CN101803511B - Flexible end effector for cone picking robot - Google Patents
Flexible end effector for cone picking robot Download PDFInfo
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- CN101803511B CN101803511B CN2009101566241A CN200910156624A CN101803511B CN 101803511 B CN101803511 B CN 101803511B CN 2009101566241 A CN2009101566241 A CN 2009101566241A CN 200910156624 A CN200910156624 A CN 200910156624A CN 101803511 B CN101803511 B CN 101803511B
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- fruits
- vegetables
- fixed
- connecting rod
- flexible end
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- 239000012636 effector Substances 0.000 title abstract description 16
- 235000012055 fruits and vegetables Nutrition 0.000 claims abstract description 32
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 20
- 210000002615 epidermis Anatomy 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000227653 Lycopersicon Species 0.000 description 2
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a flexible end effector for a cone picking robot. The flexible end effector comprises a frame, wherein the frame is provided with a fruit and vegetable gripping paw mechanism which comprises a pedestal and fingers; each finger comprises a fixed lever and a connecting rod; the fixed lever is fixed on the pedestal; the connecting rod is hinged with the fixed lever; the connecting rod is connected with a rubber tube which drives the connecting rod to oscillate relatively to the fixed lever; the top end of the rubber tube is sealed, and the bottom end of the rubber tube is connected with an air inflation mechanism; and the pedestal is provided with at least three fingers. The flexible end effector has the advantages of good adaptability to the sizes and shapes of fruits and capability of gripping fruits and vegetables and separating fruits and vegetables from fruit branches.
Description
Technical field
The present invention relates to a kind of cone picking machine device people's flexible end actuator.
Technical background
The target of picking robot is that life entity is arranged, and injury-free in order to guarantee to pluck target, end effector should have flexibility and security, carries out submissive control; Owing to pluck the complexity of individual subject otherness and shape, require end effector to have the adaptability in the certain limit, comprise the adaptability of individual sizes and target shape; Because the popularization object of agricultural robot is rural area and peasant, is satisfying under the prerequisite of plucking job requirements and should minimize cost in addition.
1985, people such as Japanese kawamura developed the end effector of the blade type of 3 rubber fingers of a kind of pneumatic gearing, are used for the fruit picking operation.The tomato harvester device people of people's developments such as Japan N.konda, its end effector is the attractor that has soft cushioning, soft cushioning has cushioning effect, can protect objective fruit to a certain extent.In addition, be provided with pressure sensor in the middle of the end effector, can realize submissive FEEDBACK CONTROL.People such as Monta have developed a kind of by 4 90 degree flexible finger and end effectors that attractor is formed spaced apart in order to adapt to new tomato production system.Each finger is crooked to the inside, and the other end of cable is connected in the end of executive item support, and when support back runs to a certain position, four fingers just begin inwardly to close up.People such as Peter P.Ling have designed a kind of picking fruit end effector of mainly being made up of digital linear stepper motor, 4 fingers and attractor.Finger utilizes hawser and muscle tendon to make its bending, utilizes torsion spring to make its stretching, extension.Digital linear step motor drive muscle tendon has strengthened controllability and accuracy that end effector moves.The actuator center is provided with vacuum cup, and the mode that adopt absorption, grasps is plucked objective fruit.
Chinese patent provides for No. 200810019826.7 a kind of fruit and vegetable harvesting robot flexible picking end effector; This end effector mainly is that the mode that adopts passive compliance structure and Active Compliance Control to combine has realized a kind of submissive extracting function to fruits and vegetables, and its passive compliance structure comprises vacuum ripple sucker and the secondary vacuum cup compliant mechanism of forming of ball, finger sensor and the Slewing Support Mechanism of floating.The characteristics of this patented technology are the harmless submissive extractings that can realize fruits and vegetables; But because vacuum cup is high to fruits and vegetables epidermis and surface requirements; And the stability and the poor reliability that realize extracting; Simultaneously, the end effector in this patented technology can only be realized the extracting function to fruits and vegetables, does not realize the mechanism that fruit branch separates.
Chinese patent provides a kind of end effector of apple picking robot for No. 200810156422.2.This actuator is made up of grasping system, diced system, sensor-based system three parts.This patent can realize the extracting of fruits and vegetables is separated with fruit branch; But the grasping system of this patent realizes that two fingers that fruits and vegetables are grasped are rigid member; Though point outerwrap with elastomeric material in rigidity; Can reduce damage, but because the rigidity characteristics of finger are not strong to the adaptability of fruit size and shape to pericarp.
Summary of the invention
For overcoming prior art, the invention provides a kind of size, cone picking machine device people's that shape adaptability is good flexible end actuator to fruit to the size of fruit, the shortcoming of shape bad adaptability.
Cone picking machine device people's flexible end actuator; Comprise frame, described frame is provided with the paw mechanism that grasps fruits and vegetables, and the described mechanism that holds in hand comprises base and finger; Described finger comprises the fixed bar that is fixed on the described base and the connecting rod hinged with fixed bar; Described connecting rod and one promotes its rubber tube with respect to the fixed bar swing and is connected, and described rubber tube end sealing, bottom are connected with an inflation mechanism, and described base is provided with at least three fingers.
Further, be fixed with guide rail on the described frame, be slidably mounted on slide block on the guide rail, promote slide block along guide rail cylinder that seesaws and the shut-off mechanism that crawled fruits and vegetables are separated with its fruit branch; Described shut-off mechanism comprises circular saw, and described circular saw is through a tape handler and an air motor interlock, and described circular saw and air motor are installed on the support, and described support is fixed on the described slide block.
Further, the one side towards fruits and vegetables of described connecting rod and fixed bar is equipped with rubber cushion, in order to avoid damage fruits and vegetables epidermis.
Further, described cylinder is fixed on the frame through cushion block.
Technical conceive of the present invention is: when grasping fruits and vegetables, to the rubber tube inflation, rubber tube make progress jack-up, promote connecting rod and clamp fruits and vegetables; During release fruits and vegetables, the gas in the rubber tube outwards discharges, and rubber tube shrinks downwards, drivening rod is away from fruits and vegetables.
After accomplishing grasping movement, start cylinder, make circular saw, start air motor, circular saw work, cut-out fruit branch near fruit branch.
Size, shape adaptability that the present invention has fruit are good, not only can grasp fruits and vegetables, and the advantage that can fruits and vegetables be separated with fruit branch.
Description of drawings
Fig. 1 is a front view of the present invention
Fig. 2 is a vertical view of the present invention
Fig. 3 is the sketch map of paw mechanism
The specific embodiment
With reference to accompanying drawing, further specify the present invention:
Cone picking machine device people's flexible end actuator; Comprise frame 1; Described frame 1 is provided with the paw mechanism that grasps fruits and vegetables; The described mechanism that holds in hand comprises base 21 and finger 22, and described finger 22 comprises the fixed bar 221 that is fixed on the described base 21 and the connecting rod 222 hinged with fixed bar 221, and described connecting rod 222 and promotes its rubber tube 223 of swinging with respect to fixed bar 221 and is connected; Described rubber tube 223 end sealings, bottom are connected with an inflation mechanism, and described base 21 is provided with at least three fingers 22.
Be fixed with guide rail 3 on the described frame 1, be slidably mounted on slide block 4 on the guide rail 3, promote slide block 4 along guide rail 3 cylinder 5 that seesaws and the shut-off mechanism that crawled fruits and vegetables are separated with its fruit branch; Described shut-off mechanism comprises circular saw 61, and described circular saw 61 is through tape handler 62 and an air motor 63 interlocks, and described circular saw 61 is installed on the support 64 with air motor 63, and described support 64 is fixed on the described slide block 4.
The one side towards fruits and vegetables of described connecting rod 222 and fixed bar 221 is equipped with rubber cushion 224, in order to avoid damage fruits and vegetables epidermis.
Described cylinder 6 is fixed on the frame 1 through cushion block 7.
Technical conceive of the present invention is: when grasping fruits and vegetables, to rubber tube 223 inflations, rubber tube 223 upwards jack-up, promotion connecting rod 222 clamps fruits and vegetables; During release fruits and vegetables, the gases in the rubber tube 223 outwards discharge, and rubber tube 223 shrinks downwards, drivening rod 222 is away from fruits and vegetables.
After accomplishing grasping movement, start cylinder 5, make circular saw 61, start air motor 63, circular saw 61 work, cut-out fruit branch near fruit branch.
The described content of this specification embodiment only is enumerating the way of realization of inventive concept; Protection scope of the present invention should not be regarded as and only limit to the concrete form that embodiment states, protection scope of the present invention also reach in those skilled in the art conceive according to the present invention the equivalent technologies means that can expect.
Claims (3)
1. cone picking machine device people's flexible end actuator; It is characterized in that: comprise frame; Described frame is provided with the paw mechanism that grasps fruits and vegetables; Described paw mechanism comprises base and finger, and described finger comprises the fixed bar that is fixed on the described base and the connecting rod hinged with fixed bar, and described connecting rod and promotes its rubber tube with respect to the fixed bar swing and is connected; Described rubber tube end sealing, bottom are connected with an inflation mechanism, and described base is provided with at least three fingers;
Be fixed with guide rail on the described frame, be slidably mounted on slide block on the guide rail, promote slide block along guide rail cylinder that seesaws and the shut-off mechanism that crawled fruits and vegetables are separated with its fruit branch; Described shut-off mechanism comprises circular saw, and described circular saw is through a tape handler and an air motor interlock, and described circular saw and air motor are installed on the support, and described support is fixed on the described slide block.
2. cone picking machine device people's as claimed in claim 1 flexible end actuator is characterized in that: the one side towards fruits and vegetables of described connecting rod and fixed bar is equipped with rubber cushion, in order to avoid damage fruits and vegetables epidermis.
3. cone picking machine device people's as claimed in claim 2 flexible end actuator is characterized in that: described cylinder is fixed on the frame through cushion block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101566241A CN101803511B (en) | 2009-12-29 | 2009-12-29 | Flexible end effector for cone picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101566241A CN101803511B (en) | 2009-12-29 | 2009-12-29 | Flexible end effector for cone picking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101803511A CN101803511A (en) | 2010-08-18 |
| CN101803511B true CN101803511B (en) | 2012-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101566241A Expired - Fee Related CN101803511B (en) | 2009-12-29 | 2009-12-29 | Flexible end effector for cone picking robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN101803511B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102090210B (en) * | 2010-11-30 | 2012-07-04 | 华南农业大学 | Multi-fruit-type fruit and vegetable picking robot and end effector thereof |
| CN102113434B (en) * | 2011-01-14 | 2012-08-15 | 江苏大学 | Picking method of picking robot under fruit oscillation condition |
| CN102227973B (en) * | 2011-04-27 | 2013-06-05 | 南京工程学院 | End effector of ball-like fruit picking robot |
| CN102405729B (en) * | 2011-11-23 | 2013-06-05 | 浙江工业大学 | Tree climbing type carya cathayensis picking robot |
| CN102612927B (en) * | 2012-04-01 | 2013-11-13 | 华南农业大学 | Fruit picking execution device |
| CN107041210A (en) * | 2017-02-24 | 2017-08-15 | 东北农业大学 | It is a kind of to grab the spheral fruit terminal executor of picking robot for cutting integral type |
| CN107044513B (en) * | 2017-04-14 | 2019-06-14 | 温州乾含节能科技有限公司 | A kind of motor multistep speed regulation transmission mechanism for fruit picking robot |
| CN107046933B (en) * | 2017-04-19 | 2019-08-06 | 南京航空航天大学 | The automatic picker system of mushroom and method based on machine vision |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1569403A (en) * | 2003-07-14 | 2005-01-26 | 浙江工业大学 | Pneumatic flexible torsion joint |
| CN101209553A (en) * | 2006-12-28 | 2008-07-02 | 浙江工业大学 | Pneumatic power flexible three-finger paw |
| US7559590B1 (en) * | 2005-10-19 | 2009-07-14 | Western Digital Technologies, Inc. | Pressure transmission assembly for mounting to a robotic device having a rotatable end effector |
| CN201630028U (en) * | 2009-12-29 | 2010-11-17 | 浙江工业大学 | Flexible terminal actuator of cone picking robot |
-
2009
- 2009-12-29 CN CN2009101566241A patent/CN101803511B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1569403A (en) * | 2003-07-14 | 2005-01-26 | 浙江工业大学 | Pneumatic flexible torsion joint |
| US7559590B1 (en) * | 2005-10-19 | 2009-07-14 | Western Digital Technologies, Inc. | Pressure transmission assembly for mounting to a robotic device having a rotatable end effector |
| CN101209553A (en) * | 2006-12-28 | 2008-07-02 | 浙江工业大学 | Pneumatic power flexible three-finger paw |
| CN201630028U (en) * | 2009-12-29 | 2010-11-17 | 浙江工业大学 | Flexible terminal actuator of cone picking robot |
Non-Patent Citations (3)
| Title |
|---|
| JP特开平11-139565A 1999.05.25 |
| JP特开平9-123080A 1997.05.13 |
| 张立彬.基于气动柔性驱动器的侧摆关节特性.《农业工程学报》.2009,第25卷(第八期), * |
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| Publication number | Publication date |
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| CN101803511A (en) | 2010-08-18 |
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Granted publication date: 20120118 |