecting gripper mechanism grips carpopodium
Pressure transducer；One end of each described gripping finger (14) is packed on a gripping finger connector (17) respectively, described clamping steering wheel
(20) drive steering wheel connector (21), connector (12) to rotate, and then drive T-connecting piece (13) and gripping finger (14) along guide rail
(19) translational motion is done.
End effector the most according to claim 4, it is characterised in that: each at the opposite side of gripping finger described in a pair (14)
Being provided with a steel disc (15), be respectively provided with a rubber blanket (16) on each described steel disc (15), described pressure transducer is installed
Between described steel disc (15) and gripping finger (14).
End effector the most according to claim 5, it is characterised in that: described clamping steering wheel (20) is arranged on the 2nd base
(22) bottom.
End effector the most according to claim 1, it is characterised in that: described lift mechanism (4) includes L-shaped connector
(23), steering wheel base connector (24), steering wheel base (25), pallet (26), steering wheel connector (27), lift steering wheel (28) and angle
Degree sensor (29), the upper end of described L-shaped connector (23) is packed on described shell (1), and the other end is connected with steering wheel base
Part (24) one end is fixedly mounted with, and the other end of steering wheel base connector (24) is packed in be lifted on steering wheel (28)；Described steering wheel connector
(27) one end is hinged on lifts on steering wheel (28), and the other end of steering wheel connector (27) is fixedly mounted with described pallet (26)；Described
The body of angular transducer (29) is installed on connector (27), and the axle of angular transducer (29) is installed in lifts steering wheel (28)
On；Described steering wheel (28) drives described steering wheel connector (27), and then drives described pallet (26) to do gyration.
8. according to the end effector according to any one of claim 1-7, it is characterised in that: described shell (1) by upper casing and
Lower casing constitutes the box-like of one end open, and one end of described 1st base (30) and the 2nd base (22) is packed in institute by bolt respectively
State in shell (1).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610843191.7A CN106233938B (en) | 2016-09-22 | 2016-09-22 | The end effector of serial type fruit picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610843191.7A CN106233938B (en) | 2016-09-22 | 2016-09-22 | The end effector of serial type fruit picking robot |
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| Publication Number | Publication Date |
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| CN106233938A true CN106233938A (en) | 2016-12-21 |
| CN106233938B CN106233938B (en) | 2018-06-26 |
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| CN201610843191.7A Active CN106233938B (en) | 2016-09-22 | 2016-09-22 | The end effector of serial type fruit picking robot |
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