CN106612959B - End picker for mango picking mechanical arm - Google Patents
End picker for mango picking mechanical arm Download PDFInfo
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- CN106612959B CN106612959B CN201610866545.XA CN201610866545A CN106612959B CN 106612959 B CN106612959 B CN 106612959B CN 201610866545 A CN201610866545 A CN 201610866545A CN 106612959 B CN106612959 B CN 106612959B
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- mango
- cylinder
- level
- oscillating cylinder
- carpopodium
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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)
- Environmental Sciences (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The present invention discloses a kind of end picker for mango picking mechanical arm；The technical issues of solution：The problems such as existing mango picking mechanical arm the degree of automation mentioned in the background art is not high and carpopodium cuts off underaction.The technical solution of use：A kind of end picker for mango picking mechanical arm includes arranging mechanism, the mango clamping device for mango to be clamped, the carpopodium cutting mechanism for cutting off mango carpopodium and the mango testing agency for detecting the mango position for needing to pick for adjusting the end of picking position；End arranges mechanism one end connection mango picking mechanical arm, the other end connection mango clamping device；Carpopodium cutting mechanism and mango testing agency are all connected with mango clamping device.Advantage, this is used for the end picker of mango picking mechanical arm, and the degree of automation is not high, and carpopodium cut-out is flexible.
Description
Technical field
The invention discloses a kind of end pickers, and in particular to picks a kind of end for mango picking mechanical arm
Device belongs to fruit and vegetable picking intelligence equipment field.
Background technology
China's mango is mainly planted in the mountainous region area in southwest.Mountain area topography brings very big difficulty to mango picking.By
In mango picking quality will also influence its fresh-keeping period, with western countries one after another apply picking robot harvest apple, citrus,
The fruit such as tomato, watermelon and grape, the domestic manipulator for also proposing to be applied to mango picking in succession.
Chinese patent CN204616444 discloses a kind of mountain area mango high-level telescopic fruit picking device, which mainly wraps
Fruit folder, strut, transmission rope, tow handle, auxiliary rod are included, clamping mango is pressed from both sides by fruit, carpopodium is cut off using reaping hook on auxiliary rod.
Chinese patent CN202918709 discloses a kind of mango picking mechanical arm, it cuts off carpopodium by manual cutting mechanism.Comprehensive point
It analyses above-mentioned two patent to find, although two kinds of pickers all realize the picking to mango, automation, intelligence degree
It need to be improved.Constantly increase and decrease especially as the current recruitment cost in China, seems day to the demand of mango picking intelligently equipped
It is beneficial urgent.
Invention content
The technical problem to be solved by the present invention is to：Existing mango picking mechanical arm mentioned in the background art is automatic
The problems such as change degree is not high and carpopodium cuts off underaction.
In order to solve the above technical problems, a kind of end picker for mango picking mechanical arm of proposition of the present invention,
Specific technical solution is：
A kind of end picker for mango picking mechanical arm includes arranging machine for adjusting the end of picking position
Structure, the mango clamping device for mango to be clamped, the carpopodium cutting mechanism for cutting off mango carpopodium and for detect need adopt
The mango testing agency for the mango position plucked；End arranges mechanism one end connection mango picking mechanical arm, the other end connection
Mango clamping device；Carpopodium cutting mechanism and mango testing agency are all connected with mango clamping device.
Improvement to technical solution of the present invention, it includes first order oscillating cylinder, second level oscillating cylinder and that end, which arranges mechanism,
Three-level rotating cylinder；First order oscillating cylinder is connect by connecting seat with mango picking mechanical arm, set on first order oscillating cylinder there are two
Coaxial power output end；The two power output ends setting power corresponded on the oscillating cylinder of the second level on first order oscillating cylinder inputs
End, by the between two power output ends on two power intakes and first order oscillating cylinder on the oscillating cylinder of the second level
One connection swing rod is connected and relative swing between first order oscillating cylinder and second level oscillating cylinder；There are two being set on the oscillating cylinder of the second level
Coaxial power output end；The two power output ends setting power corresponded on third level rotating cylinder on the oscillating cylinder of the second level inputs
End, by the between two power output ends on two power intakes and second level oscillating cylinder on third level rotating cylinder
Two connection swing rods are connected and relative swing between second level oscillating cylinder and third level rotating cylinder；There are one being set on third level rotating cylinder
The power output end of power output end, third level rotating cylinder connects mango clamping device by connects bearing.This end arranges machine
Setting in structure realizes the present invention cut-out multi-faceted to mango carpopodium, improves the flexibility of rupturing operation.
Improvement to technical solution of the present invention, first order oscillating cylinder are column type oscillating cylinder, and second level oscillating cylinder is put for ball-type
Dynamic cylinder, third level rotating cylinder are column type oscillating cylinder；The axis of oscillation of first order column type oscillating cylinder and second level ball-type oscillating cylinder
Axis of oscillation is vertical in antarafacial；The pivot center of third level column type rotating cylinder and the axis of oscillation of first order column type oscillating cylinder are coplanar
It intersects vertically；The axis of oscillation of the pivot center of third level column type rotating cylinder and second level ball-type oscillating cylinder is coplanar to intersect vertically.
The specific design position of first order oscillating cylinder, second level oscillating cylinder and third level rotating cylinder in this technical solution, is for spirit
Adjustment carpopodium cutting mechanism living, the mango being preferably applied at cutting different location.
Improvement to technical solution of the present invention, mango clamping device include holder, lift cylinders, clamping cylinder and V-type clamping jaw；Branch
Frame is connected with the power output end on third level rotating cylinder by connects bearing, and holder is equipped with carpopodium position adjustment tank, carpopodium
Cutting mechanism mounting groove, mango clamping device mounting groove and mango testing agency mounting groove；Lift cylinders are mounted on holder bottom surface
On, lift cylinders output shaft passes through mango clamping device mounting groove connection clamping cylinder and clamping cylinder is located in holder；Clamping cylinder is equipped with
Two piston rods, two equal attachings of piston-rod end are used to be clamped the V-type clamping jaw of mango.Built-in mango clamping device is set
Meter, avoids the interference such as carpopodium, limb in mango picking process.Further, the Clamping Center of V-type clamping jaw is adjusted with carpopodium position
Slot arc groove bottom central coaxial realizes clamp operation for the ease of mango clamp system.
Improvement to technical solution of the present invention, first order oscillating cylinder, second level oscillating cylinder, third level rotating cylinder, lift cylinders
It is cylinder or oil cylinder with clamping cylinder.
Improvement to technical solution of the present invention, carpopodium cutting mechanism include rotation motor and carpopodium cutting off tool；Rotate horse
Up to being installed in carpopodium cutting mechanism mounting groove, output shaft passes through the affixed carpopodium cutting off tool of cell wall and carpopodium cutting off tool
Outer leakage holder.The design of built-in carpopodium cutting mechanism in this technical solution, avoids carpopodium, branch in mango picking process
It is dry to wait interference.
Improvement to technical solution of the present invention, mango testing agency include two intelligent video camera heads and are taken the photograph for fixed intelligence
As the camera fixing support of head, intelligent video camera head be installed on mango testing agency mounting groove by camera fixing support and
Positioned at internal stent.The design of built-in mango testing agency in this technical solution, avoid carpopodium in mango picking process,
The interference such as limb.
Improvement to technical solution of the present invention, two intelligent video camera head installations are contour, and two intelligent camera head portrait numbers are equal.
Purpose is obtained online by the location information of picking mango for the ease of mango testing agency.
Compared with prior art, the present invention advantage is：
This is used for the end picker of mango picking mechanical arm, and high degree of automation, carpopodium cut-out is flexibly；End arranges
The setting of mechanism realizes the present invention cut-out multi-faceted to mango carpopodium, improves the flexibility of rupturing operation；By to awns
Fruit clamping device, carpopodium cutting mechanism, mango testing agency interior design, avoid carpopodium, branch in mango picking process
It is dry to wait interference；The setting of mango testing agency enables the invention to the position for obtaining the mango being sheared online, realizes to its fruit
Obstruct automatic shearing.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is that the end of the present invention arranges structural scheme of mechanism.
Fig. 3 is mango clamping device, mango cutting mechanism and the mango detection structure assembling schematic diagram of the present invention.
Fig. 4 is the supporting structure schematic diagram of the mango clamping device of the present invention.
Fig. 5 is the mango clamping device of the present invention.
Fig. 6 is the system controller composed structure schematic diagram of the present invention.
In figure：1000, end arranges mechanism；1001, first order oscillating cylinder；1002, second level oscillating cylinder；1003, third
Grade rotating cylinder；1004, connecting seat；1005, the first connection swing rod；1006, the second connection swing rod；2000, mango clamping device；
2001, holder；2001-1, carpopodium position adjustment tank；2001-2, carpopodium cutting mechanism mounting groove；2001-3, mango clamping device
Mounting groove；2001-4, mango testing agency mounting groove；2002, lift cylinders；2003, clamping cylinder；2004, V-type clamping jaw；2005, even
Connect bearing；2006, piston rod；3000, carpopodium cutting mechanism；3001, rotation motor；3002, carpopodium cutting off tool；4000, awns
Fruit testing agency；4001, intelligent video camera head；4002, camera fixing support；5000, system controller；At 5000-1, figure
Manage module；5000-2, motion planning module；5000-3, motion-control module.
Specific implementation mode
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To keep present disclosure more obvious and easy to understand, done further below in conjunction with attached drawing 1- Fig. 6 and specific implementation mode
Description.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment：
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Such as Fig. 1, it is used for the end picker of mango picking mechanical arm, including end to arrange mechanism 1000, mango clamping
Mechanism 2000, carpopodium cutting mechanism 3000 and mango testing agency 4000, the present embodiment picker further include when in use with
End arranges mechanism 1000, mango clamping device 2000, carpopodium cutting mechanism 3000, mango testing agency 4000 using electrically connecting
The system controller 5000 connect；
This system controller 5000 using conventional products in the prior art, system controller 5000 as shown in fig. 6,
System controller 5000 include the pattern process module 5000-1 for handling 4000 obtained information of mango testing agency, in the hope of
Solution end arranges the motion planning module 5000-2 of mechanism 1000, arranges mechanism 1000, mango clamping device to control end
2000 and carpopodium cutting mechanism 3000 motion-control module 5000-3.
It includes first order oscillating cylinder 1001, second level oscillating cylinder 1002, the rotation of third level column type that end, which arranges mechanism 1000,
Cylinder 1003.
Mango clamping device 2000 includes holder 2001, lift cylinders 2002, clamping cylinder 2003 and V-type clamping jaw 2004.
Carpopodium cutting mechanism 3000 includes rotation motor 3001 and carpopodium cutting off tool 3002.
Mango testing agency 4000 includes two intelligent video camera heads 4001 and camera fixing support 4002.
As depicted in figs. 1 and 2, end arranges mechanism 1000, and first order oscillating cylinder 1001 passes through connecting seat 1004 and mango
Picking mechanical arm (not drawn in figure) connects, and sets that there are two coaxial power output ends on first order oscillating cylinder 1001；It puts the second level
Two power output ends setting power intake on first order oscillating cylinder 1001, second level oscillating cylinder are corresponded on dynamic cylinder 1002
Pass through the first connection between two power output ends on two power intakes on 1002 and first order oscillating cylinder 1001
Swing rod 1005 is connected and relative swing between first order oscillating cylinder 1001 and second level oscillating cylinder 1002；Second level oscillating cylinder 1002
On set there are two coaxial power output end；Two power on second level oscillating cylinder 1002 are corresponded on third level rotating cylinder 1003
Power intake is arranged in output end, on two power intakes and second level oscillating cylinder 1002 on third level rotating cylinder 1003
Connected by the second connection swing rod 1006 and second level oscillating cylinder 1002 and third level rotating cylinder between two power output ends
Relative swing between 1003；Power output end there are one being set on third level rotating cylinder 1003, the power of third level rotating cylinder 1003
Output end connects mango clamping device 2000 by connects bearing 2005.First order oscillating cylinder 1001 selects column in the prior art
Type oscillating cylinder, second level oscillating cylinder 1002 select ball-type oscillating cylinder in the prior art, third level rotating cylinder 1003 to select existing
Column type oscillating cylinder in technology.The axis of oscillation of the axis of oscillation of first order column type oscillating cylinder and second level ball-type oscillating cylinder is in different
Face is vertical；The axis of oscillation of the pivot center of third level column type rotating cylinder and first order column type oscillating cylinder is coplanar to intersect vertically；The
The axis of oscillation of the pivot center of three-level column type rotating cylinder and second level ball-type oscillating cylinder is coplanar to intersect vertically.
As shown in Fig. 3, Fig. 4 and Fig. 5, mango clamping device 2000 includes holder 2001, lift cylinders 2002, clamping cylinder 2003
With V-type clamping jaw 2004；Holder 2001 passes through 2005 phase of connects bearing with the power output end on third level column type rotating cylinder 1003
Even.Holder 2001 is equipped with carpopodium position adjustment tank 2001-1, carpopodium cutting mechanism mounting groove 2001-2, mango clamping device peace
Tankage 2001-3 and mango testing agency mounting groove 2001-4；Lift cylinders 2002 are mounted on 2001 bottom surface of holder, lift cylinders
2002 output shafts pass through mango clamping device mounting groove 2001-3 connections clamping cylinder 2003 and clamping cylinder 2003 is located at holder 2001
Interior, clamping cylinder 2003 is set there are two piston rod 2006,2006 end attaching V-type clamping jaw 2004 of piston rod.It is pressed from both sides for the ease of mango
Tight mechanism realizes clamp operation, is secured to Clamping Center and the carpopodium position of two V-type clamping jaws 2004 of 2006 end of piston rod
Adjustment tank 2001-1 arc grooves bottom central coaxial.
As shown in figure 3, carpopodium cutting mechanism 3000 includes rotation motor 3001 and carpopodium cutting off tool 3002, rotation motor
3001 are installed in carpopodium cutting mechanism mounting groove 2001-2, and carpopodium cutting off tool 3002 is mounted on 3001 output shaft of rotation motor
Holder 2001 is leaked out outside upper and carpopodium cutting off tool 3002.
As shown in figure 3, mango testing agency 4000 includes two intelligent video camera heads 4001 and camera fixing support 4002,
The intelligent video camera head 4001 being installed in mango testing agency mounting groove 2001-4, is mounted on by camera fixing support 4002
On holder 2001 and inside holder 2001.Two intelligent video camera heads 4001 install contour, two 4001 pictures of intelligent video camera head
Number is equal.Intelligent video camera head described here is routine techniques product in the prior art.
In order to which carpopodium cutting mechanism is adjusted flexibly, above-mentioned 1001 axis of oscillation of first order column type oscillating cylinder is spherical with the second level
1002 axis of oscillation of oscillating cylinder is vertical in antarafacial, and above-mentioned 1003 pivot center of third level column type rotating cylinder is swung with first order column type
1001 axis of oscillation of cylinder, spherical shape oscillating cylinder 1002 axis of oscillation in the second level is coplanar respectively intersects vertically.
The work step of the present embodiment picker is as described below：
Step 1：First under mango picking mechanical arm (not drawn in figure) drive, pass through two of mango testing agency 4000
Intelligent video camera head 4001 obtains the mango image picked online, and send to system controller 5000, by pattern process module
5000-1, motion planning module 5000-2, motion-control module 5000-3 are obtained respectively by the location information of picking mango, and
End arranges mechanism 1000, the motion control instruction of mango clamping device 2000 and carpopodium cutting mechanism；
Step 2：Then end is controlled by system controller 5000 and arranges mechanism 1000, start first order oscillating cylinder 1001,
Second level oscillating cylinder 1002, third level rotating cylinder 1003 drive carpopodium cutting mechanism 3000 and mango clamping device 4000 to run
The corresponding position picked to mango；
Step 3：Then system controller 5000 controls mango clamping device 2000, starts lift cylinders 2002, by lift cylinders
The height of 2002 adjustment V-type clamping jaws 2004, starts clamping cylinder 2003, the mango for driving 2004 clamping of V clamping jaws to be picked；
Step 4：Finally, system controller 5000 controls carpopodium cutting mechanism 3000, and rotation motor 3001 starts, by cutter
3002 cut-out carpopodiums, realize that mango is picked automatically.
Part that the present invention does not relate to is the same as those in the prior art or can be realized by using the prior art.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of end picker for mango picking mechanical arm, which is characterized in that include for adjusting picking position
End arranges mechanism (1000), the mango clamping device (2000) for mango to be clamped, is cut for cutting off the carpopodium of mango carpopodium
Breaking mechanism (3000) and for detecting the mango testing agency (4000) of mango position for needing to pick；End arranges mechanism
(1000) one end connection mango picking mechanical arm, the other end connection mango clamping device (2000)；Carpopodium cutting mechanism
(3000) and mango testing agency (4000) is all connected with mango clamping device (2000)；
It includes first order oscillating cylinder (1001), second level oscillating cylinder (1002) and third level rotating cylinder that end, which arranges mechanism (1000),
(1003)；First order oscillating cylinder (1001) is connect by connecting seat (1004) with mango picking mechanical arm, first order oscillating cylinder
(1001) coaxial power output end there are two being set on；
The two power output ends setting power corresponded on second level oscillating cylinder (1002) on first order oscillating cylinder (1001) inputs
It holds, two power intakes on second level oscillating cylinder (1002) and two power output ends on first order oscillating cylinder (1001)
Between by first connection swing rod (1005) be connected and between first order oscillating cylinder (1001) and second level oscillating cylinder (1002)
Relative swing；Coaxial power output end there are two being set on second level oscillating cylinder (1002)；
The two power output ends setting power corresponded on third level rotating cylinder (1003) on second level oscillating cylinder (1002) inputs
It holds, two power intakes on third level rotating cylinder (1003) and two power output ends on second level oscillating cylinder (1002)
Between by second connection swing rod (1006) be connected and between second level oscillating cylinder (1002) and third level rotating cylinder (1003)
Relative swing；Power output end there are one being set on third level rotating cylinder (1003), the power output of third level rotating cylinder (1003)
End connects mango clamping device (2000) by connects bearing (2005).
2. being used for the end picker of mango picking mechanical arm as described in claim 1, which is characterized in that the first order is swung
Cylinder (1001) is column type oscillating cylinder, and second level oscillating cylinder (1002) is ball-type oscillating cylinder, and third level rotating cylinder (1003) is column type
Oscillating cylinder；The axis of oscillation of first order column type oscillating cylinder is vertical in antarafacial with the axis of oscillation of second level ball-type oscillating cylinder；Third
The axis of oscillation of pivot center and the first order column type oscillating cylinder of grade column type rotating cylinder is coplanar to intersect vertically；Third level column type rotates
The axis of oscillation of the pivot center of cylinder and second level ball-type oscillating cylinder is coplanar to intersect vertically.
3. being used for the end picker of mango picking mechanical arm as claimed in claim 2, which is characterized in that mango clamping machine
Structure (2000) includes holder (2001), lift cylinders (2002), clamping cylinder (2003) and V-type clamping jaw (2004)；Holder (2001) with
Power output end on third level rotating cylinder (1003) is connected by connects bearing (2005), and holder (2001) is equipped with carpopodium position
Set adjustment tank (2001-1), carpopodium cutting mechanism mounting groove (2001-2), mango clamping device mounting groove (2001-3) and mango
Testing agency's mounting groove (2001-4)；
Lift cylinders (2002) are mounted on holder (2001) bottom surface, and lift cylinders (2002) output shaft is pacified across mango clamping device
Tankage (2001-3) connection clamping cylinder (2003) and clamping cylinder (2003) are located in holder (2001)；Clamping cylinder (2003) is equipped with two
A piston rod (2006), two equal attachings in piston rod (2006) end are used to be clamped the V-type clamping jaw (2004) of mango.
4. being used for the end picker of mango picking mechanical arm as claimed in claim 3, which is characterized in that the first order is swung
Cylinder (1001), second level oscillating cylinder (1002), third level rotating cylinder (1003), lift cylinders (2002) and clamping cylinder (2003) are gas
Cylinder or oil cylinder.
5. being used for the end picker of mango picking mechanical arm as claimed in claim 4, which is characterized in that carpopodium cutting machine
Structure (3000) includes rotation motor (3001) and carpopodium cutting off tool (3002)；Rotation motor (3001) is installed on carpopodium cutting machine
In structure mounting groove (2001-2), output shaft passes through the affixed carpopodium cutting off tool (3002) of cell wall and carpopodium cutting off tool
(3002) holder (2001) is leaked out outside.
6. being used for the end picker of mango picking mechanical arm as claimed in claim 4, which is characterized in that mango detection machine
Structure (4000) includes two intelligent video camera heads (4001) and the camera fixing support (4002) for fixing intelligent video camera head, intelligence
Energy camera (4001) is installed on mango testing agency mounting groove (2001-4) by camera fixing support (4002) and position
It is internal in holder (2001).
7. being used for the end picker of mango picking mechanical arm as claimed in claim 6, which is characterized in that two intelligence are taken the photograph
Picture head (4001) installation is contour, and two intelligent video camera heads (4001) are as several equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610866545.XA CN106612959B (en) | 2016-09-29 | 2016-09-29 | End picker for mango picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610866545.XA CN106612959B (en) | 2016-09-29 | 2016-09-29 | End picker for mango picking mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106612959A CN106612959A (en) | 2017-05-10 |
| CN106612959B true CN106612959B (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610866545.XA Active CN106612959B (en) | 2016-09-29 | 2016-09-29 | End picker for mango picking mechanical arm |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108156954A (en) * | 2018-02-13 | 2018-06-15 | 成都大学 | It is a kind of can automatic sensing fruit rotary-cut collector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3131993B2 (en) * | 1990-10-26 | 2001-02-05 | 井関農機株式会社 | Visual devices such as fruit and vegetable harvesters |
| CN100512621C (en) * | 2007-03-06 | 2009-07-15 | 江苏大学 | Terminal executor of fruit and vegetable picking robot |
| CN102165880A (en) * | 2011-01-19 | 2011-08-31 | 南京农业大学 | Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method |
| CN102187766A (en) * | 2011-04-28 | 2011-09-21 | 北京农业智能装备技术研究中心 | Fruit picking end effector and fruit picking method |
| CN105409443A (en) * | 2015-12-05 | 2016-03-23 | 重庆丰之农农业开发有限公司 | Watermelon picking equipment |
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