CN108522022B - Collision sensing device for tail end arm of picking robot - Google Patents
Collision sensing device for tail end arm of picking robot Download PDFInfo
- Publication number
- CN108522022B CN108522022B CN201810659201.0A CN201810659201A CN108522022B CN 108522022 B CN108522022 B CN 108522022B CN 201810659201 A CN201810659201 A CN 201810659201A CN 108522022 B CN108522022 B CN 108522022B
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- fixing frame
- canvas
- picking robot
- end fixing
- arm
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- 238000003825 pressing Methods 0.000 claims description 27
- 208000018747 cerebellar ataxia with neuropathy and bilateral vestibular areflexia syndrome Diseases 0.000 claims description 26
- 235000013399 edible fruits Nutrition 0.000 claims description 10
- 229910052751 metal Inorganic materials 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 3
- 229910000746 Structural steel Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000010963 304 stainless steel Substances 0.000 claims description 2
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 claims description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 2
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 229910052709 silver Inorganic materials 0.000 claims description 2
- 239000004332 silver Substances 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011540 sensing material Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a picking robot tail end arm collision sensing device, which comprises: the device comprises a front end fixing frame, a rear end fixing frame, a torsion spring hinge, an L-shaped plate, a base plate, a travel switch and canvas, wherein the L-shaped plate is pulled to move when the canvas bears external force deformation, so that a travel switch contact acts to output a signal. The invention is applied to the tail end arm of the picking robot, when the robot arm carries out picking operation, the branches and leaves press down the canvas in the corresponding direction, the corresponding torsion spring hinge rotates to touch the travel switch, and the robot senses dangerous collision in the corresponding direction. The invention has the advantages of simple control, reliable work, convenient assembly and adjustment, strong universality and the like.
Description
Technical Field
The invention belongs to the technical field of automatic picking equipment for agricultural fruits and vegetables, and particularly relates to a collision sensing device for a tail end arm of a picking robot.
Background
With the rapid development of computer and automatic control technologies, robots have gradually entered the agricultural production field, and in the control of picking robots, most of sensors for sensing external environmental information are mounted on end effectors of the robots, and rarely on mechanical arms. However, when the robot picks the fruit in the fruit tree, the rear joint of the mechanical arm inevitably goes deep into the fruit tree to perform operation, and collides with the branches and leaves, if the mechanical arm does not have the capability of sensing the degree of collision force, the robot does not have the capability of judging when the robot collides with thicker branches, and then the collision can cause damage to both the fruit tree and the robot.
At present, research and device development for a collision sensing structure of a tail end arm of a picking robot are lacking at home and abroad, patent with application number of CN201120078572.3, a robot telescopic arm capable of sensing collision is provided, the proposed collision sensing structure is complex, collision sheets in corresponding directions are made of rigid metal, and a metal plate can act integrally and linearly in principle during collision, but due to the fact that the weight of the metal plate is large, when the metal plate is arranged in the left-right direction, a bias moment is generated on a corresponding linear sliding support piece, so that unstable friction resistance is generated, and sensitivity on collision sensing is affected.
Disclosure of Invention
In order to solve the technical problems, the invention provides a collision sensing device for an end arm of a picking robot. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
The invention adopts the following technical scheme:
in some alternative embodiments, there is provided a picking robot end arm collision sensing device comprising: the device comprises a travel switch, an L-shaped plate and canvas paved along the tail end arm of the picking robot, wherein the tail end of the canvas is connected with the L-shaped plate, and when the canvas is deformed by external force, the L-shaped plate is pulled to move, so that a contact of the travel switch acts to output a signal.
In some alternative embodiments, the picking robot end arm collision sensing device further comprises: the automatic picking robot comprises a torsion spring hinge and a rear end fixing frame arranged on an end arm of the picking robot, wherein a fixing page of the torsion spring hinge is arranged on the rear end fixing frame, a base plate is arranged on one surface of a movable page of the torsion spring hinge, an L-shaped plate is arranged on the other surface of the movable page of the torsion spring hinge, and the end of canvas is connected with the base plate.
In some alternative embodiments, the picking robot end arm collision sensing device further comprises: the sensor frame is arranged on the rear end fixing frame, and the travel switch is arranged on the sensor frame.
In some alternative embodiments, the picking robot end arm collision sensing device further comprises: the front end fixing frame and the rear end fixing frame are respectively arranged at two ends of the tail end arm of the picking robot, and the head end of the canvas is fixed on the front end fixing frame.
In some alternative embodiments, the number of the canvases is three, the three canvases are top surface canvases and two side canvases respectively positioned at two sides of the top surface canvases, and the three canvases are respectively assembled into three detection components with corresponding L-shaped plates, torsion spring hinges, backing plates and travel switches.
In some alternative embodiments, the picking robot end arm collision sensing device further comprises: the transverse pressing plate compresses the top canvas on the top surface of the front end fixing frame, and the two vertical pressing plates compress the two side canvases on the left surface and the right surface of the front end fixing frame respectively.
In some optional embodiments, the transverse pressing plate and the two vertical pressing plates are respectively provided with a countersunk screw clearance hole and a screw thread fastening hole, the transverse pressing plate and the two vertical pressing plates are fixed on the front end fixing frame through countersunk screws, and the canvas is fixed on the front end fixing frame through a set screw.
In some alternative embodiments, the front end fixing frame and the rear end fixing frame are in a rectangular frame structure.
In some alternative embodiments, the front end mounting bracket, the rear end mounting bracket, and the sensor bracket are made of aluminum alloy material model 2A 12.
In some alternative embodiments, the backing plate, the L-shaped plate, the transverse pressing plate and the vertical pressing plate are made of Q235 common carbon structural steel.
The invention has the beneficial effects that: the invention has the advantages of high safety and low complexity, so that the invention has the characteristics of simple use mode and easy operation; the collision sensing coverage area is large, so that the sensing reliability is greatly improved; canvas is used as a collision sensing material, the whole weight of the device is light, the work of the original mechanical arm is not influenced, and the offset moment generated by the installation of the end arm relative to the front end joint is small; the universality is strong, and the method can be applied to collision induction of most picking tail end arms; besides, the device has the advantages of convenient installation and debugging, compact structure, portability, small size, reliability, durability, simple control, low cost and strong universality.
To the accomplishment of the foregoing and related ends, the one or more embodiments comprise the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative aspects and are indicative of but a few of the various ways in which the principles of the various embodiments may be employed. Other benefits and novel features will become apparent from the following detailed description when considered in conjunction with the drawings, the disclosed embodiments are intended to include all such aspects and their equivalents.
Drawings
FIG. 1 is a schematic view of a picking robot end arm collision sensing device according to the present invention;
fig. 2 is an enlarged view of a portion a of fig. 1;
fig. 3 is an enlarged view of a portion B of fig. 1;
fig. 4 is a schematic view of the bottom structure of a picking robot end arm collision sensing device of the present invention.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims.
As shown in fig. 1 to 4, in some illustrative embodiments, there is provided a picking robot tip arm collision sensing device, the collision sensing device of the present invention being mounted on a picking robot tip arm 4, specifically comprising: the device comprises a front end fixed frame 1, a rear end fixed frame 2, canvas 3, a torsion spring hinge 5, a base plate 6, an L-shaped plate 7, a travel switch 8 and a sensor frame 9.
The inner frames of the front end fixing frame 1 and the rear end fixing frame 2 are slightly larger than the rectangular section of the tail end arm 4 of the picking robot in size, so that the rear end fixing frame 2 of the front end fixing frame 1 is conveniently sleeved outside the tail end arm 4 of the picking robot. The lower parts of the front end fixing frame 1 and the rear end fixing frame 2 are provided with fastening thread through holes, the front end fixing frame 1 and the rear end fixing frame 2 are tightly pressed and fixed at the two ends of the tail end arm 4 of the picking robot through fastening screws, and the installation positions and the distances between the front end fixing frame 1 and the rear end fixing frame 2 can be adjusted by loosening the fastening screws.
The sensor frame 9 sets up on rear end fixed frame 2, and travel switch 8 sets up on the sensor frame, and travel switch 8 is used for detecting the position state of L template 7, and sensor frame 9 opens has waist shape hole in order to conveniently adjust the position and fasten with rear end fixed frame 2 through the screw.
Canvas 3 lays along picking robot terminal arm 4, and fixed page 51 of torsional spring hinge 5 sets up on rear end fixed frame 2, and one of them face of the movable page 52 of torsional spring hinge 5 sets up backing plate 6, and the another side sets up L template 7. The backing plate 6 is provided with a row of threaded holes, the tail end of the canvas 3 is fixed on the backing plate 6 through screws, and the head end of the canvas 3 is fixed on the front end fixing frame 1.
The two hinges of the torsion spring hinge 5 are in a 90-degree included angle in the initial state, the generated torque enables the canvas 3 to be in a tightening state, the L-shaped plate 7 is not contacted with the travel switch 8, and the reset torque of the torsion spring hinge 5 can be adjusted by replacing the torsion spring or adjusting the distance between the front end fixing frame 1 and the rear end fixing frame 2. When the arm carries out picking operation, the end arm 4 of picking robot is unavoidable to go deep into the inside of fruit tree and carries out picking operation, when the fruit branch is touched, canvas 3 can be pushed down, namely canvas 3 bears external force deformation, canvas 3 deformation pulls the swing of the movable page 51 of torsional spring hinge 5, drive L template 7 and rotate promptly, when reaching certain triggering angle, L template 7 presses down the contact of travel switch 8 for travel switch 8 contact action output signal, robot control system can perceive picking robot end arm 4 and bump, thereby plan the picking route again, in order to prevent arm and fruit tree from probably receiving the damage because of taking place dangerous collision.
The fixed page 51 of the torsion spring hinge 5 refers to a page which is fixed relative to the end arm 4 of the picking robot, and the movable page 52 of the torsion spring hinge 5 refers to a page which moves relative to the end arm 4 of the picking robot.
The number of the canvases 3 is three, the three canvases 3 are a top face canvases 31 and two side face canvases 32 which are respectively positioned at two sides of the top face canvases 31, and the top face canvases 31 and the two side face canvases 32 cover the top face, the left side and the right side of the tail end arm 4 of the picking robot. The end of three canvas 3 corresponds a backing plate 6 respectively, therefore the quantity of backing plate 6 is three, and every backing plate corresponds a torsional spring hinge 5, and correspondingly, set up an L template 7 on the movable page 52 of every torsional spring hinge 5, from this, need three travel switch 8 to detect the position state of three L templates 7 respectively. Therefore, three canvases are assembled into three detection assemblies with the corresponding L-shaped plates, torsion spring hinges, backing plates and travel switches respectively, the top surface, the left surface and the right surface of the tail end arm 4 of the picking robot are respectively sensed, when fruit branches are touched, the corresponding top surface canvases 31 or the two side surface canvases 32 are pressed down, so that the corresponding torsion spring hinges 5 are pulled to swing, the corresponding L-shaped plates 7 are driven to rotate, and therefore, a robot control system can sense which direction of the tail end arm 4 of the picking robot is collided, and the picking path is planned again, so that the mechanical arm and fruit trees are prevented from being possibly damaged due to dangerous collision.
The collision sensing device of the present invention further includes: the transverse pressing plate 10 and the two vertical pressing plates 11, wherein the transverse pressing plate 10 presses the top canvas 31 on the top surface of the front end fixing frame 1, and the two vertical pressing plates 11 press the two side canvases 32 on the left surface and the right surface of the front end fixing frame 1 respectively. The transverse pressing plate 10 and the two vertical pressing plates 11 are respectively provided with a countersunk screw clearance hole 13 and a screw tightening hole 14, the countersunk screw clearance holes 13 are used for fixing the transverse pressing plate 10 and the two vertical pressing plates 11 on the front end fixing frame 1 by using countersunk screws, and the screw tightening holes 14 are used for tightly pressing the top canvas 31 and the two side canvases 32 on the front end fixing frame 1 by using the tightening screws.
The front end fixing frame 1 and the rear end fixing frame 2 are rectangular frame structures, and the size of the inner frame is slightly larger than the rectangular section of the tail end arm 4 of the picking robot. The ends of the top canvas 31 and the left and right side canvasses 32 are fixed to the three pad plates 6 by screws, respectively. The fixed page 51 of the torsion spring hinge 5 in three directions is connected with the rear end fixing frame 2 through screws, and the movable page 52 of the torsion spring hinge 5 is respectively fixed with the L-shaped plate 7 and the backing plate 6 in corresponding directions through screws.
The front end fixing frame 1, the rear end fixing frame 2 and the sensor frame 9 are made of aluminum alloy materials with the model number of 2A12, and have relatively high strength and low density. The backing plate 6, the L-shaped plate 7, the transverse pressing plate 10 and the vertical pressing plate 11 are made of Q235 common carbon structural steel. The canvas 3 is 1mm thick canvas. The travel switch 8 selects a metal wheel silver point micro-motion type. The torsion spring reset hinge 5 is made of 304 stainless steel.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. A picking robot tip arm collision sensing device, comprising: the device comprises a travel switch, an L-shaped plate and canvas paved along the tail end arm of the picking robot, wherein the tail end of the canvas is connected with the L-shaped plate, and when the canvas is deformed by external force, the L-shaped plate is pulled to move, so that a contact of the travel switch acts to output a signal;
further comprises: the picking robot comprises a torsion spring hinge and a rear end fixing frame arranged on an end arm of the picking robot, wherein a fixing page of the torsion spring hinge is arranged on the rear end fixing frame, a backing plate is arranged on one surface of a movable page of the torsion spring hinge, an L-shaped plate is arranged on the other surface of the movable page of the torsion spring hinge, and the end of canvas is connected with the backing plate;
further comprises: the sensor frame is arranged on the rear end fixing frame, and the travel switch is arranged on the sensor frame;
when the mechanical arm carries out picking operation and bumps into fruit branches, the canvas bears external force deformation, the canvas deformation pulls the movable page of the torsion spring hinge to swing and drives the L-shaped plate to rotate, the L-shaped plate presses down the contact point of the travel switch, and the robot control system senses that the tail end arm of the picking robot collides;
the front end fixing frame, the rear end fixing frame and the sensor frame are made of aluminum alloy materials with the model of 2A12, and the backing plate, the L-shaped plate, the transverse pressing plate and the vertical pressing plate are made of Q235 common carbon structural steel; the canvas is 1mm thick; the travel switch selects a metal wheel silver point micro-motion type; the torsion spring reset hinge is made of 304 stainless steel.
2. The picking robot tip arm collision sensing device of claim 1, further comprising: the front end fixing frame and the rear end fixing frame are respectively arranged at two ends of the tail end arm of the picking robot, and the head end of the canvas is fixed on the front end fixing frame.
3. The end arm collision sensing device of a picking robot according to claim 2, wherein the number of the canvases is three, the three canvases are top canvases and two side canvases respectively positioned on two sides of the top canvases, and the three canvases are respectively assembled with corresponding L-shaped plates, torsion spring hinges, backing plates and travel switches to form three detection assemblies.
4. A picking robot tip arm collision sensing device according to claim 3, further comprising: the transverse pressing plate compresses the top canvas on the top surface of the front end fixing frame, and the two vertical pressing plates compress the two side canvases on the left surface and the right surface of the front end fixing frame respectively.
5. The device for sensing the collision of the tail end arm of the picking robot according to claim 4, wherein the transverse pressing plate and the two vertical pressing plates are respectively provided with a countersunk screw clearance hole and a threaded fastening hole, the transverse pressing plate and the two vertical pressing plates are fixed on the front end fixing frame through countersunk screws, and the canvas is fixed on the front end fixing frame through a set screw.
6. The end arm collision sensing device of a picking robot of claim 5, wherein the front end fixed frame and the rear end fixed frame are rectangular frame structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810659201.0A CN108522022B (en) | 2018-06-25 | 2018-06-25 | Collision sensing device for tail end arm of picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810659201.0A CN108522022B (en) | 2018-06-25 | 2018-06-25 | Collision sensing device for tail end arm of picking robot |
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| CN108522022A CN108522022A (en) | 2018-09-14 |
| CN108522022B true CN108522022B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810659201.0A Active CN108522022B (en) | 2018-06-25 | 2018-06-25 | Collision sensing device for tail end arm of picking robot |
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| CN109387326B (en) * | 2018-12-10 | 2023-08-25 | 南京工程学院 | Quick-adjusting servo device for air pressure in closed space |
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| CN108522022A (en) | 2018-09-14 |
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