CN109760098A - A kind of apple-picking end effector of included video camera - Google Patents
A kind of apple-picking end effector of included video camera Download PDFInfo
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- CN109760098A CN109760098A CN201910153588.7A CN201910153588A CN109760098A CN 109760098 A CN109760098 A CN 109760098A CN 201910153588 A CN201910153588 A CN 201910153588A CN 109760098 A CN109760098 A CN 109760098A
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- video camera
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Abstract
The present invention provides a kind of apple-picking end effectors of included video camera, under the premise of can satisfy apple-picking, grasping stability, existing apple-picking end effector can solve without the technical problems such as image collecting device, structure is complicated, production cost height.The end effector is furnished with the video camera and two joint finger of 3D depth camera, and video camera is obtained by three-dimensional position and dimension information of the aperture palm to picking target；Finger is installed on aperture palm after being fixed by helical spring, every finger is made of two finger joints, a drive link and a follower link, tendon rope in drive link is vertically fixed on lifting disk after aperture palm, video camera pallet, and the lifting disk other end connects driving motor by tendon rope.By carrying Camera Positioning, motor driven, tendon rope drive drive finger to gather, and realize and 3 fingers is driven to complete to grab the envelope of apple simultaneously by a motor.
Description
Technical field
The present invention relates to agricultural robot end effector field, it is convenient to particularly relate to a kind of included video camera, positioning, adopts
High-efficient apple-picking end effector apparatus is plucked, agricultural auxiliary picker technology is belonged to.
Background technique
China's apple cultivation area and yield, which occupy, to beat the world, and is traditional advantage exported product.In apple production,
Picking operation is a most time-consuming, most laborious link.Apple, which is plucked operation and relied primarily on, at present is accomplished manually, and needs largely to work
Power, industrialized development cause rural laborer and are largely lost, while with social population's aging, there are low efficiency, at
The problems such as this height, the big amount of labour, with the development of computer technology, artificial intelligence technology and automatic control technology, robot is just
Agricultural production is stepped into, this is but also apple picking robot becomes the important need of modern agricultural production.End
Actuator is mounted in the part of picking robot mechanical arm front end direct operation, since the appearance of apple is more fragile,
The work of end effector be directly related to picking robot entirely pick operation can be accurate, efficiently, its design is considered
It is one of the core technology of agricultural robot.
Certain research all is expanded in this field both at home and abroad, such as Belgian Baeten has formulated one and inhaled by vacuum
Hold picking apple end effector, end effector be in apple-shaped silica gel funnel, as the mouth of a vacuum cleaner,
Built-in camera, but it is poor to the different apple adaptability of size and stability is not high；Jin Bo team, Zhejiang University develops 3 hands
The apple-picking end effector of finger, stepping motor driving, equipped with the worm drive pair that nut and screw rod cooperatively form, passes through
The transmission of connecting rod and then the movement inwards for driving finger, realize the crawl to apple, three joint designs modes are used, as weighing apparatus
Amount grasping stability important indicator grasping configuration number be with joint number exponentially variation relationship, grasping configuration much it is easier go out
Existing contact point is detached from, and is less susceptible to stablize, and video camera is in the case where no suitable position positions manipulating object, image information
There are errors for acquisition.
Summary of the invention
Technical problem to be solved by the present invention lies in lack positioning for apple-picking end effector in the prior art
Device, the defects of structure is complicated, control difficulty is big, high production cost, propose that a kind of apple-picking end of included video camera is held
Row device is built in aperture palm using the video camera equipped with 3D depth camera and is believed the three-dimensional position and size of picking target
Breath is obtained, and by motor driven, tendon rope drive realizes the two joint finger made by 3D printing ABS plastic to apple
Envelope crawl, effectively raise apple locating speed and precision, articulations digitorum manus reduced while increasing positioning device
Number, while three fingers are only furnished with a driver, simplify structure, reduce costs.
In order to achieve the above object, the present invention is achieved by the following scheme.
A kind of apple-picking end effector apparatus of included video camera (13), aperture palm built in the video camera (13)
(9) it under, is assembled by the U-shaped card slot (20) and L-type card slot (19) that are fixed on video camera pallet (12), it is ensured that video camera
(13) it will not be displaced under horizontal, each operating condition of inclination when end effector works；Aperture palm (9) opening diameter with take the photograph
Camera lens are equal in magnitude, and there are gaps between camera lens for aperture palm (9) lower surface.
Further, the video camera (13) can also be obtained equipped with 3D depth camera in addition to that can obtain flat image
The depth information of reference object is obtained, that is, passes through range information and obtains positional relationship more abundant between target.
Finger is using a two joint underactuatuated drive composition, including nearly finger joint (5), remote finger joint (1), and every finger is equal
With drive link (4) and follower link (2), three hinge holes for thering is certain proportion to distribute on the drive link (4), wherein
One end and follower link (2) one end are hinged, and other end is connect with tendon rope (10), and both ends of the hole angle is 35 °, middle part and nearly finger joint
(5), finger joint support (8) is common hinged；The follower link (2) and nearly finger joint (5) both ends are disposed as groove, each groove two
There is hinge hole at end, and notch is all rounded down；Remote finger joint (1) is set as right angled triangle, the angle both ends of the surface of bevel edge and right-angle side
Place is removed etc. after the cuboid of sizes with follower link (2) hingedly, and other end and nearly finger joint (5) hinge hole are hinged；Ensure
Internal each component will not interfere with finger at work.
Further, three finger joint supports (8) and three helical springs II are evenly distributed with 60 ° of central angles on aperture palm (9)
(7): finger joint support (8) have certain altitude, can make drive link (4) tendon rope (10) driving under in a certain range on move down
It moves and will not interfere with aperture palm (9)；Helical spring II (7) is connect with drive link (4) lower part, has certain rigidity, energy
Make finger in nature in flared, when work can be stretched, and resilient after crawl is flared.Helical spring I
(3) it is connect with drive link (4) top and nearly finger joint (5) back, so that drive link (4) can be closely finger to finger at work
Section (5), which provides auxiliary power, makes its centripetal movement, and drive link (5) can force nearly finger joint (5) centrifugal movement when power cut-off
Make its reset.
Further, the nearly finger joint (5), remote finger joint (1), drive link (4), follower link (2) constitute two joint
Finger, driving form use four-bar mechanism, have the characteristics that high-efficient, grasping force is big, using helical spring as power
And resetting-mechanism.
Further, 3 are respectively uniformly distributed in the aperture palm (9), video camera pallet (12) and lifting disk (18)
A aperture, wherein the aperture on aperture palm (9) and video camera pallet (12) is through-hole, and the position of opening of each through-hole is ok
Make tendon rope (10) vertical drop being connected with drive link (4) and will not contact；Lifting disk (18) on aperture be
Bolt hole, by bolt that the tendon rope (10) of vertical drop is fixed, bolt needs to adjust rate of tension when fixed to tendon rope (10), with
Just end effector will not contact between tendon rope (10) and through-hole under each operating condition.
Further, lifting disk (18) lower surface geometric center is equally provided with a bolt hole, tendon rope (10) one end
It is fixed by bolt hole, uniform winding is on pulley (16) groove after other end vertical drop.
Further, the pulley (16) is fixed in the shaft of driving motor (15), has between tendon rope (10) and shaft
One section of constant eccentricity, is tangential on groove always, is provided with certain tensioning, to guarantee that tendon rope (10) is sagging in any operating condition
Drop disk (18) center is gone straight up to, and go up and down disk (18) to shake.
Further, the driving motor (15) is fixed on pedestal (14).
A kind of end effector passes through a kind of equally distributed three between aperture palm (9) and video camera pallet (12)
Upper support bar (11) is fixed, by supporting under another equally distributed three between video camera pallet (12) and pedestal (14)
Bar (17) is fixed；Lower support bar (17) length is greater than upper support bar (11), to go up and down disk (18) in vertical tendon rope (10) side
It moves up and down.
Further, the nearly finger joint (5) and remote finger joint (1) inner surface cover soft silica gel pad, in order to avoid damage apple table
Skin.
Further, the nearly finger joint (5) and remote finger joint (1) inner surface are provided with pressure sensor (6), obtain at any time
Grasp force in picking process.
Compared with prior art, the advantages and positive effects of the present invention are:
One kind being furnished with the apple-picking end effector apparatus of video camera (13), and the video camera (13) equipped with 3D camera can obtain
The depth information of reference object is obtained, depth information can complete segmentation, identification and tracking to target image and model, by it
The characteristic of CMOS, available mass data and information；The three finger two joint fingers reduce conventional termination actuator
Articulations digitorum manus number, simplifies apparatus structure, keeps crawl control more flexible, and pass through tendon rope (10) and helical spring mechanism controls hand
Finger is completed and palm grabs similar motion mode, and smart structural design, control is flexible, production cost is low.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of end effector of the invention.
Fig. 2 is aperture palm of the invention, video camera, the attachment structure schematic diagram for going up and down disk and motor.
Fig. 3 is that end effector of the invention faces finger expanded configuration schematic diagram when apple.
Fig. 4 is that end effector finger envelope of the invention grabs apple structural schematic diagram.
Fig. 5 is end effector finger structure schematic diagram of the invention.
Specific embodiment
In order to which the above objects, features and advantages of the present invention is more clearly understood, with reference to the accompanying drawing to this hair
It is bright to be described in further detail:
Refering to what is shown in Fig. 1, a kind of apple-picking end effector apparatus of included video camera, including being furnished with 3D depth camera
Video camera (13), the two-dimensional image in addition to plant to be picked can be obtained, moreover it is possible to obtain the three-dimensional position of apple to be picked
And dimension information, the image information of acquisition are sent into image processing module by control module and are handled, treat picking apple into
Row 3D modeling, and the apple for meeting standard of plucking is filtered out, it ensure that the quality of apple；Figure it is seen that the video camera
(13) it is built under aperture palm (9), is assemblied in (19) on U-shaped card slot (20) and the L-type card slot on video camera pallet (12), U
Be fixed on video camera pallet (12) upper surface on type card slot (20) and L-type card slot (19), video camera (13) by with pick-up lens
Aperture is to picking object recognition and detection on the equal palm of diameter (9)；In addition pick-up lens has with aperture palm (9) lower surface
The gap 2cm, between aperture palm (9) and video camera pallet (12) by three root long degree identical, equally distributed upper support bar
(11) fixed.
With reference to shown in Fig. 1, Fig. 3-Fig. 5, introduced by taking the identical three two joint fingers of structure as an example, two joint finger is by close
Finger joint (5), remote finger joint (1), drive link (4), follower link (2) are serially connected composition, drive link (4) one end and driven company
Bar (2) one end is hinged, and other end is connect with tendon rope (10), and both ends of the hole angle is 35 °, and curved drive link (4) can make it
There are bigger rotational travel in upper two ports in vertical open pores palm (9) direction；Middle part and nearly finger joint (5), finger joint support (8) are altogether
With hingedly, follower link (2) and nearly finger joint (5) in addition hingedly constitute a double leval jib finger with remote finger joint (1) respectively in both ends
Structure, the helical spring II (3) being connected between drive link (4) and nearly finger joint (5) can be in nearly finger joint (5) Xiang Pingguo (21)
Direction provides auxiliary power when rotating；It is interfered in order to prevent between each mechanism of two joint finger, in the present embodiment
Take following measure: finger joint support (8) is provided with certain altitude in the case where ensuring normally to pick；Nearly finger joint (5)
It is both provided with U-shaped card slot with follower link (2) both ends, and slot bottom is rounded corner.
Finger is generally directly proportional to joint number to the shape adaptability of object, and still, as measuring, grasping stability is important
The grasping configuration number of index is the relationship with the variation of joint number exponentially, and the grasping configuration the more more are easy to appear contact point disengaging,
And then it grabs and is less susceptible to stablize.Purpose of design is apple to be grabbed as final executive device, therefore grab steady in the present embodiment
It is qualitative just to seem more important.The present embodiment improves traditional multi-joint end effector, reduces articulations digitorum manus number, uses
Four-bar mechanism combination transmission not only increases grasp stability, and easy to control, movement is flexibly.
Refering to what is shown in Fig. 2, being evenly distributed with three finger joint supports (8) and helical spring II on aperture palm (9) with 60 ° of central angles
(7), drive link (4) and nearly finger joint (5) according to corresponding hinge hole and finger joint support (8) hingedly, under natural conditions, no matter end
End actuator is in horizontal or heeling condition, and the rigidity of helical spring II (7) is enough to ensure that three fingers are opened outside entirety, with
Simultaneously under the cooperation with driving motor (15), tendon rope (10), lifting disk (18) will not shake for this；When normal work,
The driving force of driving motor (15) overcomes the rigidity of helical spring II (7), and three fingers are rotated towards apple (21), tendon rope
(10), lifting disk (18) will not shake.
Refering to what is shown in Fig. 3, three fingers are in the raw, whole outer in video camera during identifying target apple
, it is in flaring structure, is convenient for the receiving of apple (21)；Tendon rope (10) passes through equal on aperture palm (9) and video camera pallet (12)
Fixed with lifting disk (18) after 3 aperture vertical drops of even distribution, tendon rope (10) one end and lifting disk (18) lower surface are several
What center connection, other end free-falling is wrapped on pulley (16) groove, and tendon rope (10) original state has centainly
Tensile force, pulley (16) are fixed in the shaft of driving motor (15), and when driving motor (15) works, tendon rope (10) is in pulley
(16) uniform winding on groove；It is identical, equally distributed by three root long degree between video camera pallet (12) and pedestal (14)
Lower support bar (17) is fixed.
(do not show in figure refering to what is shown in Fig. 4, the information of acquisition is sent into image processor through control module in video camera (13)
Meaning) it is handled, controller (not illustrating in figure) is issued to driving motor (15) and is instructed, and machine shaft overcomes helical spring II
(7) resistance band movable pulley (16) rotation, shrinks tendon rope (10), and lifting disk (18) moves down, and is driven and is driven by tendon rope (10)
Connecting rod (4) rotates the heart using middle part hinge hole as the center of circle, and helical spring I (3) deformation pushes nearly finger joint (5) around finger joint support (8)
Rotation, until touching apple (21), by the effect of contraction of contact seal force, the freedom degree is restrained, while follower link
(2) so that remote finger joint (1) becomes freedom to work degree under the driving of drive link (4), remote finger joint (1) is centripetal to be collapsed and in apple
(21) it contacts, ultimately forms the containing cavities for containing apple (21), realize moving to the heart for finger, complete apple (21) crawl；Closely
Finger joint (5) and remote finger joint (1) inner surface cover soft silica gel pad, in order to avoid damage apple (21) epidermis；Nearly finger joint (5) and remote finger joint
(1) inner surface is provided with pressure sensor (6), obtains the grasp force in picking process at any time, will when power reaches required value
Signal is fed back to driving motor (15), and driving motor (15) stops working；So, this end effector apparatus can not only
It realizes that apple stablizes crawl, and can be good at carrying out image recognition and positioning to target in picking process.
Claims (10)
1. a kind of apple-picking end effector of included video camera, it is characterised in that: including taking the photograph equipped with 3D depth camera
Camera (12), aperture palm (9), video camera pallet (12), two joint finger, tendon rope (10), lifting disk (18), pulley (16)
With driving motor (15), the video camera (13) is assemblied on video camera pallet (12)；Two joint finger passes through the finger respectively
Section support (8) is supported in the aperture palm (9)；Tendon rope (10) one end connection finger, the other end run through aperture palm
(9), the lifting disk (18) is vertically fixed on after video camera pallet (12)；The fixed lifting disk in tendon rope (10) one end
(18) center, the other end connect the pulley (16)；Pulley (16) is assemblied in the shaft of driving motor (15)；Driving motor (15)
It is fixed on the pedestal (14)；The two joint finger is provided with nearly finger joint (5), remote finger joint (1), drive link (4) and driven
Connecting rod (2), nearly finger joint (5), drive link (4) middle part hinge hole and finger joint support (8) are common hinged, nearly finger joint (5) and driving
It is equipped with helical spring I (3) between connecting rod (4), helical spring II (7) is equipped between drive link (4) and aperture palm (9), from
Dynamic connecting rod (2) and drive link (4) one end are hinged, and remote finger joint (1) both ends are hinged with nearly finger joint (5) and follower link (2) respectively.
2. a kind of end effector according to claim 1, it is characterised in that: aperture palm (9) geometric center is opened
Bore dia is equal with the video camera (13) diameter of lens, and on aperture palm (9) lower surface and the video camera (13) camera lens
There are the gaps 2cm on surface.
3. a kind of end effector according to claim 1, it is characterised in that: the video camera (13) is assemblied in U-shaped card
(20), both ends are loaded in L-type card slot (19) on slot；The U-shaped card slot (20) and L-type card slot (19) are fixed on video camera pallet
(12) on, optical center is overlapped with aperture palm (9) geometric center.
4. a kind of end effector according to claim 1, it is characterised in that: three uniformly distributed on the aperture palm (9)
Finger joint support (8) has 3 hinge holes on the drive link (4), has 35 ° of angles between two stomidiums, be set as curved company
Bar, wherein hingedly, other end is connect with tendon rope (10) for one end and follower link (2).
5. a kind of end effector described according to claim 1 or 3 or 4, it is characterised in that: the aperture palm (9), camera shooting
Machine pallet (12) is evenly distributed with three apertures, and tendon rope (10) is 3 small by being uniformly distributed on aperture palm (9) and video camera pallet (12)
It is fixed with lifting disk (18) after the vertical drop of hole.
6. a kind of end effector according to claim 5, it is characterised in that: lifting disk (18) lower surface geometry center of circle
Place is provided with a bolt hole, and tendon rope (10) one end is by bolt and fixation, in other end vertical drop and pulley (16)
Described in groove uniform winding, falling direction and lifting disk (18) center overlapping of axles, it is tangent with pulley (16), pulley (16) is fixed
In the shaft of driving motor (15).
7. a kind of end effector according to claim 5 or 6, it is characterised in that: aperture palm (9) and video camera pallet
(12) fixed by equally distributed three upper support bars (11) between, by equal between video camera pallet (12) and pedestal (14)
Three lower support bars (17) of even distribution are fixed, and lower support bar (17) length is greater than upper support bar (11).
8. a kind of end effector according to claim 1 or 4, it is characterised in that: in nearly finger joint (5) and remote finger joint (1)
Side surface covers soft silica gel pad, reduces the damage during grabbing to apple, and the pressure in nearly finger joint (1) and remote finger joint (5)
Force snesor (6) can feed back chucking power.
9. a kind of end effector according to claim 8, it is characterised in that: the revolving speed of the driving motor (15) according to
The control of motor pulses frequency, the pressure sensor (6) obtains the contact force of each finger, when finger surface pressure sensor
(6) reach the grasp force of setting, signal is fed back to driving motor (15), driving motor (15) stop motion, realizes apple crawl.
10. a kind of end effector according to claim 1, it is characterised in that: the finger, support rod, finger joint support
(8), aperture palm (9), video camera pallet (12), lifting disk (18), pedestal (14) select 3D printing ABS plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910153588.7A CN109760098A (en) | 2019-02-28 | 2019-02-28 | A kind of apple-picking end effector of included video camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910153588.7A CN109760098A (en) | 2019-02-28 | 2019-02-28 | A kind of apple-picking end effector of included video camera |
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| Publication Number | Publication Date |
|---|---|
| CN109760098A true CN109760098A (en) | 2019-05-17 |
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ID=66457541
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910153588.7A Pending CN109760098A (en) | 2019-02-28 | 2019-02-28 | A kind of apple-picking end effector of included video camera |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN113370248A (en) * | 2021-05-20 | 2021-09-10 | 上海大学 | Flexible end effector of fruit and vegetable picking robot with force sensing function |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN114557333A (en) * | 2022-02-28 | 2022-05-31 | 西北农林科技大学 | Orchard variable pesticide spraying device with camera |
-
2019
- 2019-02-28 CN CN201910153588.7A patent/CN109760098A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111717391A (en) * | 2020-06-28 | 2020-09-29 | 中国科学院长春光学精密机械与物理研究所 | Four-rotor parallel acquisition robot |
| CN113370248A (en) * | 2021-05-20 | 2021-09-10 | 上海大学 | Flexible end effector of fruit and vegetable picking robot with force sensing function |
| CN113427501A (en) * | 2021-06-23 | 2021-09-24 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN113427501B (en) * | 2021-06-23 | 2022-08-09 | 西安交通大学 | Multi-mode self-adaptive mechanical gripper |
| CN114557333A (en) * | 2022-02-28 | 2022-05-31 | 西北农林科技大学 | Orchard variable pesticide spraying device with camera |
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Application publication date: 20190517 |
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