CN109479521A - A kind of fruit picking robot end effector - Google Patents
A kind of fruit picking robot end effector Download PDFInfo
- Publication number
- CN109479521A CN109479521A CN201811610280.2A CN201811610280A CN109479521A CN 109479521 A CN109479521 A CN 109479521A CN 201811610280 A CN201811610280 A CN 201811610280A CN 109479521 A CN109479521 A CN 109479521A
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- China
- Prior art keywords
- carpopodium
- claw
- fruit
- end effector
- cutting groove
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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)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of fruit picking robot end effector, including the first claw frame linking, the second claw frame linking, two main jaws arranged in opposite directions and be arranged in right above among two main jaws one for carrying out the auxiliary claw of secondary holding to fruit；First driving unit is for driving two main jaws to be moved toward one another；Auxiliary claw is equipped with the carpopodium through slot passed through for carpopodium, and the slot tail of carpopodium through slot is equipped with carpopodium cutting groove, is equipped with carpopodium cutting mechanism in carpopodium cutting groove.Fruit picking robot end effector of the present invention to by the position of fruit-picking carpopodium can accurately cut off fruit carpopodium after accurately judging, when picking does not damage surrounding fruit, and picking efficiency height, not influence plant growth.
Description
Technical field
The invention discloses a kind of fruit picking robot end effectors, belong to picking robot field.
Background technique
China is a large agricultural country, and China manufacturing industry achieves the development advanced by leaps and bounds, but using tomato as representative
Fruits harvesting approach still mainly based on manually harvesting, large labor intensity, working efficiency is low, time-consuming and laborious.
The pericarp of fruit is generally all than relatively thin, the extreme care in picking process, active force it is excessive or it is too small all cannot be very
The completion picking process got well, active force is excessive may to cause unnecessary damage to fruit, and active force is too small possibly can not to incite somebody to action
Fruit hold tightly and caused by picking process landing cause to damage.
Some fruit picking robot end effectors have been had investigated both at home and abroad at present, but have been gone out in picking process
Many problems are showed.
The end effector of existing picking robot is much using more grabbing while being grabbed, and this mode is in picking
It is likely to that the fruit outside target fruit is caused to damage because grabbing mostly；
End effector also is picked by the way of clamping carpopodium, and this mode is likely in picking process
Landing is separated with carpopodium because fruit is excessively mature, causes to damage.
The disconnecting device of existing picking robot is much used to twist off carpopodium or install in the top of end effector and be cut
The mode of knife separates fruit with carpopodium.
The mode twisted off is easy to cause to damage to plant or makes other fruit because damaging caused by turning round drawing landing；Installation is cut
The mode of knife increases the complexity of end effector, is easy to cause to damage to fruit in picking process.
Summary of the invention
In view of the above technical problems, the present invention proposes a kind of fruit picking robot end effector, devises structure letter
Single carpopodium cutting mechanism and carpopodium location position device, when picking, do not damage surrounding fruit, and picking efficiency is high, does not influence
Plant growth.
In order to achieve the above technical purposes, the present invention adopts the following technical scheme that:
A kind of fruit picking robot end effector, comprising:
First claw frame linking, the second claw frame linking, two main jaws arranged in opposite directions and setting are in two main jaws
Between just
One of top is used to carry out fruit the auxiliary claw of secondary holding；
Wherein, the rear end of the first claw frame linking, assist claw end and the second claw frame linking three between lead to
Cross pin connection；
Symmetrical hinged two main jaws of the arranged on left and right sides of first claw frame linking front, the inside of the first claw frame linking
Equipped with sliding slot, sliding is provided with a slide bar in sliding slot,
One end of first driving unit and slide bar is drivingly connected, and the slide bar other end passes through after stretching out the first claw frame linking front end
One planar linkage mechanism and two main jaws are sequentially connected；
The auxiliary claw is equipped with the carpopodium through slot passed through for carpopodium, and the slot tail of carpopodium through slot is cut off equipped with carpopodium
Slot, carpopodium cutting groove is interior to be equipped with a sliding block, and the blade for being cut off to carpopodium is connected on sliding block；
Second driving unit is connect with the slider-actuated, for driving sliding block to move back and forth in carpopodium cutting groove, from
And carpopodium is cut off with cutting blade；
Pressure sensor is arranged on end effector, for detecting end effector and by embracing between fruit-picking
Clamp force；
Device for visual identification is arranged on the auxiliary claw, for identification position of the carpopodium with respect to carpopodium cutting groove.
The device for visual identification includes being fixed on the auxiliary claw to close on one at the carpopodium through slot
CCD camera.
First driving unit is hydraulic drive unit, and the telescopic shaft of hydraulic drive unit is fixed with described slide bar one end
Connection；
Second driving unit includes motor and worm gear mechanism, wherein the both ends of worm screw are rotatably supported on auxiliary
It is located at the two sides of carpopodium cutting groove, the rotation in carpopodium cutting groove of motor driven worm screw on claw, the turbine is fixedly connected on
The tail end of sliding block, turbine drive entire sliding block to move back and forth in carpopodium cutting groove under the rotation of worm screw.
The insert pocket for insert grafting is equipped in the sliding block, one end of blade leads to after being inserted into the insert pocket
It crosses pin and is mutually fixed with sliding block.
The part that the main jaw and auxiliary claw are in contact with fruit is equipped with cushion course.
The auxiliary claw includes the auxiliary claw time pawl for assisting claw ontology and setting auxiliary claw ontology front end, institute
It states hinged between auxiliary claw time pawl and auxiliary claw ontology.
The present invention further discloses a kind of picking methods of fruit picking robot end effector:
Before operation, robot regulates pose by mechanical arm to pick, while being oppositely arranged on end effector
Two main jaws are flared to maximum rating, prevent the main jaw when capturing fruit from causing to damage with fruit collision；
By the first driving unit driving slider, slide bar drives planar linkage mechanism to adjust two surrounded shapes of main jaw
The size of shape, it is ensured that fruit can be embraced in picking；
The accurate three-dimensional coordinate for capturing carpopodium is carried out by the device for visual identification on auxiliary claw, end effector passes through
The three-dimensional coordinate of device for visual identification feedback, which accurately moves, makes carpopodium enter carpopodium cutting groove, at this time main jaw and auxiliary claw
Hold fruit tightly simultaneously；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value,
Controller sends a signal to the second driving unit, and it is primary that the second driving unit drives sliding block and blade to carry out along carpopodium cutting groove
Carpopodium is cut off in reciprocating motion.
The present invention relative to existing fruit picking robot end effector, have it is below the utility model has the advantages that
The first, the present invention adjusts two surrounded shapes of main jaw by the first driving unit and planar linkage mechanism
Size so as to ensure fruit picking when can be embraced；Auxiliary claw keeps horizontality so as to fruit-picking at this time；
The accurate three-dimensional coordinate for capturing carpopodium is carried out by the device for visual identification being arranged on auxiliary claw, end executes
The three-dimensional coordinate that device is fed back by device for visual identification, which accurately moves, makes carpopodium enter carpopodium cutting groove, at this time main jaw and auxiliary
It helps claw while holding fruit tightly；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value,
Second driving unit driving sliding block and blade carry out primary move back and forth along carpopodium cutting groove and cut off carpopodium.
End effector of the present invention for fruit picking can accurately identify carpopodium position, and be cut by carpopodium
Disconnected device accurately cuts off carpopodium.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of end effector of the present invention；
Wherein, 2-1, the second claw frame linking；2-2, pin shaft；
Fig. 2 is the structural schematic diagram for assisting claw；
Wherein, 2-3, auxiliary claw time pawl；2-4, pin；2-5, carpopodium through slot；2-6, carpopodium cutting groove；2-7, vision are known
Other device；2-8, worm screw；2-9, motor；
Fig. 3 is the structural schematic diagram of main jaw；
Wherein, 2-10, left side main jaw；2-11 planar linkage mechanism；2-12, pin；2-13, the first claw frame linking；2-
14, slide bar；2-15, pin；2-16 pin；2-17, right side main jaw；
Fig. 4 is the structural schematic diagram of sliding block and blade；
Wherein, 12, blade；13, position-limit mechanism；14, sliding block；15, pin；16, turbine.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Case study on implementation:
It is detailed in Fig. 1 to Fig. 4, the fruit picking robot end effector of the present embodiment, including the second claw frame linking 2-1,
First claw frame linking 2-13 and auxiliary claw, pass through pin connection between above three component；
It assists connecting between claw and auxiliary claw time pawl 2-3 by pin；
Prismatic pair is formed between sliding block 14 and carpopodium cutting groove；Pass through pin between blade 12, position-limit mechanism 13 and sliding block 14
Nail connection；
It connects to form plane four by pin between left side main jaw 2-10, right side main jaw 2-17 and planar linkage mechanism
Link mechanism；
It is connected between first linking arm, the second linking arm and third linking arm by steering engine unit, forms revolute pair.
For the defect of existing terminal executor of picking robot, the design of end effector of the present invention by auxiliary claw and
Main jaw two parts composition, main jaw are made of two arcuation claws.
Before operation, robot regulates pose by mechanical arm to pick, while being oppositely arranged on end effector
Two main jaws are flared to maximum rating, prevent the main jaw when capturing fruit from causing to damage with fruit collision；
By the first driving unit driving slider, slide bar drives planar linkage mechanism to adjust two surrounded shapes of main jaw
The size of shape, it is ensured that fruit can be embraced in picking；
The accurate three-dimensional coordinate for capturing carpopodium is carried out by the device for visual identification on auxiliary claw, end effector passes through
The three-dimensional coordinate of device for visual identification feedback, which accurately moves, makes carpopodium enter carpopodium cutting groove, at this time main jaw and auxiliary claw
Hold fruit tightly simultaneously；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value,
Controller sends a signal to the second driving unit, and it is primary that the second driving unit drives sliding block and blade to carry out along carpopodium cutting groove
Carpopodium is cut off in reciprocating motion.
It a main jaw and assists the cooperation of claw to ensure that fruit is held tightly will not falling in picking process again in this way.
The carpopodium cutting of end effector of the present invention is cut off using disconnecting device, and disconnecting device is mounted on the fruit of auxiliary claw
Obstruct in cutting groove.This design effectively can quickly cut off carpopodium and the in the prior art method by twisting off carpopodium
And it is injured caused by plant.
End effector of the present invention is mounted with device for visual identification on auxiliary claw, knows to the three-dimensional coordinate of carpopodium
It does not calculate, and then ensures that carpopodium enters carpopodium cutting groove.This design effectively increases identification picking efficiency.
The tail end of end effector of the present invention and the junction of mechanical arm, which form revolute pair, makes end effector can be with 360 degree
Problem caused by rotating to improve because of fruit growing way.
Claims (7)
1. a kind of fruit picking robot end effector characterized by comprising
First claw frame linking, the second claw frame linking, two main jaws arranged in opposite directions and be arranged among two main jaws just
One of top is used to carry out fruit the auxiliary claw of secondary holding；
Wherein, the rear end of the first claw frame linking, assist claw end and the second claw frame linking three between pass through pin
Nail connection；
Symmetrical hinged two main jaws of the arranged on left and right sides of first claw frame linking front, the inside of the first claw frame linking is equipped with
Sliding slot, the interior sliding of sliding slot are provided with a slide bar,
One end of first driving unit and slide bar is drivingly connected, flat by one behind the first claw frame linking front end of slide bar other end stretching
Face link mechanism and two main jaws are sequentially connected；
The auxiliary claw is equipped with the carpopodium through slot passed through for carpopodium, and the slot tail of carpopodium through slot is equipped with carpopodium cutting groove, fruit
Obstruct and be equipped with carpopodium cutting mechanism in cutting groove, the carpopodium cutting mechanism includes:
One sliding block is connected with the blade for being cut off to carpopodium on sliding block；
Second driving unit is connect with the slider-actuated, for driving sliding block to move back and forth in carpopodium cutting groove, thus band
Cutting blade cuts off carpopodium；
Pressure sensor is arranged on end effector, for detecting end effector and by the enclasping force between fruit-picking；
Device for visual identification is arranged on the auxiliary claw, for identification position of the carpopodium with respect to carpopodium cutting groove.
2. fruit picking robot end effector according to claim 1, which is characterized in that the device for visual identification
A CCD camera at the carpopodium through slot is closed on including being fixed on the auxiliary claw.
3. fruit picking robot end effector according to claim 1, which is characterized in that first driving unit
For hydraulic drive unit, the telescopic shaft of hydraulic drive unit is fixedly connected with described slide bar one end；
Second driving unit includes motor and worm gear mechanism, wherein the both ends of worm screw are rotatably supported on auxiliary claw
The upper two sides positioned at carpopodium cutting groove, the rotation in carpopodium cutting groove of motor driven worm screw, the turbine are fixedly connected on sliding block
Tail end, worm screw and worm gear drive, drive entire sliding block in carpopodium cutting groove along worm shaft to moving back and forth.
4. fruit picking robot end effector according to claim 1, which is characterized in that be equipped with and supply in the sliding block
The insert pocket of insert grafting, one end of blade are connect by pin with sliding block after being inserted into the insert pocket.
5. fruit picking robot end effector according to claim 1, which is characterized in that the main jaw and auxiliary
The part that claw is in contact with fruit is equipped with cushion course.
6. fruit picking robot end effector according to claim 1, which is characterized in that the auxiliary claw includes
Assist the auxiliary claw time pawl of claw ontology and setting auxiliary claw ontology front end, the auxiliary claw time pawl and auxiliary claw
It is hinged between ontology.
7. a kind of picking method based on the fruit picking robot end effector any in claim 1~6, feature
It is,
Before operation, robot regulates pose by mechanical arm to pick, while two be oppositely arranged on end effector
Main jaw is flared to maximum rating, prevents the main jaw when capturing fruit from causing to damage with fruit collision；
By the first driving unit driving slider, slide bar drives planar linkage mechanism to adjust two surrounded shapes of main jaw
Size, it is ensured that fruit can be embraced in picking；
The accurate three-dimensional coordinate for capturing carpopodium is carried out by the device for visual identification on auxiliary claw, end effector passes through vision
The three-dimensional coordinate of identification device feedback accurately move carpopodium is made to enter carpopodium cutting groove, main jaw and assists claw simultaneously at this time
Hold fruit tightly；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value, control
Device sends a signal to the second driving unit, and it is primary reciprocal that the second driving unit drives sliding block and blade to carry out along carpopodium cutting groove
Carpopodium is cut off in movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811610280.2A CN109479521A (en) | 2018-12-27 | 2018-12-27 | A kind of fruit picking robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811610280.2A CN109479521A (en) | 2018-12-27 | 2018-12-27 | A kind of fruit picking robot end effector |
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| Publication Number | Publication Date |
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| CN109479521A true CN109479521A (en) | 2019-03-19 |
Family
ID=65712576
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811610280.2A Pending CN109479521A (en) | 2018-12-27 | 2018-12-27 | A kind of fruit picking robot end effector |
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| Country | Link |
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| CN (1) | CN109479521A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937698A (en) * | 2019-04-15 | 2019-06-28 | 长安大学 | A kind of booster type fruit picker and its application method |
| CN112544236A (en) * | 2020-12-10 | 2021-03-26 | 浙江理工大学 | End effector of rope-driven picking robot |
| CN113748846A (en) * | 2021-08-30 | 2021-12-07 | 杭州电子科技大学 | Fruit and vegetable picking device and using method thereof |
| CN117888781A (en) * | 2024-01-17 | 2024-04-16 | 青岛永合创信电子科技有限公司 | Safety interlocking mechanism for high-temperature sterilizer door |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937698A (en) * | 2019-04-15 | 2019-06-28 | 长安大学 | A kind of booster type fruit picker and its application method |
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| CN112544236B (en) * | 2020-12-10 | 2021-10-26 | 浙江理工大学 | End effector of rope-driven picking robot |
| CN113748846A (en) * | 2021-08-30 | 2021-12-07 | 杭州电子科技大学 | Fruit and vegetable picking device and using method thereof |
| CN117888781A (en) * | 2024-01-17 | 2024-04-16 | 青岛永合创信电子科技有限公司 | Safety interlocking mechanism for high-temperature sterilizer door |
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Application publication date: 20190319 |