CN114931026A - Spherical fruit picking actuator capable of sensing clamping force - Google Patents
Spherical fruit picking actuator capable of sensing clamping force Download PDFInfo
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- CN114931026A CN114931026A CN202210698406.6A CN202210698406A CN114931026A CN 114931026 A CN114931026 A CN 114931026A CN 202210698406 A CN202210698406 A CN 202210698406A CN 114931026 A CN114931026 A CN 114931026A
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- clamping
- guide shell
- shell
- motor
- fruit picking
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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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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Human Computer Interaction (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spherical fruit picking actuator capable of sensing clamping force, which comprises an arm, a clamping jaw and a pressure sensor, and is characterized by also comprising a rotating seat and a guide shell sleeved on the clamping jaw, wherein the clamping jaw consists of a plurality of clamping pairs uniformly distributed along the circumference, each clamping pair comprises an elastic finger handle, a clamping finger and a boss contact, and the pressure sensors are correspondingly arranged at the top end or the bottom end of the boss contact one by one; the clamping jaw is driven by the screw rod mechanism to move axially along the guide shell, so that opening and closing are realized. The spherical fruit picking actuator can sense clamping force and is suitable for picking spherical fruits, and the sensing area of the sensor can be ensured to fall on the contact part of the clamping jaw and the fruits through the design of the boss contact, so that the detection result is accurate; meanwhile, through the design of the guide shell and the elastic finger handles of the clamping jaws, the opening and closing of the clamping jaws can be controlled only by utilizing the linear driving mechanism, the driving mode is simple, the maintenance is easy, and the control is accurate.
Description
Technical Field
The invention relates to the technical field of agricultural robots, in particular to a spherical fruit picking actuator capable of sensing clamping force.
Background
Fruit harvesting has strong seasonality and high labor intensity, and the harvesting cost occupies a large proportion in the total production cost of fruits. The spherical fruits include apple, pear, orange, kiwi, small muskmelon, dragon fruit, etc.; the vegetables in the form of balls include tomatoes, bell peppers, etc. Picking of these fruits is currently done manually. With the acceleration of the urbanization process and the shortage of rural labor force, the harvesting link restricts the development of related industries. At present, research and development on related technologies and equipment for intelligent fruit harvesting are carried out at home and abroad, wherein the picking end effector is one of key technologies. Fresh fruits have high water content and need to be lightly taken and placed during harvesting, but naturally-grown fruits have irregular shapes and different sizes, and various factors put higher requirements on a picking end effector. Picking devices with various shapes and structures are produced in the prior art, so that fruits can be picked without damage through the precise control of opening and closing of the end effector, but most of the existing picking effectors are complex in design, and generally, the clamping jaw is difficult to fit with the shape of the fruits, the applicability is strong, the clamping force is accurately detected, and the simple driving is difficult to realize.
Disclosure of Invention
The invention aims to design a novel spherical fruit picking actuator aiming at the defects in the prior art, and the novel spherical fruit picking actuator is used for improving the prior art on the premise of having a function of sensing a clamping force.
In order to achieve the technical purpose, the technical scheme provided by the invention comprises the following steps:
the first scheme is as follows:
the utility model provides a executor is picked to globular fruit of perception clamp force, includes arm, clamping jaw and pressure sensor, its characterized in that:
the spherical fruit picking actuator is also provided with a rotating seat and a guide shell sleeved on the clamping jaw;
the guide shell is connected with an arm through a rotary seat, a torsion motor is installed inside the arm, and after the clamping jaw clamps the fruit, the rotary seat is controlled by the torsion motor to rotate together with the guide shell and the clamping jaw to twist off the fruit stem of the fruit;
the clamping jaw consists of a plurality of clamping pairs which are uniformly distributed along the circumference, each clamping pair comprises an elastic finger handle, a clamping finger and a plurality of boss contacts, the pressure sensors are correspondingly arranged at the top ends or the bottom ends of the boss contacts one by one, and the shape of the induction area is consistent with that of the end surface of the boss contact; the clamping jaw is driven by the screw rod mechanism to do linear reciprocating motion along the axial direction of the guide shell, so that the opening and closing actions of the clamping jaw are controlled;
the guide shell is provided with a shell cavity which is communicated up and down, and the lower part of the shell cavity of the guide shell is provided with a tapered hole which is gradually expanded; a screw rod of the screw rod mechanism is vertically arranged in the guide shell and is controlled to rotate by a screw rod motor; the upper part of the elastic finger handle extends into the guide shell and is fixedly connected with a moving nut of the screw rod mechanism, and the lower part of the elastic finger handle extends out of the guide shell and is bent outwards and opened; the upper portion of clamp indicates is connecting portion for indicate handle fixed connection with elasticity, and the lower part is the clamping part, the clamping part is incurve arc, and the boss contact is installed the internal surface of clamping part, just the internal surface of clamping part is equipped with two upper and lower boss contacts at least, and two boss contacts are located the upper and lower both sides of clamp indicating the outermost end respectively, the outermost end of clamp indicating the position that the clamp indicates apart from the farthest place in screw rod mechanism screw rod axis, or the inflection point of clamping part incurve.
On the basis of the above scheme, a further improved or preferred scheme further comprises:
furthermore, the guide shell is connected with the rotating seat through a flange pipe connecting piece, and the flange pipe connecting piece comprises a section of circular pipe and a circular platform with the diameter larger than the outer diameter of the circular pipe; the circular tube is fixedly connected below the circular platform, and the lower part of the circular tube is inserted into the guide shell and is fixedly connected with the wall of the guide shell; a screw motor of the screw rod mechanism is fixedly arranged above the round platform, and a through hole for the screw rod to pass through is formed in the middle of the round platform;
the bottom of the rotary seat is provided with an outwardly convex flange used for connecting a circular platform of the flange pipe connecting piece, and the lower part of the shell of the arm is provided with a shaft pipe inserted into the shell of the rotary seat; the rotating seat is connected with the shaft tube through a bearing, and when the torsion motor works, the rotating seat and the shaft tube rotate relatively.
Furthermore, the screw motor is arranged in the middle of the round platform, a plurality of character seats are erected on the periphery of the screw motor, a top plate connected with an output shaft of the rotating motor is arranged at the top of each character seat, a folded edge which is turned outwards is arranged at the bottom of each character seat, each character seat is fixedly connected with the round platform through the folded edge, and the screw motor is arranged between the top plate and the round platform.
Furthermore, a plurality of linear type guide grooves are formed in the side wall of the conical hole of the guide shell, the linear type guide grooves correspond to the clamping fingers one to one, the groove width is equal to the width of the elastic finger handle, the upper ends of the linear type guide grooves extend to the upper edge of the conical hole, the lower ends of the linear type guide grooves extend to the lower edge of the conical hole, and when the elastic finger handle is attached to the conical hole, the linear type guide grooves are embedded in the guide grooves.
Further, the pressure sensor is a disk-shaped film force sensor.
Scheme II:
the utility model provides a executor is picked to globular fruit of perception clamp force, includes arm, clamping jaw and pressure sensor, its characterized in that:
the spherical fruit picking actuator is also provided with a rotating seat, a guide shell and a flange pipe connecting piece;
the guide shell is sleeved on the clamping jaw, the guide shell and the clamping jaw are connected with the bottom of the rotary seat through a flange pipe connecting piece, the top of the rotary seat is connected with an arm through a bearing, a torsion motor is installed inside a shell of the arm, and after the clamping jaw clamps the fruit, the rotary seat, the guide shell and the clamping jaw are driven to rotate together through the torsion motor to twist off the fruit stem of the fruit;
the clamping jaw consists of a plurality of clamping pairs which are uniformly distributed along the circumference, each clamping pair comprises an elastic finger handle, a clamping finger and a boss contact, the pressure sensors are correspondingly arranged at the top end or the bottom end of the boss contact one by one, and the shape of the sensing area of each pressure sensor is consistent with the shape of the end face of the boss contact and used for detecting the clamping force of the clamping jaw on the fruit;
the flange pipe connecting piece comprises a section of circular pipe and a circular platform with the diameter larger than the outer diameter of the circular pipe, the circular pipe is fixedly connected below the circular platform, the lower part of the circular pipe is inserted into the guide shell, and a gear motor positioned beside the circular pipe is fixed below the circular platform through a motor support; the gear motor is used for driving the guide shell to axially move along the circular pipe of the flange pipe connecting piece through the gear transmission mechanism so as to control the opening or closing of the clamping jaw;
the guide shell is provided with a shell cavity which is communicated up and down, the lower part of the shell cavity is provided with a tapered hole which is gradually expanded, the upper part of the elastic finger handle extends into a round pipe of the flange pipe connecting piece through the guide shell and is fixedly connected with the side wall of the round pipe, and the lower part of the elastic finger handle is positioned on the outer side of the guide shell and is bent and opened outwards; the upper portion that presss from both sides the finger is connecting portion for indicate handle fixed connection with elasticity, and the lower part is the clamping part, the clamping part is incurve arc, and the boss contact is installed the internal surface of clamping part, just the internal surface of clamping part is equipped with two upper and lower boss contacts at least, and two boss contacts are located the upper and lower both sides that press from both sides the outer end respectively, the outer end of pressing from both sides indicate the position that the distance of pressing from both sides indicates the shell axis farthest place, perhaps says the inflection point of clamping part incurve.
Furthermore, an axial sliding groove is formed in the outer wall of a circular tube of the flange tube connecting piece, and a rack is mounted in the axial sliding groove; the upper part of the guide shell cavity is a cylindrical through hole, and the side wall of the guide shell cavity is fixedly connected with the lower part of the rack; and a driving gear meshed with the rack is arranged on an output shaft of the gear motor, and the rack drives the guide shell to do linear reciprocating motion along the inside of the sliding groove under the driving of the gear motor.
Furthermore, the bottom of the rotating seat is provided with an outwardly convex flange for connecting a round platform of the flange pipe connecting piece, and a top plate of the rotating seat is provided with an annular end cover;
the lower part of the shell of the arm is provided with a shaft tube inserted into the rotary seat, and the rotary seat is connected with the shaft tube through a bearing; the outer ring of the bearing is attached to the inner wall of the rotating seat, the upper end and the lower end of the bearing are fixed through the annular end cover and the sleeve respectively, the inner ring of the bearing is clamped on the shaft shoulder of the shaft tube, and the lower part of the bearing is fixed through the clamp spring; the outer side wall of the sleeve is attached to the inner wall of the rotating seat and arranged between the bearing outer ring and the circular platform;
and a motor output shaft of the rotating motor is in key connection with the circular platform, and the guide shell and the clamping jaw are controlled to rotate together through the circular platform.
Furthermore, a plurality of linear guide grooves are formed in the side wall of the conical hole of the guide shell, the linear guide grooves correspond to the clamping fingers one to one, the groove width is equal to the width of the elastic finger handle, the upper ends of the linear guide grooves extend to the upper edge of the conical hole, the lower ends of the linear guide grooves extend to the lower edge of the conical hole, and when the elastic finger handle is attached to the conical hole, the linear guide grooves are embedded in the linear guide grooves.
Further, the pressure sensor is a disk-shaped film force sensor.
Has the advantages that:
1) the spherical fruit picking actuator can realize the control of the opening and closing of the clamping jaws only by utilizing the linear reciprocating motion driving mechanism through the design of the guide shell and the elastic finger handles of the clamping jaws, has simple driving mode and accurate control, is easy to realize the detection while closing, ensures that fruits are firmly clamped and avoids damaging the fruits, can effectively reduce the probability of damaging the fruits compared with the pneumatic clamping jaws which are commonly used in the field and are put in place in one step, and can adapt to the change of the sizes/shapes of the fruits within a certain range;
2) the spherical fruit picking actuator can sense clamping force and is suitable for picking spherical fruits, and through the design of the boss contact, the sensing area of the sensor can be further ensured to fall on the part where the clamping jaw is contacted with the fruits, so that the detection result is accurate, the probability of damaging the fruits is reduced, and the design of the clamping part has strong applicability to different fruit sizes and shapes;
3) the spherical fruit picking actuator provided by the invention has the advantages that the fruit handle is separated from a plant in a manner of quickly twisting the clamping jaw, the damage to the plant caused by pulling hard fruits is avoided, the twisting driving mechanism and the driving mechanism for controlling the clamping of the fruits are effectively combined together, the structural planning is reasonable, the integration level is high, and the occupied space is small.
Drawings
FIG. 1 is a schematic view of the operation of a fruit picking actuator according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of the appearance of a fruit picking actuator in embodiment 1 of the invention;
fig. 3 is a cross-sectional view of a fruit picking actuator according to embodiment 1 of the present invention;
FIG. 4 is an enlarged schematic view of a portion of the structure of FIG. 3;
FIG. 5 is a schematic view showing an internal structure of a swivel base in example 1;
fig. 6 is a schematic working diagram of a fruit picking actuator in embodiment 2 of the invention;
fig. 7 is an appearance structure schematic diagram of a fruit picking actuator in embodiment 2 of the invention;
fig. 8 is a cross-sectional view of a fruit picking actuator according to embodiment 3 of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1:
a spherical fruit picking actuator 1 capable of sensing clamping force comprises an arm 101, a rotary seat 102, a guide shell 103, clamping jaws, a pressure sensor 106 and the like, wherein the clamping jaws are connected with the guide shell 103 through a screw rod mechanism, and the guide shell 103 is connected with the arm 101 through the rotary seat 102. The screw mechanism includes a screw, a moving nut 112 mounted on the screw, and a screw motor 116 for controlling the rotation of the screw.
As shown in fig. 1, the clamping jaw in this embodiment is composed of three clamping pairs uniformly distributed along the circumferential direction (i.e. three clamping pairs are distributed at an interval of 120 ° in the circumferential direction), and the clamping pairs include elastic finger handles 104, clamping fingers 105 and a plurality of cylindrical boss contacts 107.
In this embodiment, the pressure sensor 106 is a thin film force sensor, which can generate an electrical signal coupled to a pressure applied thereto, which is the prior art and will not be described herein again. The film force sensors are correspondingly fixed at the top ends of the boss contacts 106 (namely, the parts of the boss contacts 106 contacted with the fruits) one by one, the shape of the sensing area of the film force sensors is consistent with that of the end faces of the top ends of the boss contacts 106, and the film force sensors cover the top ends of the boss contacts 106 and are used for detecting the clamping force of the clamping jaws on the fruits. As an alternative embodiment, the film force sensor may also be installed between the boss contact 106 and the clamping finger, and the specific operation mode is to uniformly coat glue on the front and back surfaces of the sensing area of the film force sensor, and connect the front and back surfaces with the bottom surface of the boss contact 106 and the surface of the clamping finger 105 respectively, so that the clamping force of the clamping jaw on the fruit can be directly transmitted to the film force sensor, and the film force sensor can be protected from being worn. A torsion motor 113 is arranged in the shell of the arm 1, and after the clamping jaws clamp fruits, the torsion motor 113 controls the rotary base 102 to rotate together with the guide shell 103 and the clamping jaws, so that the stems of the fruits 3 are twisted off, and the fruits are picked.
To further understand the structure of the actuator of the present embodiment, it is cut away as shown in fig. 2.
The guide shell 103 is provided with a vertically through shell cavity, and the lower part of the shell cavity is provided with a tapered hole with the caliber gradually increasing downwards; the screw of the screw rod mechanism is vertically arranged in the guide shell 103 and is controlled to rotate by a screw rod motor 116 arranged in the rotating seat 102; the upper part of the elastic finger handle 104 extends into the guide shell 103 and is fixedly connected with a moving nut 112 of the screw rod mechanism through a bolt, the lower part of the elastic finger handle extends out of the guide shell 103, is bent outwards and opened and is connected with a clamping finger 105 below the elastic finger handle, and the elastic finger handle 104 is made of elastic materials with support property and deformation restorability, such as steel plates, hard plastics and the like; the upper part of the clamping finger 105 is a connecting part which is fixedly connected with the elastic finger handle 104 through a bolt, the lower part of the clamping finger 105 is a clamping part, the clamping part is in the shape of an arc which is bent inwards, an upper cylindrical boss contact 106 and a lower cylindrical boss contact 106 are arranged on the inner surface of the clamping part, and the boss contacts 106 are made of rubber materials in order to avoid damaging the surface of a fruit; the moving nut 112 is provided with a vertical key slot, and the inner wall of the guide housing 103 is provided with a corresponding key 111 through a screw, so as to limit the movement of the moving nut 112 in the radial direction.
The guide housing 103 is connected with the rotary base 102 through a flange pipe connecting piece 110, the flange pipe connecting piece 110 comprises a section of circular pipe and a circular platform with a diameter larger than the outer diameter of the circular pipe, a through hole for a screw rod of a screw rod to pass through is formed in the middle of the circular platform, the circular pipe is fixedly connected below the circular platform, is inserted into the guide housing 103 during installation, and is fixedly connected with the wall of the guide housing 103 through a bolt.
The shell of the rotating seat 102 is provided with a vertically through shell cavity, the bottom of the rotating seat 102 is provided with an outwardly convex flange used for connecting the circular platform of the flange pipe connecting piece 110, and the upper part of the shell cavity of the rotating seat 102 is provided with a stepped hole with a reduced caliber and an annular end cover. The caliber difference between the stepped hole and the shell cavity below the stepped hole forms a first stepped surface, and the caliber difference between the central through hole of the annular end cover and the stepped hole forms a second stepped surface.
The lower part of the housing of the arm 101 is provided with a shaft tube inserted into the housing of the rotary base 102, and the rotary base 102 is connected with the shaft tube through a deep groove ball bearing 114. As shown in fig. 3, the deep groove ball bearing 114 is installed in the stepped hole, the outer ring contacts with the side wall of the stepped hole, the inner ring is clamped on the shaft shoulder of the shaft tube, and the lower part is fixed by the clamp spring 115. A sleeve 109 is arranged below the outer ring of the deep groove ball bearing 114, the outer wall of the sleeve 109 is attached to the inner wall of a shell cavity below the stepped hole, the upper end and the lower end of the sleeve 109 are clamped between the first stepped surface and the circular platform of the flange pipe connecting piece 110, and the wall thickness of the sleeve 109 is larger than the radial width of the first stepped surface, so that the top end face of the sleeve is inwards protruded out of the side wall of the stepped hole. The portion of the top end surface of the sleeve 109 protruding from the side wall of the stepped bore is engaged with the second stepped surface to confine the outer race therebetween.
The motor output shaft of the rotating motor 113 is connected with the bases 108 fixedly arranged on the circular platform through a motor key 117, and the radial force and the axial force borne by the motor shaft are transferred to the deep groove ball bearing 114 in the process that the rotating motor 113 output shaft drives the bases 108 and the circular platform to rotate, so that the clamping jaw can rotate relative to the arm 101, fruit stalks of fruits can be twisted off, and the fruits can be picked.
The top of the n-shaped seat 108 is provided with a top plate connected with an output shaft of the rotating motor 113, the bottom of the n-shaped seat is provided with a folded edge which is folded outwards, and the n-shaped seat 108 is fixedly connected with the round platform through the folded edge and a bolt. And a screw motor 116 of the screw rod mechanism is fixedly arranged in the middle of the circular platform of the flange pipe connecting piece 110 and is positioned below the top plate of the n-shaped seat 108.
The working principle is as follows:
in the above structure, the distance between the outermost end (the inflection point of the inward bending of the clamping portion) of the clamping finger 105 and the central axis of the screw mechanism is much larger than the radius of the tapered hole of the guide housing 103, and the inclination of the lower portion of the elastic finger handle 104 relative to the central axis is also larger than the inclination of the side wall of the tapered hole, so that when the screw motor 116 drives the elastic finger handle 104 to move axially upwards by moving the nut, the elastic finger handle 104 is restricted and pulled by the side wall of the tapered hole when contacting the tapered hole, so that the inclination of the lower portion of the elastic finger handle 104 changes correspondingly due to the attachment thereof, and the opening angle of each clamping finger 105 is reduced greatly. When the screw motor 116 controls the moving nut to drive the elastic finger handle 104 to move axially downwards, the opening angle of each clamping finger 105 will recover to its original state under the action of the elastic force of the material, and the opening angle is changed from small to large. In other words, when the movable nut 112 moves downwards, the three clamping fingers 105 are opened, and when the movable nut 112 moves upwards, the three clamping fingers 105 are closed, so that the axial movement of the movable nut 112 is controlled by the screw motor 116, i.e. the opening or closing of the clamping jaws can be controlled, and in practice, the stroke of the movable nut 112 can be adjusted according to the variety of the fruit and the size of the fruit.
The fruit picking actuator designed by the embodiment is arranged on a fruit picking robot, is an end actuating mechanism of the picking robot, and can be detachably connected with a mechanical arm of the robot through a flange structure. When fruits are picked, the clamping jaws are in contact with the fruits through the boss contacts 106, the pressure sensors 106 sense the clamping force of the clamping jaws during picking, the control system receives signals sent by the pressure sensors 106 and compares the signals with preset values, the screw motor 116 can be driven to clamp or open the clamping fingers 105 timely, and the fruits are prevented from being damaged while being clamped. After the fruits are clamped, the rotating motor 113 arranged in the arm drives the clamping jaw to rapidly and repeatedly twist, so that the stems of the fruits 3 can be twisted off, and the fruits 3 can be finally picked.
Example 2:
a spherical fruit picking actuator 2 capable of sensing clamping force comprises an arm 201, a rotary seat 202, a guide shell 206, a clamping jaw, a pressure sensor 211 and the like. The difference between this embodiment and embodiment 1 is that the clamping jaws do not move axially relative to the arm 201, but the opening and closing of the clamping jaws are controlled by driving the guide housing 206 to move axially, and the axial movement of the guide housing 206 is driven by the rack mechanism.
The structure of the clamping jaw in this embodiment is the same as that of embodiment 1, and as shown in fig. 7, the clamping jaw is composed of three clamping pairs which are uniformly distributed along the circumferential direction, and each clamping pair comprises an elastic finger handle 209, a clamping finger 210 and a plurality of cylindrical boss contacts 212. The pressure sensors 211 are correspondingly arranged at the top ends of the boss contacts 106 one by one, and the shape of the sensing area is consistent with that of the end face of the top end of the boss contact 106, so that the pressure sensors are used for detecting the clamping force of the clamping jaws on the fruits. A torsion motor 214 is installed inside the housing of the arm 201, and after the clamping jaws clamp the fruits, the torsion motor 214 controls the rotary base 202 to rotate together with the guide housing 206 and the clamping jaws, so that the stalks of the fruits 3 are twisted off, and the fruits 3 are picked.
The actuator of the present embodiment is constructed in a sectional structure as shown in fig. 8.
The direction shell 206 through flange union coupling 205 with roating seat 202 is connected, flange union coupling 206 include one section pipe and a diameter and be greater than the round platform of pipe external diameter, pipe fixed connection inserts in the direction shell 206 in the below of round platform during the installation. Meanwhile, the outer side wall of the circular tube is provided with a sliding groove which is parallel to the axial direction of the circular tube, a rack 208 is arranged in the sliding groove, and the rack 208 can reciprocate in the sliding groove under the driving of a gear motor 203 (a driving device which is composed of a motor body and a gear arranged on an output shaft of the motor). The shell of the gear motor 203 is fixed below the circular platform through a motor support.
The guide housing 206 is provided with a vertically through housing cavity, the upper part of the housing cavity is a cylindrical through hole, and the side wall of the housing cavity is fixedly connected with the lower part of the rack through a bolt, so that the guide housing 206 can do axial linear reciprocating motion along with the rack; the lower part of the shell cavity is a tapered hole with the caliber gradually enlarged downwards. The upper part of the elastic finger handle 209 extends into the round pipe of the flange pipe connecting piece 205 through the guide shell 206 and is fixedly connected with the side wall of the round pipe through a bolt, and the lower part extends out of the guide shell 206 and is bent outwards and opened to be connected with the clamping finger 210 below; the upper portion of clamp finger 210 is connecting portion, indicates handle 209 fixed connection through bolt and elasticity, and the lower part is the clamping part, the clamping part is the arc of incurving, and clamping part internal surface mounting has upper and lower two columniform boss contacts 211, for avoiding damaging the fruit surface, boss contact 211 adopts rubber materials to make.
The shell of the rotating base 202 is provided with a vertically through shell cavity, the bottom of the rotating base 202 is provided with an outwardly convex flange for connecting with the circular platform of the flange pipe connecting piece 205, and the upper part of the rotating base is provided with an annular end cover.
The lower part of the shell of the arm 201 is provided with an axle tube inserted into the shell of the rotary base 202, and the rotary base 202 is connected with the axle tube through a deep groove ball bearing 215. The outer ring of the deep groove ball bearing 215 is attached to the inner wall of the rotating base 202, the upper end and the lower end of the deep groove ball bearing are fixed to the sleeve 213 through the annular end cover, the inner ring of the bearing is clamped to the shaft shoulder of the shaft tube, and the lower portion of the bearing is fixed to the shaft shoulder of the shaft tube through the clamp spring 216. The outer side wall of the sleeve 213 is attached to the inner wall of the rotating base 202 and is located between the outer ring of the bearing and the circular platform.
The motor output shaft of the rotating motor 214 is connected with the circular platform key through the motor key 217, the rotating motor 214 output shaft rotates, and the gear motor 203, the guide shell 206 and the clamping jaw which are arranged below the circular platform can be controlled to rotate together.
The working principle is as follows:
in the structure, the width distance between the outermost end of each clamping finger 210 and the central axis of the guide housing 206 is far larger than the radius of the tapered hole of the guide housing 206, and the inclination of the lower part of the elastic finger handle 209 relative to the central axis is also larger than the inclination of the side wall of the tapered hole, so that when the gear motor 203 drives the guide housing 206 to move downwards through the mutually meshed gears and the rack 208, the lower part of the elastic finger handle 209 can be contacted with the side wall of the tapered hole and is restricted and pulled by the side wall of the tapered hole, the inclination of the lower part is correspondingly changed, and the opening angle of each clamping finger 210 is reduced from large to small. When the gear motor 203 controls the guide shell 206 to move upwards, the opening angle of each clamping finger 210 is restored to the original state under the action of the elastic force of the material and is changed from small to large. In other words, when the guide housing 206 moves downwards, the three clamping fingers 210 are closed, and when the guide housing 206 moves upwards, the three clamping fingers 210 are opened, so that the axial movement of the guide housing 206 is controlled by the gear motor 203, i.e. the opening or closing of the clamping jaws can be controlled, and in practice, the stroke of the guide housing 206 can be adjusted according to the variety of the fruit and the size of the fruit.
The fruit picking actuator designed by the embodiment is arranged on a fruit picking robot, is an end actuating mechanism of the picking robot, and can be detachably connected with a mechanical arm of the robot through a flange structure. When picking fruits, the clamping jaw is in contact with the fruits through the boss contacts 22, the pressure sensor 211 senses the clamping force of the clamping jaw during picking, the control system receives signals sent by the pressure sensors 211 and compares the signals with preset values, the driving gear motor 203 can timely clamp or open the clamping fingers 210, and the fruits 3 are prevented from being damaged while being clamped. After the fruits 3 are clamped, the rotating motor 214 arranged in the arm drives the clamping jaw to rapidly and repeatedly twist, so that the stems of the fruits 3 can be twisted off, and the fruits 3 can be picked finally.
Example 3:
on the basis of any one of the embodiments, the side wall of the conical hole of the guide shell is further provided with three linear guide grooves, the linear guide grooves correspond to the elastic finger handles one to one, the groove width is equal to the width of the elastic finger handles, the upper ends of the linear guide grooves extend to the upper edge of the conical hole, the lower ends of the linear guide grooves extend to the lower edge of the conical hole, and when the elastic finger handles are attached to the conical hole, the linear guide grooves are embedded in the guide grooves to prevent the linear guide grooves from deviating in the opening or closing process.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial technical change.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A spherical fruit picking actuator capable of sensing clamping force comprises an arm (101), a clamping jaw and a pressure sensor (106), and is characterized in that:
the spherical fruit picking actuator is also provided with a rotating seat (102) and a guide shell (103) sleeved on the clamping jaw;
the guide shell (103) is connected with the arm (101) through the rotary seat (102), the torsion motor (113) is installed inside the arm (101), and after the clamping jaws clamp fruits, the rotary seat (102) is controlled through the torsion motor (113) to rotate together with the guide shell (103) and the clamping jaws, so that the fruit stems of the fruits are twisted off;
the clamping jaw is composed of a plurality of clamping pairs which are uniformly distributed along the circumference, each clamping pair comprises an elastic finger handle (105), a clamping finger (105) and a plurality of boss contacts (107), the pressure sensors (106) are correspondingly arranged at the top end or the bottom end of each boss contact (107), and the shape of the sensing area is consistent with that of the end surface of each boss contact (107); the clamping jaws are driven by a screw rod mechanism to do linear reciprocating motion along the axial direction of the guide shell (103), so that the opening and closing actions of the clamping jaws are controlled;
the guide shell (103) is provided with a vertically through shell cavity, and the lower part of the shell cavity of the guide shell (103) is provided with a tapered hole which is gradually enlarged; a screw rod of the screw rod mechanism is vertically arranged in the guide shell (103) and is controlled to rotate by a screw rod motor (116); the upper part of the elastic finger handle (104) extends into the guide shell (103) and is fixedly connected with a moving nut (112) of the screw rod mechanism, and the lower part of the elastic finger handle extends out of the guide shell (103) and is bent outwards and opened; the upper portion of clamp finger (105) is connecting portion for with elasticity indicate handle (104) fixed connection, the lower part is the clamping part, the clamping part is incurve arc, boss contact (107) are installed the internal surface of clamping part, just the internal surface of clamping part is equipped with two upper and lower boss contacts (107) at least, two upper and lower boss contacts (107) be located the upper and lower both sides of clamp finger (105) outermost end respectively, clamp finger (105) outermost end refer to the clamping part apart from the position of screw rod mechanism screw rod axis furthest department, or the inflection point of clamping part incurve.
2. The fruit picking actuator with sensing of gripping force of claim 1, wherein:
the guide shell (103) is connected with the rotating seat (102) through a flange pipe connecting piece (110), and the flange pipe connecting piece (110) comprises a section of circular pipe and a circular platform with the diameter larger than the outer diameter of the circular pipe; the round pipe is fixedly connected below the round platform, the lower part of the round pipe is inserted into the guide shell (103), and the round pipe is fixedly connected with the wall of the guide shell (103); a screw motor (116) of the screw rod mechanism is fixedly arranged above the circular platform, and a through hole for the screw rod to pass through is formed in the middle of the circular platform;
the bottom of the rotary seat (102) is provided with an outwardly convex flange for connecting a round platform of the flange pipe connecting piece (110), and the lower part of the shell of the arm (101) is provided with an axle pipe inserted into the shell of the rotary seat; the rotating base (102) is connected with the shaft tube through a bearing, and when the torsion motor (113) works, the rotating base and the shaft tube rotate relatively.
3. The fruit picking actuator of claim 2, wherein the fruit picking actuator is capable of sensing a clamping force, and comprises:
the screw motor (116) is arranged in the middle of the round platform, a plurality of character seats (108) are erected on the periphery of the screw motor (116), a top plate connected with an output shaft of the rotating motor (113) is arranged at the top of each character seat (108), a folded edge which is turned outwards is arranged at the bottom of each character seat, each character seat (108) is fixedly connected with the round platform through the folded edge, and the screw motor (116) is arranged between the top plate and the round platform.
4. The spherical fruit picking actuator with sensible clamping force as claimed in any one of claims 1 to 3, wherein:
the lateral wall of direction shell (103) bell mouth has seted up a plurality of linear type guide ways, linear type guide way and clamp indicate (105) one-to-one, and the width that the groove width indicated handle (104) with elasticity equals, the upper end of linear type guide way extends to the last edge of bell mouth, and the lower extreme extends to the lower edge of bell mouth, when elasticity indicated handle (104) and bell mouth laminating, inlays in the guide way.
5. A spherical fruit picking actuator capable of sensing gripping force according to any one of claims 1-3, wherein:
the pressure sensor is a disk-shaped film force sensor.
6. The utility model provides a executor is picked to globular fruit of perception clamp force, includes arm (201), clamping jaw and pressure sensor (211), its characterized in that:
the spherical fruit picking actuator is also provided with a rotating seat (202), a guide shell (206) and a flange pipe connecting piece (205);
the guide shell (206) is sleeved on the clamping jaws and is connected with the bottom of the rotating seat (202) through a flange pipe connecting piece (205), the top of the rotating seat (202) is connected with the arm (201) through a bearing, a torsion motor (214) is installed inside the shell of the arm (201), and after the clamping jaws clamp fruits, the rotating seat (202), the guide shell (206) and the clamping jaws are driven to rotate together through the torsion motor (214) to twist off the fruit stalks of the fruits;
the clamping jaw is composed of a plurality of clamping pairs which are uniformly distributed along the circumference, each clamping pair comprises an elastic finger handle (209), a clamping finger (210) and a plurality of boss contacts (212), pressure sensors (211) are correspondingly arranged at the top end or the bottom end of each boss contact (212), the shape of a sensing area of each pressure sensor is consistent with the shape of the end face of each boss contact (212), and the pressure sensors are used for detecting the clamping force of the clamping jaw on the fruit;
the flange pipe connecting piece (206) comprises a section of circular pipe and a circular platform with the diameter larger than the outer diameter of the circular pipe, the circular pipe is fixedly connected below the circular platform, the lower part of the circular pipe is inserted into the guide shell (206), and a gear motor (203) positioned beside the circular pipe is fixed below the circular platform through a motor support; the gear motor (203) is used for driving the guide shell (206) to axially move along the circular pipe of the flange pipe connecting piece (206) through the gear transmission mechanism;
the guide shell (206) is provided with a shell cavity which is communicated up and down, the lower part of the shell cavity is provided with a tapered hole which is gradually expanded, the upper part of the elastic finger handle (209) extends into a round pipe of the flange pipe connecting piece (205) through the guide shell (206) and is fixedly connected with the side wall of the round pipe, and the lower part of the elastic finger handle is positioned at the outer side of the guide shell (206) and is bent outwards and opened; the upper portion of clamp finger (210) is connecting portion for with elasticity indicate handle (209) fixed connection, the lower part is the clamping part, the clamping part is incurve arc, boss contact (211) are installed the internal surface of clamping part, just the internal surface of clamping part is equipped with two upper and lower boss contacts (212) at least, and two boss contacts (212) are located the upper and lower both sides of clamp finger (210) outermost end respectively, clamp finger (210) outermost end point be the clamping part apart from the position of direction shell (206) axis farthest place, or the inflection point of clamping part incurve.
7. The fruit picking actuator with sensing clamping force as claimed in claim 6, wherein:
an axial sliding groove is formed in the outer wall of a circular pipe of the flange pipe connecting piece (206), and a rack (208) is installed in the axial sliding groove; the upper part of the shell cavity of the guide shell (206) is a cylindrical through hole, and the side wall of the guide shell is fixedly connected with the lower part of the rack (208); the output shaft of the gear motor (203) is provided with a driving gear meshed with the rack (208), and the rack (208) drives the guide shell (206) to do linear reciprocating motion along the sliding groove under the driving of the gear motor (203) so as to control the opening and closing of the clamping jaws.
8. The fruit picking actuator of claim 6, wherein the fruit picking actuator is capable of sensing a clamping force, and comprises:
the bottom of the rotating seat (202) is provided with an outwardly convex flange used for connecting a circular platform of the flange pipe connecting piece (205), and the top plate of the rotating seat (202) is provided with an annular end cover;
the lower part of the shell of the arm (201) is provided with an axle tube inserted into the rotary seat (202), and the rotary seat (202) is connected with the axle tube through a bearing; the outer ring of the bearing is attached to the inner wall of the rotating seat (202), the upper end and the lower end of the bearing are fixed through the annular end cover and the sleeve (213) respectively, the inner ring of the bearing is clamped on the shaft shoulder of the shaft tube, and the lower part of the bearing is fixed through the clamp spring (216); the outer side wall of the sleeve (213) is attached to the inner wall of the rotating seat (202) and arranged between the bearing outer ring and the circular platform;
and a motor output shaft of the rotating motor (214) is in key connection with the circular platform, and the guide shell (206) and the clamping jaw are controlled to rotate together through the circular platform.
9. A spherical fruit picking actuator capable of sensing clamping force according to any one of claims 6 to 8, wherein:
a plurality of linear type guide ways have been seted up to the lateral wall in direction shell (206) bell mouth, linear type guide way and clamp indicate (210) one-to-one, and the width that the groove width indicated handle (209) with elasticity equals, the upper end of linear type guide way extends to the last edge of bell mouth, and the lower extreme extends to the lower edge of bell mouth, when elasticity indicated handle (209) and bell mouth laminating, inlays in the linear type guide way.
10. The fruit picking actuator of any one of claims 6-9, wherein the actuator is a spherical fruit picking actuator capable of sensing clamping force, and the actuator is characterized in that:
the pressure sensor (211) is a disk-shaped thin film force sensor.
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| CN202210698406.6A CN114931026A (en) | 2022-06-20 | 2022-06-20 | Spherical fruit picking actuator capable of sensing clamping force |
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| CN202210698406.6A CN114931026A (en) | 2022-06-20 | 2022-06-20 | Spherical fruit picking actuator capable of sensing clamping force |
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