CN107718019A - A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method - Google Patents
A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method Download PDFInfo
- Publication number
- CN107718019A CN107718019A CN201710945155.6A CN201710945155A CN107718019A CN 107718019 A CN107718019 A CN 107718019A CN 201710945155 A CN201710945155 A CN 201710945155A CN 107718019 A CN107718019 A CN 107718019A
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- tomato
- silica gel
- rubber
- finger
- collet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method, it is related to Agriculture pick robot field, it is made up of rubber bottom plate, collet spring, collet silica gel push-button, finger silica gel push-button, finger springs, rubber finger, visual unit, installing plate, cylinder, drive gear, motor, mechanical arm connecting plate, power transmission shaft, driven gear and bottom plate connector, it is characterized in that：The rubber bottom plate passes through bottom plate connector and cylinder axis connection, the cylinder is arranged on installation back, the collet silica gel push-button is connected by collet spring with rubber bottom plate, the collet silica gel push-button is length of side 5mm square silica gel block, the present invention is using longitudinal flexible clamping tomato, then the Softening for the carpopodium that fractures is swung, by being directed at fruit, clamping and swing the course of work to fracture close to fruit, longitudinal flexible, solves the low technical barrier with clamping easy damaged of tomato picking efficiency.
Description
Technical field
The present invention relates to Agriculture pick robot field, in particular it relates to which a kind of longitudinal flexible clamps mechanical tomato picker tool
Hand end effector and picking method.
Background technology
As China's tomato in plastic greenhouse planting technology is promoted, cultivated area and annual production are increasing, the fruits nutrition of tomato
It is abundant, have flavour, can eat raw, cook, catsup processing, juice or whole fruit canning, turning into one of staple vegetable of people,
The harvest of tomato in China fully relies on artificial harvesting at present, big in the artificial harvest operation amount of tomato in China, and labor intensity is high, effect
Rate is low, and with the aging of China's Development of China's Urbanization and population, foot phenomenon does not become clear day by day rural laborer, studies and promotes kind
Eggplant autonomous harvesting technology, turns into urgent problem to be solved at this stage.
With reference to the growth characteristics of tomato, 2~5 bunchys growths of tomato, mutually touching, it is proposed that sucker sticking first is lived kind
Eggplant is simultaneously pulled away from fruit beam, then is clamped fruit and fractureed the picking method of carpopodium, is found by the research of tomato attribute testing, first：
Longitudinal direction (fruit axis) anti-extrusion ability of tomato is significantly beyond transverse direction；Second but tomato using the carpopodium ratio that fractures using twisting off
Or to break carpopodium mode more laborsaving, go to design arm end effector with reference to the two physical characteristics, can significantly improve kind
The picking efficiency and success rate of eggplant.
The arm end effector of Tomato-harvesting robot is mounted in mechanical arm front end, is directly in contact with tomato,
It is the crucial executable portion of harvesting.Arm end effector is for manipulating object and the tenderness of environment, scrambling and answers
The adaptability of miscellaneous polytropy determines the efficiency and success rate of picking fruit, it is therefore desirable to which a kind of longitudinal flexible clamping tomato is adopted
Arm end effector and picking method are plucked, and this longitudinal flexible clamps mechanical tomato picker Xie Shou end effectors city at present
It is no on field.
The content of the invention
For it is above-mentioned in the prior art the defects of, the present invention provides a kind of longitudinal flexible clamping mechanical tomato picker tool hand end
Actuator and picking method, overcome the defects of existing tomato picked by hand efficiency is low, mechanization degree is low, the present invention is using longitudinal direction
Flexible clamping tomato, the Softening for the carpopodium that fractures then is swung, the skill for solving the low and easy Clamping damage of tomato picking efficiency
Art problem.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of longitudinal flexible clamps mechanical tomato picker tool hand end effector, is by rubber bottom plate, collet spring, collet silicon
Glue button, finger silica gel push-button, finger springs, rubber finger, visual unit, installing plate, cylinder, drive gear, motor, machinery
What arm connecting plate, power transmission shaft, driven gear and bottom plate connector formed, it is characterized in that：The rubber bottom plate is connected by bottom plate
Part and cylinder axis connection, the cylinder are arranged on installation back, and the collet silica gel push-button passes through collet spring and rubber-sole
Plate connects, and the collet silica gel push-button is length of side 5mm square silica gel block, left-right and front-back gap 2mm, arranges and sets into 10 rows 10,
100 altogether, the finger silica gel push-button is connected by finger springs with rubber finger, and the finger silica gel push-button is diameter
5mm circular silicagel column, left and right distance of center circle 7mm, the rubber finger are arranged on installing plate top, altogether 4 rubber fingers, institute
Motor is stated on mechanical arm connecting plate, the mechanical arm connecting plate is connected by power transmission shaft with installing plate, the sliding tooth
Wheel is arranged on motor shaft, is engaged with driven gear, and the driven gear is arranged on power transmission shaft.
Preferably, the collet silica gel push-button surface adhesion has pressure sensor, detection harvesting pressure.
Preferably, gap is 5mm to 4 rubber fingers two-by-two.
Preferably, the cylinder has two to be positioned only at installation back, rubber finger and rubber when cylinder axis all stretch out
Distance between bottom plate is 100mm.
Preferably, 7 finger silica gel push-buttons are provided with each rubber finger.
A kind of picking method of longitudinal flexible clamping mechanical tomato picker tool hand end effector, comprises the following steps：Alignment
Fruit, close fruit, longitudinal flexible clamping and swing fracture, and its detailed operation is：Visual unit shoots Tomato Image, figure
As processing acquisition tomato 3 d space coordinate, arm end effector is sent to specified location by mechanical arm after path planning, complete
Into alignment fruit process；Two cylinders work simultaneously, and the distance that cylinder axis are stretched out between rubber finger and rubber bottom plate reaches 100mm,
Arm end effector slowly translates, and tomato carpopodium slowly enters in rubber interdigital space of hand, is clamped until whole tomato enters
Region, complete close to fruit process；Two cylinders work simultaneously, and cylinder axis, which are slowly retracted, drives rubber bottom plate slowly to rise longitudinal direction
Tomato (fruit axis direction) is clamped, collet silica gel push-button touches, and plastic deformation occurs after tomato profile, outside adaptive tomato
Contour shape, until the harvesting pressure that the pressure sensor on collet silica gel push-button surface detects, within threshold value, stop motion is complete
Into flexible clamping process；Motor positive and inverse moves, drive gear drive driven gear rotate, tomato is swung 30 °, carpopodium by
Shearing force fractures, and completes to swing snap-off process.
Compared with prior art, the present invention has following beneficial effect：
A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method that the present invention designs utilize more
Articulated mechanical arm, obtained in real time by multi-sensor information fusion, perceive working environment and tomato information, it is ensured that do not damaged kind
On the premise of eggplant, completion alignment fruit, fracture the course of work close to fruit, longitudinal flexible clamping and swing, and the present invention uses vertical
To flexible clamping tomato, the Softening for the carpopodium that fractures then is swung, solves that tomato picking efficiency is low and clamping easy damaged
Technical barrier.
(1) present invention is changed using rubber bottom plate and rubber finger spacing, longitudinal direction clamping, and collet silica gel push-button and hand
Refer to silica gel push-button can flexible variety, adaptive tomato outer contour shape, ensure lossless harvesting；
(2) present invention is fractureed carpopodium using breaking mode is swung, will be laborsaving than twisting off and breaking carpopodium, improves harvesting
Efficiency；
(3) gap between rubber finger of the present invention is 5mm, can just accommodate tomato carpopodium, there is provided the work of pivot point
With being more beneficial for carpopodium and fracture.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Drawings below be used for a further understanding of the present invention, and a part for constitution instruction are provided, its with it is following
Embodiment be used to explain the present invention together, but protection scope of the present invention is not limited to following accompanying drawings and specific real
Apply mode.In the accompanying drawings：
Fig. 1 is the arm end effector normal axomometric drawing of the present invention；
Fig. 2 is the finger structure three dimensional structure diagram of the present invention；
Fig. 3 is the collet configuration three dimensional structure diagram of the present invention；
Fig. 4 is the alignment fruit working state schematic representation of present invention harvesting step；
Fig. 5 is the close fruit working state schematic representation of present invention harvesting step；
Fig. 6 is that the longitudinal flexible of present invention harvesting step clamps working state schematic representation；
Fig. 7 is that the swing of present invention harvesting step fractures working state schematic representation.
In figure：1 rubber bottom plate, 2 collet springs, 3 collet silica gel push-buttons, 4 finger silica gel push-buttons, 5 finger springs, 6 rubber
Finger, 7 visual units, 8 installing plates, 9 cylinders, 10 drive gears, 11 motors, 12 mechanical arm connecting plates, 13 power transmission shafts, 14 is driven
Gear, 15 bottom plate connectors.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing, it should be appreciated that retouch in this place
The embodiment stated is merely to illustrate and explain the present invention, and protection scope of the present invention is not limited to following specific realities
Apply mode.
A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method that the present invention designs utilize more
Articulated mechanical arm, obtained in real time by multi-sensor information fusion, perceive working environment and tomato information, it is ensured that do not damaged kind
On the premise of eggplant, completion alignment fruit, fracture the course of work close to fruit, longitudinal flexible clamping and swing, and the present invention uses vertical
To flexible clamping tomato, the Softening for the carpopodium that fractures then is swung, solves that tomato picking efficiency is low and clamping easy damaged
Technical barrier.
Referring to shown in Fig. 1 to Fig. 3, a kind of longitudinal flexible clamps mechanical tomato picker tool hand end effector, is by rubber-sole
Plate 1, collet spring 2, collet silica gel push-button 3, finger silica gel push-button 4, finger springs 5, rubber finger 6, visual unit 7, installation
Plate 8, cylinder 9, drive gear 10, motor 11, mechanical arm connecting plate 12, power transmission shaft 13, driven gear 14 and bottom plate connector 15
Composition, it is characterized in that：The rubber bottom plate 1 is arranged on peace by bottom plate connector 15 and the axis connection of cylinder 9, the cylinder 9
The back side of loading board 8, the collet silica gel push-button 3 are connected by collet spring 2 with rubber bottom plate 1, and the collet silica gel push-button 3 is side
Long 5mm square silica gel block, left-right and front-back gap 2mm, arrange and set into 10 rows 10,100 altogether, the finger silica gel push-button 4
It is connected by finger springs 5 with rubber finger 6, the finger silica gel push-button 4 is diameter 5mm circular silicagel column, the left and right center of circle
Away from 7mm, the rubber finger 5 is arranged on the top of installing plate 8, altogether 4 rubber fingers, and the motor 11 connects installed in mechanical arm
On fishplate bar 12, the mechanical arm connecting plate 12 is connected by power transmission shaft 13 with installing plate 8, and the drive gear 10 is arranged on motor
On 11 axles, engaged with driven gear 14, the driven gear 14 is arranged on power transmission shaft 13.
Preferably, the surface adhesion of collet silica gel push-button 3 has pressure sensor, detection harvesting pressure.
Preferably, gap is 5mm to 4 rubber fingers 5 two-by-two.
Preferably, the cylinder 9 has two to be positioned only at the back side of installing plate 8, the He of rubber finger 6 when the axle of cylinder 9 all stretches out
Distance between rubber bottom plate 1 is 100mm.
Preferably, 7 finger silica gel push-buttons 4 are provided with each rubber finger 6.
In order to help to understand the above-mentioned basic embodiment of the present invention, reference picture 4 to Fig. 7 is operated procedure declaration, this
A kind of picking method of longitudinal flexible clamping mechanical tomato picker tool hand end effector is invented, is comprised the following steps：Alignment fruit,
Fractureed close to fruit, longitudinal flexible clamping and swing, its detailed operation is：Visual unit 7 shoots Tomato Image, at image
Reason obtains tomato 3 d space coordinate, and arm end effector is sent to specified location, completion pair by mechanical arm after path planning
Quasi- fruit process；Two cylinders 9 work simultaneously, and the distance that the shaft extension of cylinder 9 goes out between rubber finger 6 and rubber bottom plate 1 reaches 100mm,
Arm end effector slowly translates, and tomato carpopodium slowly enters in the gap of rubber finger 6, is clamped until whole tomato enters
Region, complete close to fruit process；Two cylinders 9 work simultaneously, and the axle of cylinder 9, which is slowly retracted, drives rubber bottom plate 1 slowly to rise
Longitudinal direction clamping tomato (fruit axis direction), collet silica gel push-button 3 touches, and plastic deformation occurs after tomato profile, adaptive kind
Eggplant outer contour shape, until the harvesting pressure that the pressure sensor on the surface of collet silica gel push-button 3 detects within threshold value, stops fortune
It is dynamic, complete flexible clamping process；The positive and negative rotation of motor 11, drive gear 10 drive driven gear 14 to rotate, and put tomato or so
Dynamic 30 °, carpopodium is fractureed by shearing force, completes to swing snap-off process.
The embodiment of the present invention is described in detail above in association with accompanying drawing, it is necessary to illustrate, above-mentioned specific real
Each particular technique feature described in mode is applied, in the case of reconcilable, can be carried out by any suitable means
Combination, in order to avoid unnecessary repetition, the present invention no longer separately illustrates to various combinations of possible ways.It is but of the invention
The detail being not limited in above-mentioned embodiment, for the ordinary skill in the art, according to the religion of the present invention
Lead, in the case where not departing from the principle of the present invention and spirit, the changes, modifications, replacement and the modification that are carried out to embodiment
Still fall within protection scope of the present invention.
Claims (6)
1. a kind of longitudinal flexible clamps mechanical tomato picker tool hand end effector, it is characterized in that：It is by rubber bottom plate, collet bullet
Spring, collet silica gel push-button, finger silica gel push-button, finger springs, rubber finger, visual unit, installing plate, cylinder, drive gear,
What motor, mechanical arm connecting plate, power transmission shaft, driven gear and bottom plate connector formed, the rubber bottom plate is connected by bottom plate
Part and cylinder axis connection, the cylinder are arranged on installation back, and the collet silica gel push-button passes through collet spring and rubber-sole
Plate connects, and the collet silica gel push-button is length of side 5mm square silica gel block, left-right and front-back gap 2mm, arranges and sets into 10 rows 10,
100 altogether, the finger silica gel push-button is connected by finger springs with rubber finger, and the finger silica gel push-button is diameter
5mm circular silicagel column, left and right distance of center circle 7mm, the rubber finger are arranged on installing plate top, altogether 4 rubber fingers, institute
Motor is stated on mechanical arm connecting plate, the mechanical arm connecting plate is connected by power transmission shaft with installing plate, the sliding tooth
Wheel is arranged on motor shaft, is engaged with driven gear, and the driven gear is arranged on power transmission shaft.
2. a kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector according to claim 1, it is characterized in that：Institute
Stating collet silica gel push-button surface adhesion has pressure sensor, detection harvesting pressure.
3. a kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector according to claim 1, it is characterized in that：Institute
Stating 4 rubber fingers, gap is 5mm two-by-two.
4. a kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector according to claim 1, it is characterized in that：Institute
Stating cylinder has two to be positioned only at installation back, and distance when cylinder axis all stretch out between rubber finger and rubber bottom plate is
100mm。
5. a kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector according to claim 1, it is characterized in that：Institute
State and 7 finger silica gel push-buttons are provided with each rubber finger.
6. a kind of picking method of longitudinal flexible clamping mechanical tomato picker tool hand end effector according to claim 1,
It is characterized in that：Comprise the following steps：
1) it is directed at fruit
Visual unit shoots Tomato Image, and image procossing obtains tomato 3 d space coordinate, and mechanical arm is by machinery after path planning
Hand end effector is sent to specified location, completes alignment fruit process；
2) close to fruit
Two cylinders work simultaneously, and the distance that cylinder axis are stretched out between rubber finger and rubber bottom plate reaches 100mm, and arm end is held
Row device slowly translates, and tomato carpopodium slowly enters in rubber interdigital space of hand, and until whole tomato enters clamping zone, completion is close
Fruit process；
3) longitudinal flexible clamps
Two cylinders work simultaneously, and cylinder axis, which are slowly retracted, drives rubber bottom plate slowly to rise longitudinal direction clamping tomato (fruit axis
Direction), after touching tomato profile plastic deformation, adaptive tomato outer contour shape, until collet occur for collet silica gel push-button
The harvesting pressure of the pressure sensor detection on silica gel push-button surface stop motion, completes flexible clamping process within threshold value；
4) swing and fracture
Motor positive and inverse moves, and drive gear drives driven gear to rotate, and tomato is swung 30 °, and carpopodium is fractureed by shearing force,
Complete to swing snap-off process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945155.6A CN107718019A (en) | 2017-10-12 | 2017-10-12 | A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710945155.6A CN107718019A (en) | 2017-10-12 | 2017-10-12 | A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method |
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| CN201710945155.6A Pending CN107718019A (en) | 2017-10-12 | 2017-10-12 | A kind of longitudinal flexible clamping mechanical tomato picker tool hand end effector and picking method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108848910A (en) * | 2018-08-03 | 2018-11-23 | 榕江平阳生态源开发有限责任公司 | A kind of blue or green money willow branches and leaves picker |
| CN109019004A (en) * | 2018-09-27 | 2018-12-18 | 霸州市辉月网络技术有限公司 | A kind of pile transhipment mechanical device with flexible clamping gripper |
| CN109205181A (en) * | 2018-09-28 | 2019-01-15 | 湖南农业大学 | Gap for stalk adaptively clamps conveying device and flexible clamping delivery method |
| CN109531571A (en) * | 2018-12-10 | 2019-03-29 | 浙江树人学院 | A kind of flexible mechanical arm end effector control method |
| CN111165171A (en) * | 2019-12-29 | 2020-05-19 | 浙江大学 | Knot ball vegetables pick system with touch perception function |
| CN113247639A (en) * | 2021-06-24 | 2021-08-13 | 武汉喆雯城配物流有限公司 | Intelligent stacking machine and stacking method for producing paper-plastic open bags |
| CN114248282A (en) * | 2021-12-20 | 2022-03-29 | 中国计量大学 | Picking end effector for spheroidal fruits and picking end effector method |
| US11766006B2 (en) | 2018-04-10 | 2023-09-26 | Ig Specials B.V. | Apparatus and method for placing bulbs |
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| CN114248282A (en) * | 2021-12-20 | 2022-03-29 | 中国计量大学 | Picking end effector for spheroidal fruits and picking end effector method |
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Application publication date: 20180223 |