CN101019485B - Terminal executor of strobile picking robot and its control method - Google Patents
Terminal executor of strobile picking robot and its control method Download PDFInfo
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- CN101019485B CN101019485B CN2007100205016A CN200710020501A CN101019485B CN 101019485 B CN101019485 B CN 101019485B CN 2007100205016 A CN2007100205016 A CN 2007100205016A CN 200710020501 A CN200710020501 A CN 200710020501A CN 101019485 B CN101019485 B CN 101019485B
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Abstract
The present invention relates to picking robot technology, and is especially one kind of terminal executor of sphere fruit picking robot and its control method. The terminal executor has two motors for the opening and closing of fingers and the moving of the chuck separately, laser focusing lens fixed to the casing of the executor to guide the fruit stem to pass through the slot set in the centerof fingers, and laser to cut off fruit stem through cooperation with the laser focusing lens. The terminal executor is controlled with one open-type control system based on laptop and multiple shaft motion controlling card communicating in USB mode to control the motors, the vacuum system and the laser system. The present invention has novel structure, flexible control and easy expanding, and maybe used in picking tomato, apple, orange and other sphere fruits.
Description
Technical field
The present invention relates to the picking robot field, particularly a kind of terminal executor of strobile picking robot and control method thereof.
Background technology
The mechanization of general apple, oranges and tangerines, tomato equal sphere fruit is plucked, and with vibrating the fruit on the plant is dropped, even the method pulled out of large tracts of land, can't cause the quality of fruit to be subjected to very big infringement at differences such as the concrete maturation of fruit, sizes.Utilize during picking robot plucks automatically, must carry out the harvesting task of fruit by the end effector that links to each other with the mechanical wrist part of robot, carried out certain research in this field abroad, as Japanese N.Kondo etc. at " End-Effectors forTomato Harvesting Robot " (Artificial Intelligence Review 12:11-25,1998.) introduced mechanical tomato picker device robot end actuator in the literary composition, can catch tomato and twist off carpopodium, but finger is bigger to the chucking power of fruit when twisting off carpopodium, often cause the damage of fruit even break, and it can only be used for the harvesting of tomato.The apple picking robot end effector that Japan D.M.Bulanon etc. introduces in " DETERMINING THE 3-D LOCATION OF THE APPLE FRUIT DURING HARVEST. " (Proceedings of the ASAE 7-8 October 2004Conference:91-97.) literary composition, catch and twist off the stalk of apple with two fingers, but there is not FEEDBACK CONTROL, can't adapt to different fruits and change, can only be applicable to the harvesting of particular growth phase apple with the power that is connected of stalk.
Because shape, size, the physical characteristic difference of different fruits are obvious, above finding terminal executor of picking robot all is to design for the harvesting of specific fruit, its basic machine structure has tangible specificity feature, control system adopts specific controller, special use and closure are extremely strong, are difficult to general and expansion.It is wide in variety that fruits and vegetables are planted, and harvest season property is stronger, causes each tailored version terminal executor of picking robot utilization ratio lower, must design and change corresponding end effector and gather in the crops different fruits and vegetables, and the producer is caused great cost burden.
Summary of the invention
In order to overcome existing deficiency of plucking method and apparatus, the invention provides a kind of terminal executor of strobile picking robot and control method thereof, can realize the harvesting of spherical fruit.
The technical solution adopted for the present invention to solve the technical problems is: produce vacuum by vacuum generator, drive the vacuum ripple sucker by pinion and rack and hold objective fruit and spur its disengaging fruit bundle; Finish the folding of two holding fingers by bidirectional screw mechanism,, finish the cut-out of carpopodium by laser instrument and condenser lens by pointing the focusing orientation that groove guiding carpopodium that central authorities are provided with enters laser focusing lens.By the control that realizes based on the open control system of notebook computer and multi-axis motion control card end effector.
The invention has the beneficial effects as follows, as the terminal actuating unit of picking robot, novel structure, the control system light and flexible, opening strong, be easy to expansion, can realize the harvesting of tomato, apple, oranges and tangerines equal sphere fruit smoothly, have good versatility.
Description of drawings
Fig. 1 is the structural representation of terminal executor of strobile picking robot executive system, and Fig. 2 is the guide barrel construction figure of top finger, and Fig. 3 is the control system schematic diagram.
1. rubber among Fig. 1,2. top finger, 3. reverse-flighted screw, 4. laser focusing lens, 5. geometrical clamp, 6. guide post, 7. fiber coupled laser diode, 8. vacuum generator, 9. motor, 10. bevel gear, 11. bevel gears, 12. tooth bar, 13. gears, 14. motors, 15. bottoms finger, 16. suckers.
Embodiment
Terminal executor of strobile picking robot is made up of executive system and control system, and wherein executive system (as Fig. 1) comprises vacuum cup mechanism, fingerhold mechanism and laser cutting mechanism.Vacuum cup mechanism comprises vacuum generator (8), sucker (16), motor (14), gear (13) and tooth bar (12), sucker (16) is fixed in tooth bar (12) front end, and link to each other with vacuum generator (8) by vacuum tube, gear (13) is installed on motor (14) axle.
Fingerhold mechanism comprises top finger (2), bottom finger (15), rubber (1), reverse-flighted screw (3), guide post (6), motor (9), bevel gear (10) and bevel gear (11), top finger (2), bottom finger (15) are arc surface, rubber (1) is posted in the inboard, reliablely and stablely to grasp fruit; Have left-handed on the reverse-flighted screw (3) and two sections screw threads of dextrorotation, form worm drive with top finger (1) and bottom finger (15) respectively; Have groove shown in Figure 2 on top finger (2) and the rubber (1); Between top finger (1) and the bottom finger (15) guide post (6) is installed, top finger (1) and bottom finger (15) slide along guide post (6), and guide post (6) plays guiding and stabilization to the parallel motion of finger; Bevel gear (11) is installed on the external part of reverse-flighted screw (3), and bevel gear (10) is installed on the axle of motor (9).
Laser cutting mechanism comprises fiber coupled laser diode (7), laser focusing lens (4) and geometrical clamp (5), laser focusing lens (4) is fixed on the housing of end effector by geometrical clamp (5), and links to each other with fiber coupled laser diode (7) by optical fiber.
Produce vacuum by vacuum generator (8), motor (14) driven wheel (13) rotates, and makes tooth bar (12) drive fixing with it sucker (16) and advances along rectilinear direction, holds fruit and slow astern set a distance, and the pulling fruit breaks away from the fruit bundle; Motor (9) drives reverse-flighted screw (3) and rotates by the transmission of bevel gear (10), bevel gear (11), thereby top finger (2) and bottom finger (15) are closed up, and catches fruit.Groove shown in Figure 2 on top finger (2) and the rubber (1), the guiding carpopodium enters the focusing orientation of laser focusing lens (4), thereby makes laser focusing lens (4) aim at carpopodium.Produce high energy laser beam by fiber coupled laser diode (7), focus on the carpopodium, carpopodium is cut off through laser focusing lens (4).For tomato, apple, oranges and tangerines equal sphere fruit, this executive system has good versatility.
With notebook computer+multi-axis motion control card is upper control module, makes up open control system (Fig. 3).Compare with desktop computer with industrial computer, it is little, in light weight that notebook computer takes up room, and need not AC power, is more suitable in the control of mobile picking robot and end effector.Carry out communication in the USB mode between notebook computer and the multi-axis motion control card, the convenient connection and disconnection; The built-in DSP digital signal processor of multi-axis motion control card, constitute the two CPU control models of master-slave mode with notebook computer CPU, convenient programming of notebook computer CPU and monitoring in real time, multi-axis motion control card can be thrown off notebook computer, as the motion controller independent operating, make picking robot and end effector work more easy, flexible.
Positions such as the finger of actuator, wrist are distributed with the sensor of some endways, and all the sensors signal by the I/O mouth output control signal of multi-axis motion control card, constitutes feedback control system simultaneously by I/O mouth input multi-axis motion control card.Sensor comprises far (closely) range sensor, proximity transducer, power sensor, optoelectronic switch etc., be used for gathering in real time the information of end effector outside, and pressure sensor is used to feed back the lnp information of vacuum cup mechanism, and motor encoder is used to feed back the position and the velocity information of motor (9) and motor (14); The output control signal is amplified by the signal of driver, be used for the control of motor (9), motor (14), realize fingerhold mechanism and the power of vacuum cup mechanism and the accurate control of motion, and the switching by solenoid control vacuum generator (8), the switching by relay control fiber coupled laser diode (7), carry out action in a certain order, finish the harvesting of fruit.
This control system is open, flexible, powerful, be easy to expansion and carry out communication with the robot body controller.For tomato, apple, oranges and tangerines equal sphere fruit,, can adapt to the harvesting requirement of different spherical fruits such as tomato, apple, oranges and tangerines by the FEEDBACK CONTROL of heat transfer agent.
Claims (5)
1. terminal executor of strobile picking robot, it is characterized in that: terminal executor of strobile picking robot is made up of executive system and control system, and wherein executive system comprises vacuum cup mechanism, fingerhold mechanism and laser cutting mechanism; Vacuum cup mechanism comprises vacuum generator (8), sucker (16), first motor (14), gear (13) and tooth bar (12), sucker (16) is fixed in tooth bar (12) front end, and link to each other with vacuum generator (8) by vacuum tube, gear (13) is installed on first motor (14) axle; Fingerhold mechanism comprises top finger (2), bottom finger (15), reverse-flighted screw (3), second motor (9), first bevel gear (10) and second bevel gear (11), and top finger (2), bottom finger (15) are arc surface; Have left-handed on the reverse-flighted screw (3) and two sections screw threads of dextrorotation, form worm drive with top finger (1) and bottom finger (15) respectively; Second bevel gear (11) is installed on the external part of reverse-flighted screw (3), and first bevel gear (10) is installed on the axle of second motor (9); Laser cutting mechanism comprises fiber coupled laser diode (7), laser focusing lens (4) and geometrical clamp (5), laser focusing lens (4) is fixed on the housing of end effector by geometrical clamp (5), and links to each other with fiber coupled laser diode (7) by optical fiber.
2. terminal executor of strobile picking robot according to claim 1 is characterized in that: rubber (1) is all posted in the inboard of described top finger and bottom finger.
3. terminal executor of strobile picking robot according to claim 2 is characterized in that: have groove on top finger (2) and the rubber (1); Between top finger (1) and the bottom finger (15) guide post (6) is installed.
4. terminal executor of strobile picking robot according to claim 1 is characterized in that: have groove on the finger of top, the groove front end is taper.
5. terminal executor of strobile picking robot according to claim 1, it is characterized in that: control system is an open control system, feedback by sensor information, in the absorption pulling and clamping action of fruit, guide the focusing orientation that enters laser focusing lens by the groove that has on the finger of top, finish the cut-out of carpopodium; Wherein form upper control module by notebook computer and multi-axis motion control card in the open control system, multi-axis motion control card is finished the collection of all the sensors signal and the output of control signal, and multi-axis motion control card and notebook computer are with the communication of USB mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007100205016A CN101019485B (en) | 2007-03-06 | 2007-03-06 | Terminal executor of strobile picking robot and its control method |
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| CN2007100205016A CN101019485B (en) | 2007-03-06 | 2007-03-06 | Terminal executor of strobile picking robot and its control method |
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| CN101019485A CN101019485A (en) | 2007-08-22 |
| CN101019485B true CN101019485B (en) | 2010-09-29 |
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| CN102672712A (en) * | 2011-12-21 | 2012-09-19 | 河南科技大学 | Fruit picking manipulator |
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| CN2513338Y (en) * | 2001-12-11 | 2002-10-02 | 孙世广 | Machine hand for picking fruit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102672712A (en) * | 2011-12-21 | 2012-09-19 | 河南科技大学 | Fruit picking manipulator |
| CN102672712B (en) * | 2011-12-21 | 2015-07-15 | 河南科技大学 | Fruit picking manipulator |
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| CN101019485A (en) | 2007-08-22 |
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