CN110291880A - More arm apple picking robots - Google Patents
More arm apple picking robots Download PDFInfo
- Publication number
- CN110291880A CN110291880A CN201910701295.8A CN201910701295A CN110291880A CN 110291880 A CN110291880 A CN 110291880A CN 201910701295 A CN201910701295 A CN 201910701295A CN 110291880 A CN110291880 A CN 110291880A
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- China
- Prior art keywords
- mechanical arm
- folder pawl
- arm
- motor
- apple
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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
- A01D46/24—Devices for picking apples or like fruit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of more arm apple picking robots, including chassis and the multiple picking mechanical arms being set on chassis, picking mechanical arm includes end effector, the controller for opening and closing switched between open configuration and closed state for controlling end effector, first mechanical arm, second mechanical arm, it is set in first mechanical arm and for controlling the first angle regulating device that controller for opening and closing is rotated, it is set in second mechanical arm and for controlling the second angle regulating device that first mechanical arm is rotated, third angle regulating device for adjusting the height adjustment device of the height and position of second mechanical arm and connecting with height adjustment device and second mechanical arm and rotated for controlling second mechanical arm.
Description
Technical field
The invention belongs to robotic technology fields, specifically, the present invention relates to a kind of more arm apple picking robots.
Background technique
China is apple production big country, and apple production is of great significance to the development of China's agricultural economy.However, current
China's apple-picking is essentially all to carry out by hand, and picking efficiency is lower.In recent years, with mechanization of agriculture and automation
Development, the research of the automatic picking robot of apple more and more attention has been paid to.But existing apple picking robot is mostly single machine
Tool is made by hand, although manpower self can be replaced to pick, has greatly saved labour, such apple picking robot, cost
Higher, picking efficiency still needs to improve.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.For this purpose, to provide one kind more by the present invention
Arm apple picking robot, it is therefore an objective to improve picking efficiency.
To achieve the goals above, the technical scheme adopted by the invention is as follows: more arm apple picking robots, including chassis
With the multiple picking mechanical arms being set on chassis, picking mechanical arm includes end effector, exists for controlling end effector
The controller for opening and closing that switches between open configuration and closed state, second mechanical arm, is set to first at first mechanical arm
On mechanical arm and for control first angle regulating device that controller for opening and closing rotated, be set in second mechanical arm and
For controlling the height of the second angle regulating device that first mechanical arm rotated, the height and position for adjusting second mechanical arm
Degree regulating device and connect with height adjustment device and second mechanical arm and be used to control that second mechanical arm to be rotated the
Three angle adjustment devices.
The end effector includes clamping jaw seat, the main folder pawl being rotatably arranged on clamping jaw seat, rotatable setting
In the sub-folder pawl on main folder pawl and the bullet for applying the elastic acting force for making sub-folder pawl be in contact with apple holding to sub-folder pawl
Property element, the setting of main folder pawl is multiple and all main folder pawls circumferentially, are at least arranged on clamping jaw seat on each main folder pawl
One sub-folder pawl.
The main folder pawl has a main contact surface for contacting with apple, and the sub-folder pawl has for contacting with apple
Secondary contact surface, main contact surface and secondary contact surface are arc surface and main contact surface is parallel with the secondary axis of contact surface, sub-folder pawl
Positioned at main folder pawl inside and the elastic element be clipped between main folder pawl and sub-folder pawl.
The controller for opening and closing includes that open and close control pedestal, movable block and movable block and the main folder pawl are rotatablely connected
Push-pull rod, the open and close control motor being set on open and close control pedestal and the biography being connect with open and close control motor and movable block
Motivation structure, transmission mechanism include sequentially connected tape handler and leading screw and nut mechanism, open and close control pedestal and first angle
Regulating device connection, the clamping jaw seat are connect with open and close control pedestal.
The first angle regulating device includes the first adjustment seat being rotatablely connected with the controller for opening and closing, is set to
First in the first mechanical arm adjusts motor, the first transmission shaft connecting with the first adjusting motor, connects with the first adjustment seat
It connects and the axle sleeve being sheathed on the first transmission shaft and the first transmission mechanism being connect with the first transmission shaft and controller for opening and closing.
Setting is rotated for controlling first adjustment seat relative to first mechanical arm in the first mechanical arm
First rotating control assembly, first rotating control assembly include be set in first mechanical arm first rotation control motor with
And the transmission mechanism connecting with the first rotation control motor and the axle sleeve, axle sleeve are fixedly connected with the first adjustment seat, first adjusts
When rotation centerline and controller for opening and closing when section seat is rotated relative to first mechanical arm are rotated relative to the first adjustment seat
Rotation centerline it is perpendicular and and first mechanical arm relative to second mechanical arm rotate when rotation centerline it is perpendicular.
The the second adjusting motor and adjusted with second that the second angle regulating device is set in the second mechanical arm
The second transmission mechanism that section motor is connected with the first mechanical arm.
The third angle regulating device be set to the third on the third mechanical arm adjust motor and with third tune
The third transmission mechanism that section motor is connected with the height adjustment device.
Sliding seat that the height adjustment device is rotatablely connected with the second mechanical arm, is set to height adjustment pedestal
Height adjustment motor on height adjustment pedestal and the height adjustment transmission mechanism being connect with height adjustment motor and sliding seat,
Height adjustment transmission mechanism includes sequentially connected gear drive and leading screw and nut mechanism.
The the second rotation control rotated for controlling the height adjustment pedestal relative to chassis is set on the chassis
Motor processed, rotation centerline when height adjustment pedestal is rotated relative to chassis are vertical line.
Using more arm Softenings picking efficiency is greatly improved, side by side in more arm apple picking robots of the invention
Mechanical arm in two sides can pick the fruit of two unilateral fruit trees in the ranks simultaneously, without returning；In addition, using six degree of freedom machine
The flexibility ratio of manipulator is greatly improved in tool arm, can pick the apple of any position；Mechanical arm is set using collapsible modularization
Meter, it is compact-sized, occupied space is reduced, it is easy to maintain.
Detailed description of the invention
This specification includes the following drawings, and shown content is respectively:
Fig. 1 is the structural schematic diagram of the more arm apple picking robots of the present invention；
Fig. 2 is the structural schematic diagram of picking mechanical arm；
Fig. 3 is the structural schematic diagram of end effector；
Fig. 4 is the connection schematic diagram of controller for opening and closing and first mechanical arm；
Fig. 5 is the structural schematic diagram of second angle regulating device；
Fig. 6 is the structural schematic diagram of height adjustment device；
In the figure, it is marked as 1, chassis；2, end effector；201, main folder pawl；202, sub-folder pawl；203, elastic element；
204, clamping jaw seat；3, controller for opening and closing；301, movable block；302, push-pull rod；303, open and close control motor；304, open and close control
Pedestal；305, tape handler；306, leading screw and nut mechanism；4, first angle regulating device；401, the first adjustment seat；402,
One adjusts motor；403, the first transmission shaft；404, axle sleeve；405, the first transmission mechanism；5, second angle regulating device；501,
Two adjust motor；502, the second transmission mechanism；6, height adjustment device；601, sliding seat；602, height adjustment pedestal；603, high
Degree adjusts motor；604, gear drive；605, leading screw and nut mechanism；606, guide post；607, fixing seat；7, third angle
Regulating device；701, third adjusts motor；702, third transmission mechanism；8, the first rotating control assembly；801, the first rotation control
Motor processed；802, gear drive；9, first mechanical arm；10, second mechanical arm；11, apple collects basket；12, the second rotation
Control motor.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and facilitate its implementation.
It should be noted that " first ", " second " and " third " does not represent knot in embodiment disclosed below
Structure and/or absolute differentiation relationship functionally, do not represent the successive sequence that executes yet, and merely for convenience of description.
As shown in Figures 1 to 6, it the present invention provides a kind of more arm apple picking robots, including chassis 1 and is set to
The One On The Chassis multiple picking mechanical arms, picking mechanical arm include end effector 2, for controlling end effector 2 in opening shape
The controller for opening and closing 3 that switches between state and closed state, second mechanical arm 10, is set to the first machine at first mechanical arm 9
On tool arm 9 and for controlling first angle regulating device 4 that controller for opening and closing 3 rotated, being set to second mechanical arm 10
Above and for controlling second angle regulating device 5, the height for adjusting second mechanical arm 10 that first mechanical arm 9 is rotated
It the height adjustment device 6 of position and is connect with height adjustment device 6 and second mechanical arm 10 and for controlling second mechanical arm
The 10 third angle regulating devices 7 rotated.
Specifically, as shown in Figure 1, basis of the chassis 1 as installation picking mechanical arm and other component, chassis 1 simultaneously can
It carries picking mechanical arm to be moved, chassis 1 generates the driving force for travelling more arm apple picking robots integrally, bottom
Disk 1 includes four Caterpillar walking wheels, and four Caterpillar walking wheels are arranged in the opposite sides on chassis 1, and chassis 1 is to terrain adaptability
It is good.Picking mechanical arm is the executing agency as the apple on picking fruit tree.Picking mechanical arm can be set multiple and all adopt
It plucks manipulator to be arranged on chassis 1 in two rows, picking efficiency is greatly improved, and the picking mechanical arm for being listed in two sides can be same
When picking line-spacing be apple on 2.5~4 meters of apple tree, two fruits in the ranks can be won simultaneously.
As shown in Figure 1 to Figure 3, end effector 2 includes folder for clamping apple, end effector 2 when picking apple
Pawl seat 204, the main folder pawl 201 being rotatably arranged on clamping jaw seat 204, the sub-folder being rotatably arranged on main folder pawl 201
The elastic element of pawl 202 and the elastic acting force for making sub-folder pawl 202 be in contact with apple holding the application of sub-folder pawl 202
203, it is circumferentially, on each main folder pawl 201 on clamping jaw seat 204 that multiple and all main folder pawls 201, which are arranged, in main folder pawl 201
One sub-folder pawl 202 is at least set.Main folder pawl 201 is arc-shaped structure, and the first end and clamping jaw seat 204 of main folder pawl 201 rotate
Connection, main folder pawl 201 are stretched out towards the outside of clamping jaw seat 204, and the second end of main folder pawl 201 is far from clamping jaw seat 204, main folder pawl
201 first end and second end is the opposite end on the arc length direction of main clamping jaw 201.Controller for opening and closing 3 and main folder pawl 201
Connection, controller for opening and closing 3 is rotated for controlling main folder pawl 201 relative to clamping jaw seat 204, to realize end effector 2
It is switched between open configuration and closed state.Clamping jaw seat 204 has a center line, the center line and 201 phase of main folder pawl
For clamping jaw seat 204 rotate when rotation centerline it is spatially perpendicular, all main folder pawls 201 be on clamping jaw seat 204 with
The center line of clamping jaw seat 204 is that center line is uniformly distributed circumferentially.The first end of main folder pawl 201 and the center line of clamping jaw seat 204
Between vertical range fix, controller for opening and closing 3 control main folder pawl 201 rotated relative to clamping jaw seat 204 when, main folder
Vertical range between the second end of pawl 201 and the center line of clamping jaw seat 204 changes.End effector 2 is by closed state
When switching to open configuration, the vertical range between the second end of main folder pawl 201 and the center line of clamping jaw seat 204 is gradually increased,
The distance between the second end of each main folder pawl 201 is gradually increased, and end effector 2 is gradually opened, it is ensured that can pick up apple or
Discharge apple；When end effector 2 switches to closed state by open configuration, second end and the clamping jaw seat 204 of main folder pawl 201
Vertical range between center line is gradually reduced, and the distance between the second end of each main folder pawl 201 is gradually reduced, end effector
2 are gradually closed, it is ensured that can clamp apple.When picking apple, open and close control mechanism controls end effector 2 by closed state
Open configuration is switched to, main folder pawl 201 is gradually opened, and after apple enters between main folder pawl 201, open and close control mechanism controls again
End effector 2 switches to closed state by open configuration, and main folder pawl 201 is gradually closed, until main folder pawl 201 touches apple
Fruit, all main folder pawls 201 match clamping apple, while sub-folder pawl 202 touches apple, and sub-folder pawl 202 also applies apple
Certain pressure completes the picking action of apple.
As shown in Figure 1 to Figure 3, main folder pawl 201 has the main contact surface for contacting with apple, and sub-folder pawl 202, which has, to be used
In the secondary contact surface contacted with apple, main contact surface and secondary contact surface are the axis of arc surface and main contact surface and secondary contact surface
Parallel, sub-folder pawl 202 is located at the inside of main folder pawl 201 and elastic element 203 is clipped between main folder pawl 201 and sub-folder pawl 202.
Main contact surface is the surface for facing apple on main clamping jaw 201, and secondary contact surface is the surface for facing apple on sub-folder pawl 202,
The axis of main contact surface is parallel with the rotation centerline of main folder pawl 201, in the axis of secondary contact surface and the rotation of sub-folder pawl 202
Heart line is parallel, and the rotation centerline of sub-folder pawl 202 is parallel with the rotation centerline of main folder pawl 201.Sub-folder pawl 202 is circular arc
Shape structure, the length of sub-folder pawl 202 are less than the length of main folder pawl 201, and first end and main folder pawl 201 rotation of sub-folder pawl 202 connect
It connects, for the second end of sub-folder pawl 202 far from main support, the first end and second end of sub-folder pawl 202 is the arc length direction of sub-folder pawl 202
On opposite end, the distance between the first end of sub-folder pawl 202 and clamping jaw seat 204 be greater than sub-folder pawl 202 second end and folder
The distance between pawl seat 204, the distance between first end and the second end of main folder pawl 201 of sub-folder pawl 202 are less than sub-folder pawl 202
Second end and main folder pawl 201 the distance between second end, the first end of the second end of sub-folder pawl 202 and main folder pawl 201 it
Between distance be less than the first end of sub-folder pawl 202 and the distance between the first end of main folder pawl 201, main contact surface is from main folder pawl
201 second end extends to the first end of major-minor clamping jaw 202, and secondary contact surface is to extend to sub-folder from the first end of sub-folder pawl 202
The second end of pawl 202.Elastic element 203 is clipped between main folder pawl 201 and the second end of sub-folder pawl 202, and elastic element 203 is preferred
It for cylindrically coiled spring and is compressed spring, when being not picked up apple, elastic element 203 makees the elasticity that sub-folder pawl 202 applies
Firmly so that the second end of sub-folder pawl 202 direction that is directed away from main folder pawl 201 is mobile so that the second end of sub-folder pawl 202 by
Gradually close to the center line of clamping jaw seat 204.During picking apple, end effector 2 switches to open configuration, and apple enters
After between main folder pawl 201, sub-folder pawl 202 is contacted with apple surface, switches to closed state by open configuration in end effector 2
During, under the action of elastic element 203, sub-folder pawl 202 applies certain pressure to apple, and sub-folder pawl 202 is to apple
The direction that the pressure of application pushes apple to be directed away from clamping jaw seat 204 is mobile, until apple surface is contacted with the main of main folder pawl 201
Face contact, then matches clamping apple by all main folder pawls 201, and end effector 2 switches to closed state, completes apple
Picking action.Due to the setting of sub-folder pawl 202, apple is picked up in end effector 2 and apple is transferred to the apple on chassis
It collects during being collected at basket, sub-folder pawl 202 can make apple and main folder pawl 201 be kept in contact state, make to grab apple
Fruit is more firm, and apple is difficult to slide so that falling, high reliablity.
The end effector of above structure, using three main folder pawls, circumferentially uniformly arrangement, is on the one hand to make hearty cord by oneself
Structure even if deviating some distances, can also will remain in center, can drop without precisely aligning the center of apple when picking
On the other hand the required precision of low picking is conducive to the control of chucking power size.In addition, both making apple using the structure of envelop-type
Fruit is not easy to fall, and it is firm to grab, big additionally, due to the contact area of main folder pawl and sub-folder pawl arcwall face, so that not damaging apple
In the case of obtaining, increase chucking power.
As shown in Figure 1 to Figure 3, controller for opening and closing 3 includes open and close control pedestal 304, movable block 301 and movable block 301
The push-pull rod 302 being rotatablely connected with main folder pawl 201, the open and close control motor 303 that is set on open and close control pedestal 304 and with
The transmission mechanism that open and close control motor 303 and movable block 301 connect, transmission mechanism includes sequentially connected tape handler 305
With leading screw and nut mechanism 306, open and close control pedestal 304 is connect with first angle regulating device 4, clamping jaw seat 204 and open and close control
Pedestal 304 connects.Open and close control motor 303 is to provide the motor of rotary force, and open and close control motor 303 is fixed at opening and closing
It controls on pedestal 304, open and close control pedestal 304 is simultaneously fixedly connected with clamping jaw seat 204, and tape handler 305 will be for that will be opened and closed control
The rotary force that motor 303 processed generates is transferred to leading screw and nut mechanism 306, the driving pulley and open and close control of tape handler 305
The driven pulley of the motor axis connection of motor 303, tape handler 305 is connect with one end of the screw rod of leading screw and nut mechanism 306,
Movable block 301 is fixedly connected with the nut of leading screw and nut mechanism 306, is had at the center of clamping jaw seat 204 and is allowed leading screw and nut mechanism
The axis hole of the other end insertion of 306 screw rod, the axis of the screw rod of the center line namely leading screw and nut mechanism 306 of clamping jaw seat 204,
The screw rod of 204 pairs of leading screw and nut mechanisms 306 of open and close control pedestal 304 and clamping jaw seat provides a supporting role.Movable block 301 is located at folder
Between pawl seat 204 and open and close control pedestal 304, push-pull rod 302 is located at the outside of clamping jaw seat 204, one end of push-pull rod 302 and work
Motion block 301 is rotatablely connected, the other end and the rotation connection of main folder pawl 201 and the push-pull rod 302 and main folder pawl 201 of push-pull rod 302
Tie point is located between the first end and second end of main folder pawl 201, the tie point and main folder pawl of push-pull rod 302 and main folder pawl 201
The distance between 201 first end is less than between the tie point of push-pull rod 302 and main folder pawl 201 and the second end of main folder pawl 201
Distance, the quantity of push-pull rod 302 is identical as the quantity of main folder pawl 201, each push-pull rod 302 respectively with a main folder pawl 201
Rotation connection.When open and close control motor 303 operates, the power of generation is transferred to leading screw and nut mechanism through tape handler 305
306, leading screw and nut mechanism 306 drives movable block 301 to move along the axial direction, and movable block 301 drives main folder by push-pull rod 302
Pawl 201 is rotated, and realizes switching of the end effector 2 between open configuration and closed state.
The controller for opening and closing 3 of above structure, actually a sliding block rocker device, can be by the straight line of movable block 301
Conversion of motion is the rotary motion of clamping jaw, and provides certain chucking power.The mechanism structure is simple, and compact, positive and negative operating
Characteristic is good, manufactures and designs and is easy.The driving of movable block 301 uses ball screw framework 306, on the one hand may be implemented accurately to open
Control is closed, for different size of apple, the subtended angle of adjustable clamping jaw improves picking efficiency to a certain extent；Another party
Face, worm drive pair can provide biggish axial force, force sensor is arranged on main folder pawl 201, according on main folder pawl 201
The feedback signal of force snesor, and chucking power size can be adjusted in time.
As shown in Figures 1 to 4, first angle regulating device 4 includes that first be rotatablely connected with controller for opening and closing 3 is adjusted
Seat 401, first be set in first mechanical arm 9 adjusting motor 402, the first transmission shaft being connect with the first adjusting motor 402
403, connect with the first adjustment seat 401 and the axle sleeve 404 that is sheathed on the first transmission shaft 403 and with the first transmission shaft 403 and
The first transmission mechanism 405 that controller for opening and closing 3 connects.First adjustment seat 401 is rotatablely connected with open and close control pedestal 304, the
One angle adjustment device 4 is rotated for controlling open and close control pedestal 304 relative to the first adjustment seat 401, open and close control bottom
The center line of rotation centerline and clamping jaw seat 204 of the seat 304 when being rotated relative to the first adjustment seat 401 is perpendicular and the two
Intersection.First adjusting motor 402 is fixed in first mechanical arm 9, and the first adjusting motor 402 is to provide the electronic of rotary force
Machine.First transmission mechanism 405 is preferably bevel gears, the electricity that one end of the first transmission shaft 403 adjusts motor 402 with first
Arbor connection, one end of the first transmission shaft 403 are fixedly connected with the drive bevel gear of the first transmission mechanism 405, the first driver
The driven wheel of differential of structure 405 is fixedly connected with open and close control pedestal 304.Axle sleeve 404 is the cylinder of both ends open and inner hollow
Body, one end of axle sleeve 404 are fixedly connected with the first adjustment seat 401, and the other end of axle sleeve 404 is located at the inside of first mechanical arm 9,
First mechanical arm 9 provides a supporting role axle sleeve 404, and the first adjustment seat 401 is located at the outside of first mechanical arm 9, and axle sleeve 404 is right
First transmission shaft 403 provides a supporting role, and the first transmission shaft 403 passes through axle sleeve 404.When first adjusting motor 402 operates, first
It adjusts the rotary force that motor 402 generates and is transferred to open and close control pedestal 304 through the first transmission shaft 403 and the first transmission mechanism 405,
Driving open and close control pedestal 304 is rotated relative to the first adjustment seat 401, and open and close control pedestal 304 simultaneously drives end to execute
Device 2, which synchronizes, to be rotated, and then realizes the adjusting of 2 posture of end effector.
As shown in Figure 1 to Figure 3, setting is used to control the first adjustment seat 401 relative to first mechanical arm in first mechanical arm 9
9 the first rotating control assemblies 8 rotated, first rotating control assembly 8 include first be set in first mechanical arm 9
Rotation control motor 801 and the transmission mechanism connecting with the first rotation control motor 801 and axle sleeve 404, the transmission mechanism are
Gear drive 802.Axle sleeve 404 is fixedly connected with the first adjustment seat 401, and the first adjustment seat 401 is relative to first mechanical arm 9
Rotation centerline when rotation centerline when rotation is rotated with controller for opening and closing 3 relative to the first adjustment seat 401 is perpendicular
And rotation centerline when rotating with first mechanical arm 9 relative to second mechanical arm 10 is perpendicular.First rotation control motor 801
It is fixed in first mechanical arm 9, the first rotation control motor 801 is to provide the motor of rotary force.Gear drive
802 include the driving gear and driven gear being meshed, the driving gear of gear drive 802 and the first rotation control motor
801 motor shaft is to be fixedly and coaxially connected, and the driven gear of gear drive 802 is to be fixedly and coaxially connected with axle sleeve 404, tooth
The driving gear and driven gear of wheel drive mechanism 802 are roller gear.When first rotation control motor 801 operates, first
The rotary force of rotation control motor 801 is transferred to axle sleeve 404 through gear drive 802, and propeller shaft sleeve 404 is relative to the first machine
Tool arm 9 is rotated, and axle sleeve 404 drives controller for opening and closing 3 and end effector 2 to rotate synchronously by the first adjustment seat 401,
And then realize the adjusting of end effector 2 angle and posture.
First rotating control assembly 8 of above structure, the first rotation control motor 801 are arranged in outside, using open type tooth
Wheel transmission, it is therefore intended that the length of control first mechanical arm 9, cramped construction.First adjusts motor 402 and the first rotation control electricity
Almost side by side, difference is machine 801, and one is located inside first mechanical arm 9, and one is located at outside, this is designed for eclipsed form, is
Be exactly the length and its distribution of weight for controlling first mechanical arm 9, on the one hand avoiding moving outside excessive length and weight causes
On the other hand excessive amount of deflection reduces the angular momentum generated when pedestal rotation, mitigates the load of its receiving.First rotation control dress
It sets 8 to be the effect of end effector 2, rotary sleeve 404 can be passed through and change circular cone in first angle regulating device 4
The axis of gear, so that end effector 2 is picked in the working space of a spherical surface.
As shown in Figures 1 to 4, second angle regulating device 5 is set to the second adjusting motor 501 in second mechanical arm 10
And the second transmission mechanism 502 connecting with the second adjusting motor 501 and first mechanical arm 9, second angle regulating device 5 are used for
Control first mechanical arm 9 is rotated relative to second mechanical arm 10, and first mechanical arm 9 is relative to 10 turns of second mechanical arm
The center line of rotation centerline and clamping jaw seat 204 when dynamic is spatially perpendicular, and first mechanical arm 9 is relative to second mechanical arm
10 rotation centerline when being rotated is also spatially perpendicular with the axis of axle sleeve 404.The second adjusting fixation of motor 501 is set
It sets in second mechanical arm 10, the second adjusting motor 501 is to provide the motor of rotary force, and first mechanical arm 9 has certain
One end of length, one end and second mechanical arm 10 on the length direction of first mechanical arm 9 is rotatablely connected, axle sleeve 404 from first
The other end on the length direction of mechanical arm 9 stretches out.Second transmission mechanism 502 is preferably bevel gears, the second driver
The drive bevel gear of structure 502 and second adjusting motor 501 motor shaft be fixedly and coaxially connected, the second transmission mechanism 502 from
Dynamic bevel gear is to be fixedly and coaxially connected with first mechanical arm 9.When second adjusting motor 501 operates, second, which adjusts motor 501, is generated
Rotary force be transferred to first mechanical arm 9 through the second transmission mechanism 502, drive first mechanical arm 9 relative to second mechanical arm 10
It is rotated, first mechanical arm 9 simultaneously drives end effector 2 synchronous by first angle regulating device 4 with controller for opening and closing 3
It is rotated, and then realizes the adjusting of end effector 2 angle and posture.
As shown in Figures 1 to 5, third angle regulating device 7 be set to the third on third mechanical arm adjust motor 701 with
And the third transmission mechanism 702 that motor 701 and height adjustment device 6 are connect is adjusted with third, third angle regulating device 7 is used for
Control second mechanical arm 10 rotated relative to height adjustment device 6, second mechanical arm 10 relative to height adjustment device 6 into
The center line of rotation centerline and clamping jaw seat 204 when row rotation is spatially perpendicular, and second mechanical arm 10 is relative to height
Rotation when rotation centerline and first mechanical arm 9 when regulating device 6 is rotated are rotated relative to second mechanical arm 10
It is parallel to turn center line.Third adjusts motor 701 and is fixed in second mechanical arm 10, and it is to provide that third, which adjusts motor 701,
The motor of rotary force, second mechanical arm 10 have certain length, one end on the length direction of second mechanical arm 10 and the
One mechanical arm 9 is rotatablely connected, and the other end and height adjustment device 6 on the length direction of second mechanical arm 10 are rotatablely connected.The
Three transmission mechanisms 702 are preferably bevel gears, and the drive bevel gear and third of third transmission mechanism 702 adjust motor 701
Motor shaft be fixedly and coaxially connected, the driven wheel of differential of third transmission mechanism 702 is fixedly connected with height adjustment device 6.The
Three adjust motors 701 operate when, drive drive bevel gear rotated, driven wheel of differential remains stationary, drive bevel gear along
Driven wheel of differential rolls, and 10 relative altitude regulating device 6 of second mechanical arm is driven to be rotated, and realizes the length of second mechanical arm 10
The adjusting of the corner dimension between direction and vertical plane is spent, second mechanical arm 10 is simultaneously adjusted by first mechanical arm 9, first angle
Device 4 and controller for opening and closing 3 drive end effector 2 synchronize rotated, and then realize 2 angle of end effector and posture
Adjusting.
As shown in Figures 1 to 6, height adjustment device 6 is moved along the vertical direction for controlling second mechanical arm 10, the
Two mechanical arms 10 simultaneously drive end effector 2 same by first mechanical arm 9, first angle regulating device 4 and controller for opening and closing 3
Step is rotated, and then the adjusting of 2 height and position of end effector may be implemented, height adjustment device 6 and second mechanical arm 10
The sliding seat 601 of rotation connection, fixing seat 607, height adjustment pedestal 602, the height tune being set on height adjustment pedestal 602
Section motor 603 and the height adjustment transmission mechanism being connect with height adjustment motor 603 and sliding seat 601, height adjustment transmission
Mechanism includes sequentially connected gear drive 604 and leading screw and nut mechanism 605.Height adjustment motor 603 is to provide rotation
The motor of power, height adjustment motor 603 are fixed on height adjustment pedestal 602, and gear drive 604 is used for will be high
Degree adjusts the rotary force that motor 603 generates and is transferred to leading screw and nut mechanism 605, the driving gear of gear drive 604 and from
Moving gear is roller gear, the driving gear of gear drive 604 and the motor axis connection of height adjustment motor 603, tooth
The driven gear of wheel drive mechanism 604 is connect with one end of the screw rod of leading screw and nut mechanism 605, sliding seat 601 and feed screw nut
The nut of mechanism 605 is fixedly connected, and has at the center of fixing seat 607 and the other end of the screw rod of leading screw and nut mechanism 605 is allowed to insert
The screw rod of the axis hole entered, leading screw and nut mechanism 605 is vertically arranged, and height adjustment pedestal 602 and fixing seat 607 are to feed screw nut
The screw rod of mechanism 605 provides a supporting role.Sliding seat 601 between fixing seat 607 and height adjustment pedestal 602, adjust by height
Section pedestal 602 is located at the lower section of sliding seat 601, and fixing seat 607 is located at the top of sliding seat 601, sliding seat 601 and the second machinery
The upper end of arm 10 is rotatablely connected, and the driven wheel of differential of third transmission mechanism 702 is fixedly connected with sliding seat 601.Height adjustment bottom
Guide post 606 for playing the guiding role to sliding seat 601 is set on seat 602, and guide post 606 is vertically arranged and guide post
606 axis is parallel with the axis of the screw rod of leading screw and nut mechanism 605, and multiple and all guide posts 606 are arranged in guide post 606
It is to be uniformly distributed circumferentially by center line of the axis of the screw rod of leading screw and nut mechanism 605, sliding seat 601, which has, allows guide post
606 pilot holes passed through.When height adjustment motor 603 operates, the power of generation is transferred to screw rod spiral shell through gear drive 604
Parent agency 605, leading screw and nut mechanism 605 drive sliding seat 601 to be moved along the vertical direction, and sliding seat 601 drives the second machine
Tool arm 10, which synchronizes, to be moved, and realizes the adjusting of 2 height and position of end effector.
As shown in figures 1 to 6, in the present embodiment, guide post 606 is arranged three altogether.
The height adjustment device 6 of above structure, actually a screw-threaded shaft elevator.Its advantage is that lifting process is steady,
Reversing impact is small, and the accurate control of short transverse may be implemented, although cannot be formed it is self-locking, can rely on be exchange watch
Take the brake stabilizing mechanical arm in motor.Three circumferential directions are evenly distributed with the effect of guide post 606, on the one hand control sliding seat 601
Glide direction, restraint of liberty degree make its end face keep horizontal with pedestal；On the other hand the power of toppling generated by side cantilever is born
Square is equipped with linear bearing between pilot hole and guide post 606, can reduce friction, controls precision, bears torque.
As shown in Figures 1 to 6, setting is rotated for controlling height adjustment pedestal 602 relative to chassis 1 on chassis 1
Second rotation control motor 12, height adjustment pedestal 602 relative to chassis 1 rotate when rotation centerline be vertical line.It is high
Degree adjustment base 602 is to be rotatably arranged on chassis 1, and the second rotation control motor 12 is to provide the motor of rotary force,
Second rotation control motor 12 is fixedly installed on chassis 1, and the motor shaft of the second rotation control motor 12 is at height adjustment bottom
It is fixedly connected at the center of seat 602 with height adjustment pedestal 602.After second rotation control motor 12 operates, the second rotation control
Motor 12 can drive height adjustment pedestal 602 to be rotated around its axis, and height adjustment pedestal 602 passes through 601 band of sliding seat
Dynamic 10 synchronous rotary of second mechanical arm, second mechanical arm 10 simultaneously pass through first mechanical arm 9, first angle regulating device 4 and opening and closing
Control device 3 drives end effector 2 to synchronize the adjusting for being rotated, and then realizing 2 posture of end effector.
The picking mechanical arm of above structure is sixdegree-of-freedom simulation, and picking mechanical arm has high flexibility ratio, can be with
Pick the apple of any position.It include an one-movement-freedom-degree in six-freedom degree, i.e. feed screw nut's elevating mechanism guarantees
The working range of mechanical arm can cover the apple of higher position, first mechanical arm 9, second mechanical arm 10 and wrist (corresponding the
The junction of one adjustment seat 401 and open and close control pedestal 304) three rotary freedoms, more complicated carpopodium can be executed
Separating action.
The present invention is exemplarily described in conjunction with attached drawing above.Obviously, present invention specific implementation is not by above-mentioned side
The limitation of formula.As long as using the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out；Or not
It is improved, above-mentioned conception and technical scheme of the invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (10)
- Arm apple picking robot more than 1., it is characterised in that: including chassis and multiple picking mechanical arms for being set on chassis, Picking mechanical arm includes end effector, switches between open configuration and closed state for controlling end effector Controller for opening and closing, first mechanical arm, second mechanical arm, be set in first mechanical arm and for control controller for opening and closing into The first angle regulating device of row rotation is set in second mechanical arm and for controlling first mechanical arm is rotated second Angle adjustment device, height and position for adjusting second mechanical arm height adjustment device and with height adjustment device and Two mechanical arms connect and for controlling the third angle regulating device that second mechanical arm is rotated.
- 2. more arm apple picking robots according to claim 1, it is characterised in that: the end effector includes folder Pawl seat, the main folder pawl being rotatably arranged on clamping jaw seat, the sub-folder pawl being rotatably arranged on main folder pawl and for pair Clamping jaw applies the elastic element for making sub-folder pawl keep the elastic acting force being in contact with apple, and multiple and all masters are arranged in main folder pawl On clamping jaw seat circumferentially, a sub-folder pawl is at least arranged in clamping jaw on each main folder pawl.
- 3. more arm apple picking robots according to claim 2, it is characterised in that: the main folder pawl have for The main contact surface of apple contact, the sub-folder pawl have the secondary contact surface for contacting with apple, main contact surface and secondary contact surface It is that arc surface and main contact surface are parallel with the secondary axis of contact surface, sub-folder pawl is located at the inside of main folder pawl and the elasticity is first Part is clipped between main folder pawl and sub-folder pawl.
- 4. more arm apple picking robots according to claim 2 or 3, it is characterised in that: the controller for opening and closing Including open and close control pedestal, movable block, the push-pull rod being rotatablely connected with movable block and the main folder pawl, it is set to open and close control bottom Open and close control motor on seat and the transmission mechanism connecting with open and close control motor and movable block, transmission mechanism include successively connecting The tape handler and leading screw and nut mechanism connect, open and close control pedestal are connect with first angle regulating device, the clamping jaw seat with The connection of open and close control pedestal.
- 5. more arm apple picking robots according to any one of claims 1 to 4, it is characterised in that: the first angle Regulating device include with the first adjustment seat of controller for opening and closing rotation connection, be set in the first mechanical arm the One adjusting motor, connect with the first adjustment seat and is sheathed on the first transmission shaft the first transmission shaft connecting with the first adjusting motor On axle sleeve and the first transmission mechanism for being connect with the first transmission shaft and controller for opening and closing.
- 6. more arm apple picking robots according to claim 5, it is characterised in that: be arranged in the first mechanical arm The first rotating control assembly rotated for controlling first adjustment seat relative to first mechanical arm, the first rotation control Device processed includes the first rotation control motor being set in first mechanical arm and controls motor and the axis with the first rotation The transmission mechanism of connection is covered, axle sleeve is fixedly connected with the first adjustment seat, when the first adjustment seat is rotated relative to first mechanical arm Rotation centerline when rotation centerline and controller for opening and closing are rotated relative to the first adjustment seat it is perpendicular and with first machinery Rotation centerline when arm is rotated relative to second mechanical arm is perpendicular.
- 7. more arm apple picking robots according to any one of claims 1 to 6, it is characterised in that: the second angle The the second adjusting motor and adjust motor and first machinery with second that regulating device is set in the second mechanical arm Second transmission mechanism of arm connection.
- 8. more arm apple picking robots according to any one of claims 1 to 7, it is characterised in that: the third angle Regulating device is set to the third on the third mechanical arm and adjusts motor and adjust motor and the height adjustment with third The third transmission mechanism of device connection.
- 9. more arm apple picking robots according to any one of claims 1 to 8, it is characterised in that: the height adjustment Sliding seat, the height adjustment pedestal, the height being set on height adjustment pedestal of device and second mechanical arm rotation connection The height adjustment transmission mechanism for adjusting motor and connecting with height adjustment motor and sliding seat, height adjustment transmission mechanism include Sequentially connected gear drive and leading screw and nut mechanism.
- 10. more arm apple picking robots according to claim 9, it is characterised in that: setting is used on the chassis The second rotation control motor that the height adjustment pedestal is rotated relative to chassis is controlled, height adjustment pedestal is the bottom of relative to Rotation centerline when disc spins is vertical line.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701295.8A CN110291880B (en) | 2019-07-31 | 2019-07-31 | Multi-arm apple picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910701295.8A CN110291880B (en) | 2019-07-31 | 2019-07-31 | Multi-arm apple picking robot |
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| Publication Number | Publication Date |
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| CN110291880A true CN110291880A (en) | 2019-10-01 |
| CN110291880B CN110291880B (en) | 2021-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910701295.8A Active CN110291880B (en) | 2019-07-31 | 2019-07-31 | Multi-arm apple picking robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111201897A (en) * | 2020-02-20 | 2020-05-29 | 中北大学 | Apple picking robot |
| CN114012760A (en) * | 2021-12-11 | 2022-02-08 | 浙江工业大学台州研究院 | Universal constant-force flexible automatic tool changing mechanism and operation method thereof |
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| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
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| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
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| CN109769479A (en) * | 2019-03-25 | 2019-05-21 | 河南工学院 | A kind of intelligent picking robot for preventing fruit from damaging |
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| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN205497518U (en) * | 2016-04-11 | 2016-08-24 | 胡彬 | Electric industrial manipulator |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
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| Publication number | Publication date |
|---|---|
| CN110291880B (en) | 2021-10-22 |
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