CN109005891B - Robot end effector for cluster tomato picking - Google Patents
Robot end effector for cluster tomato picking Download PDFInfo
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- CN109005891B CN109005891B CN201811107507.1A CN201811107507A CN109005891B CN 109005891 B CN109005891 B CN 109005891B CN 201811107507 A CN201811107507 A CN 201811107507A CN 109005891 B CN109005891 B CN 109005891B
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- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 68
- 239000012636 effector Substances 0.000 title claims abstract description 27
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 64
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 210000000078 claw Anatomy 0.000 claims description 20
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000003306 harvesting Methods 0.000 abstract description 7
- 241000196324 Embryophyta Species 0.000 abstract description 4
- 238000000926 separation method Methods 0.000 abstract description 3
- 241000227653 Lycopersicon Species 0.000 abstract 5
- 238000000034 method Methods 0.000 description 8
- 235000012055 fruits and vegetables Nutrition 0.000 description 3
- 235000017060 Arachis glabrata Nutrition 0.000 description 1
- 244000105624 Arachis hypogaea Species 0.000 description 1
- 235000010777 Arachis hypogaea Nutrition 0.000 description 1
- 235000018262 Arachis monticola Nutrition 0.000 description 1
- 244000068988 Glycine max Species 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 244000061456 Solanum tuberosum Species 0.000 description 1
- 235000002595 Solanum tuberosum Nutrition 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 244000098338 Triticum aestivum Species 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 235000020232 peanut Nutrition 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
A robot end effector for picking clustered tomatoes comprises an outer cylinder, an inner cylinder, a clustered fruit collecting mechanism, a fruit releasing mechanism, N fruit stalk rotary cutting mechanisms and the like. The invention mainly controls the clustered fruit collecting mechanism through the limit switch and the delay module, so that the direct-current speed reducing motor and the direct-current push-pull electromagnet are sequentially electrified to rotate, the rotating disc is driven to rotate so as to force the clustered tomatoes to be gathered and screwed, and then the fruit stalks are cut off through the fruit stalk rotating and cutting mechanism; the fruit release mechanism may secure the outer cylinder to the handle and then release the tomatoes from the inner cylinder by flipping the robotic arm. According to the invention, a single operation task can simultaneously harvest a cluster of a plurality of tomato fruits on a plant, so that the picking efficiency of a robot is improved; the rotation of the rotary disk forces the multiple fruit stalks of the clustered tomatoes to be polymerized and screwed, so that the high-speed circular motion of the cutting blade can effectively improve the fruit stalk separation success rate of the rotary cutting device.
Description
Technical Field
The invention belongs to the technical field of automation, relates to a robot end effector, and in particular relates to a robot end effector for cluster-shaped tomato picking.
Background
At present, mechanical harvesting of field crops such as rice, wheat, corn, rape, soybean, peanut, potato and the like can be realized, but the harvesting of commercial fresh tomatoes cannot be realized until now. With the expansion of cities and the rapid increase of urban population, the market demand of fresh tomatoes is increasing, and the scale of greenhouse tomato cultivation is further increased. Considering the adverse factors of increased planting area, short harvesting time, high labor intensity, heavy work tasks, severe working environment, high manual harvesting cost and the like, the development of a greenhouse tomato harvesting robot to replace manual work has become urgent. However, the single operation task of the existing fruit and vegetable picking robot is mainly aimed at picking single fruits on tomato plants, so that the picking efficiency is low, and the single operation task is a main reason for restricting popularization and application of the single fruit and vegetable picking robot. In addition, when picking a single fruit, the mechanical arm of the robot is required to have higher positioning precision, so that the end effector can finish accurate gripping operation on the fruit, the decision making process and path planning time of the robot are prolonged, and the picking operation efficiency of the robot is reduced.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the end effector of the robot for cluster-shaped tomato picking, which changes the picking operation mode of the fruit and vegetable picking robot, and can simultaneously pick a plurality of tomatoes in a cluster on a plant in a single operation task, thereby improving the picking operation efficiency of the robot.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the robot end effector for cluster tomato picking comprises an outer cylinder 3, an inner cylinder 6, a cluster fruit collecting mechanism 10, a fruit releasing mechanism 4 and N fruit stalk rotary cutting mechanisms 9, and is characterized in that:
the inner cylinder 6 is fixed inside the outer cylinder 3, the bottom of the outer cylinder 3 is fixed with the lower end cover 1, and the center of the inner cylinder 6 is provided with a cylinder shaft 6-2;
the cluster fruit collecting mechanism 10 is positioned in the inner cylinder 6 and comprises a direct current gear motor 10-1, a limit switch 10-6, a direct current gear motor output shaft 10-3, a cylindrical shaft 6-2 and a rotating disk 8, wherein the direct current gear motor output shaft 10-3 is coaxially arranged at the front end of the cylindrical shaft, the rotating disk 8 is circular, N through holes which are symmetrical in center are distributed on the rotating disk 8, a spring piece 10-7 is arranged on the limit switch 10-6, and when all tomatoes enter the inner cylinder 6 from the through holes of the rotating disk 8 and touch the spring piece 10-7 on the limit switch 10-6, the direct current gear motor 10-1 is electrified to start rotating;
the fruit release mechanism 4 comprises a handle 4-1 arranged on the outer wall of the outer cylinder 3, a flange 5 for connecting a mechanical arm is arranged on the handle 4-1, and the handle 4-1 is used for tightly holding or releasing the outer cylinder 3 through an electromagnetic device;
the N fruit stem rotary cutting mechanisms 9 are arranged between the outer cylinder 3 and the inner cylinder 6 and are uniformly arranged along the center of the inner cylinder 6;
during picking, tomatoes enter the inner cylinder 6 from the through holes of the rotating disc 8, the tomato stalks are screwed together through the rotation of the rotating disc 8, and the tomatoes are cut by the stalk rotating cutting mechanism 9.
An annular baffle 7 is fixed on the upper side of the inner wall of the outer cylinder 3, N baffles 6-1 are arranged in the inner cylinder 6, one side of each baffle 6-1 is connected with the cylindrical shaft 6-2, and the other side is connected with the inner wall of the inner cylinder 6, so that the inner cylinder 6 is uniformly divided into N spaces.
The front end of the cylindrical shaft 6-2 is provided with a spring barrel 10-2 with a cover 10-5, a direct current gear motor 10-1 is fixed below the spring barrel 10-2, a bump is arranged on the inner wall of the spring barrel 10-2 and a direct current gear motor output shaft 10-3 respectively, two grooves are arranged on the spring 10-4, and the two bumps are respectively arranged on the two grooves of the spring 10-4, so that the spring 10-4 is fixedly connected with the spring barrel 10-2 and the direct current gear motor output shaft 10-3 respectively, and when the direct current gear motor 10-1 stops rotating, the direct current gear motor output shaft 10-3 and the rotating disc 8 return to original positions under the spring torque force of the spring 10-4.
The two grooves on the spring 10-4 are respectively positioned on the outer ring and the inner ring of the spring, the convex block on the inner wall of the spring box 10-2 is arranged on the groove of the outer ring, and the convex block on the output shaft 10-3 of the direct current gear motor is arranged on the groove of the inner ring.
The electromagnetic device is a miniature electromagnetic brake 4-4, one end of a shaft IV 4-2 perpendicular to the cylindrical shaft 6-2 is arranged on a shaft sleeve of the miniature electromagnetic brake 4-4, the other end of the shaft IV is fixedly connected with a handle 4-1, and a shaft shoulder 4-3 is respectively adjacent to the inner wall of the outer cylinder 3 and the miniature electromagnetic brake 4-4 so as to fix the shaft IV 4-2 to prevent axial movement of the shaft IV.
The N fruit stalk rotary cutting mechanisms 9 have the same structure, the N fruit stalk rotary cutting mechanisms comprise a shaft II 9-6 with a bearing II 9-4, pinions of the gear sets 2 are arranged at the lower ends of the shaft II 9-6, shafts III 9-14 are positioned right above the shaft II 9-6, the lower ends of the pinions are connected with a claw holding device, the upper ends of the pinions are connected with cutting blades 9-13 through L-shaped plates 9-11, large gears of the gear sets 2 are sun gears and meshed with the pinions, the large gears are arranged at the bottom end outside an inner cylinder 6, the lower ends of the shafts I9-2 are connected with the center of the large gears through a bearing I9-3, the upper ends of the pinions are connected with the output of a direct current speed reducing motor 10-1 through a coupler 9-1, direct current push-pull electromagnets 9 are arranged on the inner walls of the outer cylinders 3, reset springs 9-12 are connected between the L-shaped plates 9-11 and the cutting blades 9-13, and limit switches 9-10 are arranged on the L9-11.
The holding claw device comprises a pair of holding claws 9-5 hinged to two sides of a supporting block 9-7 respectively, the supporting block 9-7 is arranged on a disc 9-8, the disc 9-8 is arranged on a shaft three 9-14, the disc 9-8 rotates along with the rotation of the supporting block 9-7, one ends of two connecting rods 9-16 are hinged to the two holding claws 9-5 respectively, the other ends of the two connecting rods are hinged to two sides of a sliding block 9-15 respectively, and the lower ends of the shaft three 9-14 penetrate through the disc 9-8 and the supporting block 9-7 and are connected with the sliding block 9-15.
Compared with the prior art, the end effector can collect a plurality of tomato fruits on one plant at the same time in a single operation task, so that the picking operation efficiency of the robot is improved; in the picking mode, the robot vision system does not need to accurately sense the fruit pose, so that the requirement on the positioning precision of the mechanical arm is reduced, the decision making process and the path planning time of the robot are shortened, and the picking operation efficiency of the robot is also improved; the rotation of the rotary disk forces the multiple fruit stalks of the clustered tomatoes to be polymerized and screwed, so that the high-speed circular motion of the cutting blade can effectively improve the fruit stalk separation success rate of the rotary cutting device.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
FIG. 2 is a schematic view of a clustered fruit collection mechanism of the present invention.
Fig. 3 is a schematic view of a rotary cutting mechanism for fruit stalks according to the invention.
FIG. 4 is a schematic view of the fruit release mechanism of the present invention.
Fig. 5 is a schematic diagram of a power supply system according to the present invention.
Fig. 6 is a flow chart of the operation of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the drawings and examples.
As shown in fig. 1, a robot end effector for cluster tomato picking mainly comprises an outer cylinder 3, an inner cylinder 6, a cluster fruit collecting mechanism 10, a fruit releasing mechanism 4 and 3 fruit stem rotary cutting mechanisms 9, wherein:
the inner cylinder 6 is fixed inside the outer cylinder 3 through a screw, the inner cylinder and the outer cylinder are coaxial, the bottom of the outer cylinder 3 is fixed with the lower end cover 1 through the screw, and the lower end cover 1 is used for protecting the gear set 2 from external corrosion. The center of the inner cylinder 6 is provided with a cylinder shaft 6-2; an annular baffle 7 is fixed on the upper side of the inner wall of the outer cylinder 3 through screws, and the baffle 7 is used for preventing external sundries from entering the outer cylinder 3 and protecting the fruit stem rotary cutting mechanism 9 and the fruit releasing mechanism 4. The inner cylinder 6 is provided with 3 baffles 6-1, one side of each baffle 6-1 is connected with the cylindrical shaft 6-2, the other side is connected with the inner wall of the inner cylinder 6, the inner cylinder 6 is divided into 3 spaces uniformly, and 3 limit switches 10-6 are mounted on the inner wall of the inner cylinder 6 through screws. The baffle 6-1 has the function of preventing the tomatoes from colliding with each other to generate damage after the tomatoes enter the inner cylinder 6 after cutting, and the limit switch 10-6 has the function of starting to rotate after the tomatoes enter the inner cylinder 6 and touch the spring piece 10-7, so that the rotating disc is driven to rotate, and cluster tomato stems entering the inner cylinder 6 are screwed together.
The cluster fruit collecting mechanism 10 is located in the inner cylinder 6, as shown in fig. 2, and comprises a direct current gear motor 10-1, a barrel 10-2 with a cover 10-5 is arranged at the front end of a cylindrical shaft 6-2, the direct current gear motor 10-1 is fixed below the barrel 10-2, a convex block is arranged on the inner wall of the barrel 10-2 and an output shaft 10-3 of the direct current gear motor, a groove is arranged on the outer ring and the inner ring of the barrel 10-4, the convex block on the inner wall of the barrel 10-2 is arranged on the groove of the outer ring, and the convex block on the output shaft 10-3 of the direct current gear motor is arranged on the groove of the inner ring, so that the barrel 10-4 is fixedly connected with the barrel 10-2 and the output shaft 10-3 of the direct current gear motor respectively. The output shaft 10-3 of the direct current gear motor is coaxial with the cylindrical shaft 6-2 and is positioned at the front end of the cylindrical shaft, the rotating disk 8 is arranged on the output shaft 10-3 of the direct current gear motor, the rotating disk 8 is circular, and 3 through holes which are symmetrical in center are distributed on the rotating disk 8.
When the direct-current gear motor 10-1 is powered to rotate, the direct-current gear motor output shaft 10-3 drives the spring 10-4 and the rotating disk 8 to rotate, and when the direct-current gear motor 10-1 is powered off to stop rotating, the direct-current gear motor output shaft 10-3 and the rotating disk 8 return to original positions under the spring torsion effect of the spring 10-4, so as to prevent the cylindrical shaft 6-2 from appearing in the through hole of the rotating disk 8 after the rotating disk 8 stops rotating, and prevent tomatoes from entering the inner cylinder 6 from the through hole. During picking, tomatoes enter the inner cylinder 6 from the through holes of the rotating disc 8, the tomato stalks are screwed together through the rotation of the rotating disc 8, and the tomatoes are cut by the stalk rotating cutting mechanism 9.
The 3 fruit stem rotary cutting mechanisms 9 are identical in structure, are arranged between the outer cylinder 3 and the inner cylinder 6, and are uniformly arranged along the center of the inner cylinder 6. As shown in figure 3, the device comprises a shaft II 9-6 with a bearing II 9-4, wherein the bearing II 9-6 is arranged on an outer cylinder 6, a central large gear and 3 small gears meshed with the large gear form a gear set 2, the lower end of the shaft II 9-6 is arranged in one small gear, a shaft III 9-14 is positioned right above the shaft II 9-6, the lower end of the shaft III is connected with a claw holding device, and the shaft II 9-6 is gripped when the claw holding device is in surrounding. Specifically, the holding claw device comprises a pair of holding claws 9-5 hinged to two sides of a supporting block 9-7 respectively, the supporting block 9-7 is mounted on a disc 9-8 through a screw, the disc 9-8 is mounted on a shaft three 9-14 and supported by a supporting frame, the disc 9-8 can rotate along with the rotation of the supporting block 9-7, one ends of two connecting rods 9-16 are hinged to the two holding claws 9-5 respectively, the other ends of the two connecting rods are hinged to two sides of a sliding block 9-15 respectively, the lower ends of the shaft three 9-14 penetrate through the disc 9-8 and the supporting block 9-7 and are connected with the sliding block 9-15, and the upper ends of the shaft three 9-14 are connected with a cutting blade 9-13 through an L-shaped plate 9-11.
The central big gear of the gear set 2 is arranged at the bottom end outside the inner cylinder 6, the lower end of the shaft I9-2 is connected with the center of the big gear through the bearing I9-3, the upper end is connected with the output of the direct current gear motor 10-1 through the coupler 9-1, and the bearing I9-3 is arranged on the inner cylinder 6.
The inner wall of the outer cylinder 3 is provided with a direct current push-pull electromagnet 9-9 through a screw, an L-shaped plate 9-11 is arranged on an extending shaft of the direct current push-pull electromagnet 9-9, a reset spring 9-12 is connected between the L-shaped plate 9-11 and a cutting blade 9-13, and a limit switch 9-10 is arranged on the L-shaped plate 9-11. When the cutting blade 9-13 starts to move, the return spring 9-12 is pulled to move together, when the cutting blade 9-13 touches the limit switch 9-10 through circular movement, the cutting blade 9-13 stops moving and returns to the initial position under the action of the tension of the return spring 9-12.
When the direct-current gear motor 10-1 is electrified, the direct-current gear motor 10-1 enables the first shaft 9-2 to rotate through the coupler 9-1, the rotation of the first shaft 9-2 drives the gear set 2 to rotate, and the rotation of the gear set 2 drives the second shaft 9-6 to rotate; when the direct current push-pull electromagnet 9-9 is electrified, the extension shaft of the direct current push-pull electromagnet 9-9 moves upwards to drive the L-shaped plate 9-11 and the shaft three 9-14 to move upwards, the upward movement of the shaft three 9-14 pulls the sliding block 9-15 to move upwards, the upward movement of the sliding block 9-15 drives the connecting rod 9-16 and the holding claw 9-5 to be folded, when the holding claw 9-5 grabs the rotating shaft two 9-6, the holding claw 9-5, the sliding block 9-15, the connecting rod 9-16, the supporting block 9-7, the disc 9-8, the shaft three 9-14 and the cutting blade 9-13 rotate along with the rotation of the shaft two 9-6, meanwhile, the rotation of the cutting blade 9-13 cuts off the fruit stalks of tomatoes, the tomato enters the inner cylinder, and when the cutting blade 9-13 touches the limit switch 9-10, the direct current push-pull electromagnet 9 and the direct current speed reducing motor 10-1 are powered off, the extension shaft moves downwards to return to the original position, and the holding claw 9-5 is opened, so that the holding claw 9-5, the sliding claw 9-15, the supporting block 9-16, the supporting block 9-16 and the cutting blade 9-13 return to the original position, and the cutting blade 9-13 return to the original position.
As shown in fig. 4, the fruit releasing mechanism 4 comprises a handle 4-1 arranged on the outer wall of the outer cylinder 3, a flange 5 is arranged on the handle 4-1, and the handle 4-1 is used for tightly holding or releasing the outer cylinder 3 through an electromagnetic device.
Specifically, the electromagnetic device is a miniature electromagnetic brake 4-4, one end of a shaft IV 4-2 perpendicular to a cylindrical shaft 6-2 is installed on a shaft sleeve of the miniature electromagnetic brake 4-4, the other end of the shaft IV is fixedly connected with a handle 4-1 through a screw, a shaft shoulder 4-3 is respectively adjacent to the inner wall of an outer cylinder 3 and the miniature electromagnetic brake 4-4, the purpose is to fix the shaft IV 4-2, axial movement of the shaft IV 4-2 is prevented, a flange 5 is connected with a mechanical arm through a screw, and an end effector is installed on the mechanical arm.
During picking, the number of tomatoes to be picked can be obtained through the visual identification system of the robot body, when the end effector is positioned right below clustered tomatoes, the mechanical arm drags the tomatoes to move vertically upwards, the tomatoes enter the inner cylinder 6 from the through holes of the rotating disc 8, then the tomatoes are rotationally screwed together through rotation of the rotating disc 8, and as the space inside the inner cylinder is larger than the through holes when the tomatoes enter, the through holes can block the tomatoes from being pulled out in the rotating process of the rotating disc 8, and the fruit stem rotary cutting mechanism (9) is ensured to cut.
When the mechanical arm drives the end effector to approach tomato fruits, the handle 4-1 of the end effector moves along with the movement of the mechanical arm, but the outer cylinder 3 is always perpendicular to the ground under the action of self gravity, so that a robot vision system does not need to accurately sense the fruit pose, the requirement on the positioning precision of the mechanical arm is reduced, and the decision making process and path planning time of the robot are shortened. When the end effector finishes picking, tomatoes can enter the inner cylinder 6, then the mechanical arm can drive the end effector to move to the position above the tomato collection basket, then the miniature electromagnetic brake 4-4 is electrified, the miniature electromagnetic brake 4-4 is electrified to enable the shaft four 4-3 to be in a locking state, at the moment, the handle 4-1 and the end effector are in a fixed state and cannot move along with the movement of the mechanical arm, and the mechanical arm overturns to pour tomatoes picked by the end effector into the tomato collection basket through the through holes of the rotary disk 8, so that picking and collection are finished.
Referring to fig. 5, the invention can adopt a storage battery to supply power to a direct-current speed reducing motor 10-1, a direct-current push-pull electromagnet 9-9 and a miniature electromagnetic brake 4-4, wherein the storage battery is respectively connected with the direct-current speed reducing motor 10-1 and the direct-current push-pull electromagnet in parallel through a limit switch 10-6 and the limit switch 9-10, and a time delay module is connected between the limit switch 9-10 and the direct-current push-pull electromagnet. The function is to delay the opening time of the direct current push-pull electromagnet, and the storage battery is connected with the miniature electromagnetic brake through a switch; the limit switch 10-6 is in an open state at ordinary times, and the limit switch 9-10 is in a closed state at ordinary times.
The complete working steps of the invention are as follows:
when the robot body works, after the robot body determines the number of tomatoes, the mechanical arm drags the end effector of the invention to the position right below the tomatoes, and then drags the end effector to move upwards and vertically, so that the tomatoes enter the inner cylinder 6 from the through hole of the rotating disc 8, when the tomatoes touch the spring piece 10-7 on the limit switch 10-6, the direct current gear motor 10-1 starts rotating after power on, simultaneously drives the rotating disc 8 and the gear set 2 to rotate, the rotating disc 8 rotates so that the tomato stalks entering the inner cylinder 6 are rotationally screwed up, the direct current push-pull electromagnet 9-9 acquires power after a two-second delay process, the delay process guarantees the rotation screwing angle, and the problems that the rotation angle is too small or too large in the process, so that the stalks cannot be screwed up or the tomato fruits are pulled out are prevented, the time delay process is realized by a QF1023 ultra-long time delay module, the extending axial movement of the direct current push-pull electromagnet 9-9 enables the holding claw 9-5 to grasp the rotating shaft II 9-6, the holding claw 9-5, the sliding block 9-15, the connecting rod 9-16, the supporting block 9-7, the disc 9-8, the shaft III-14 and the arc-shaped cutting blade 9-13 rotate along with the rotation of the shaft II 9-6, the tomato stalks are cut off by the rotation of the cutting blade 9-13, the tomato falls into the inner cylinder 6, after the cutting blade 9-13 touches the limit switch 9-10, the direct current push-pull electromagnet 9-9 and the direct current speed reducing motor 10-1 are powered off, the extending axial movement returns to the original position, the holding claw 9-5 is opened, the holding claw 9-5, the sliding block 9-15, the connecting rod 9-16, the supporting block 9-7, the disk 9-8, the shaft three 9-14 and the cutting blade 9-13 stop rotating, and the cutting blade 9-13 returns to the original position under the urging force of the return spring 9-12. Then the mechanical arm drives the end effector to move above the tomato collecting basket, the collecting basket is fixed on a moving platform of the robot body, and the action can be accurately completed by means of a fixed movement path of the mechanical arm. The miniature electromagnetic brake 4-4 is electrified to enable the shaft four 4-3 to be in a locking state, at the moment, the handle 4-1 and the outer cylinder 3 are in a fixed state and cannot move along with the movement of the mechanical arm, the mechanical arm overturns to pour tomatoes picked by the end effector into a tomato collecting basket through a through hole of the rotating disc 8, and picking and collecting are completed.
In summary, the cluster fruit collecting mechanism drives the rotary disk to rotate so as to force the multiple fruit stalks of the cluster tomatoes to be polymerized and screwed, and then the fruit stalks are cut off by the fruit stalk rotary cutting mechanism; the fruit release mechanism may secure the outer cylinder to the handle and then release the tomatoes from the inner cylinder by flipping the robotic arm. According to the invention, a single operation task can simultaneously harvest a cluster of a plurality of tomato fruits on a plant, so that the picking efficiency of a robot is improved; the rotation of the rotary disk forces the multiple fruit stalks of the clustered tomatoes to be polymerized and screwed, so that the high-speed circular motion of the cutting blade can effectively improve the fruit stalk separation success rate of the rotary cutting device.
Claims (5)
1. Robot end effector towards cluster tomato is picked, including outer drum (3), inner cylinder (6), cluster fruit collection mechanism (10), fruit release mechanism (4) and N fruit stalk rotary cutting mechanism (9), its characterized in that:
the inner cylinder (6) is fixed inside the outer cylinder (3), the bottom of the outer cylinder (3) is fixed with the lower end cover (1), and the center of the inner cylinder (6) is provided with a cylinder shaft (6-2);
the cluster fruit collecting mechanism (10) is positioned in the inner cylinder (6) and comprises a direct current speed reducing motor (10-1), a limit switch (10-6), a rotating disc (8) arranged on an output shaft (10-3) of the direct current speed reducing motor and a spring piece (10-7) arranged on the limit switch (10-6), wherein the output shaft (10-3) of the direct current speed reducing motor is coaxial with the cylindrical shaft (6-2) and positioned at the front end of the cylindrical shaft, the rotating disc (8) is circular, N through holes which are symmetrical in center are distributed on the rotating disc (8), and when all detected tomatoes enter the inner cylinder (6) from the through holes of the rotating disc (8) to touch the spring piece (10-7) on the limit switch (10-6), the direct current speed reducing motor (10-1) is electrified to start rotating;
the fruit release mechanism (4) comprises a handle (4-1) arranged on the outer wall of the outer cylinder (3), a flange (5) for connecting a mechanical arm is arranged on the handle (4-1), the handle (4-1) is tightly held or released on the outer cylinder (3) through an electromagnetic device, the electromagnetic device is a miniature electromagnetic brake (4-4), one end of a shaft IV (4-2) perpendicular to a cylindrical shaft (6-2) is arranged on a shaft sleeve of the miniature electromagnetic brake (4-4), the other end of the shaft IV is fixedly connected with the handle (4-1), and shaft shoulders (4-3) are respectively adjacent to the inner wall of the outer cylinder (3) and the miniature electromagnetic brake (4-4) so as to fix the shaft IV (4-2) to prevent axial movement of the shaft IV;
the N fruit stem rotary cutting mechanisms (9) are arranged between the outer cylinder (3) and the inner cylinder (6) and are uniformly arranged along the center of the inner cylinder (6); the N fruit stalk rotary cutting mechanisms (9) have the same structure, and comprise a shaft II (9-6) with a bearing II (9-4), a pinion of the gear set (2) is arranged at the lower end of the shaft II (9-6), a shaft III (9-14) is positioned right above the shaft II (9-6), the lower end of the shaft III is connected with a claw holding device, the upper end of the shaft III is connected with a cutting blade (9-13) through an L-shaped plate (9-11), a large gear of the gear set (2) is a central gear and meshed with each pinion, the large gear is arranged at the outer bottom end of the inner cylinder (6), the lower end of the shaft I (9-2) is connected at the center of the large gear through a bearing I (9-3), the upper end of the shaft I (9-2) is connected with the output of a direct current speed reducing motor (10-1) through a coupling (9-1), an L (9-11) is arranged on the inner wall of the outer cylinder (3) on a projecting plate of the direct current push-pull electromagnet (9-13), a reset spring (9-13) is arranged between the L (9-11) and the cutting blade (9-13);
when picking, tomatoes enter the inner cylinder (6) from the through holes of the rotating disc (8), the tomato stems are screwed together by the rotation of the rotating disc (8), and the tomatoes are cut by the stem rotating cutting mechanism (9).
2. Robot end effector for cluster-oriented tomato picking according to claim 1, characterized in that the upper side of the inner wall of the outer cylinder (3) is fixed with a ring-shaped baffle (7), N baffles (6-1) are arranged in the inner cylinder (6), one side of each baffle (6-1) is connected to the cylindrical shaft (6-2), the other side is connected to the inner wall of the inner cylinder (6), and the inner cylinder (6) is equally divided into N spaces.
3. Robot end effector for cluster tomato picking according to claim 1, characterized in that the front end of the cylindrical shaft (6-2) is provided with a barrel (10-2) with a cover (10-5), the dc reduction motor (10-1) is fixed under the barrel (10-2), the inner wall of the barrel (10-2) and the dc reduction motor output shaft (10-3) are provided with a bump, the barrel (10-4) is provided with two grooves, the two bumps are respectively mounted on the two grooves of the barrel (10-4), so that the barrel (10-4) is fixedly connected with the barrel (10-2) and the dc reduction motor output shaft (10-3), and when the dc reduction motor (10-1) stops rotating, the dc reduction motor output shaft (10-3) and the rotary disk (8) return to original positions under the spring torque of the barrel (10-4).
4. A robot end effector for cluster-oriented tomato picking as claimed in claim 3, wherein the two grooves on the spring (10-4) are located on the outer and inner rings thereof, respectively, the bumps on the inner wall of the barrel (10-2) are mounted on the grooves of the outer ring, and the bumps on the output shaft (10-3) of the direct current gear motor are mounted on the grooves of the inner ring.
5. Robot end effector for cluster-oriented tomato picking according to claim 1, characterized in that the gripper device comprises a pair of grippers (9-5) hinged on both sides of a support block (9-7), the support block (9-7) is mounted on a disc (9-8), the disc (9-8) is mounted on a shaft three (9-14), the disc (9-8) rotates with the rotation of the support block (9-7), one ends of two connecting rods (9-16) are hinged on the two grippers (9-5), respectively, the other ends are hinged on both sides of a slider (9-15), respectively, and the lower end of the shaft three (9-14) passes through the disc (9-8) and the support block (9-7) to be connected with the slider (9-15).
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| CN109605375A (en) * | 2019-01-08 | 2019-04-12 | 太原工业学院 | A kind of control method of intelligence Tomato-harvesting robot |
| CN109792887B (en) * | 2019-03-20 | 2023-06-16 | 西北农林科技大学 | Amygdalus pedunculata harvesting device and harvesting method thereof |
| CN112640650A (en) * | 2020-12-12 | 2021-04-13 | 西北农林科技大学 | Negative pressure-based tomato picking machine and working method thereof |
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