CN102150510A - Telescopic arm of harvesting robot capable of sensing collision - Google Patents
Telescopic arm of harvesting robot capable of sensing collision Download PDFInfo
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- CN102150510A CN102150510A CN 201110070566 CN201110070566A CN102150510A CN 102150510 A CN102150510 A CN 102150510A CN 201110070566 CN201110070566 CN 201110070566 CN 201110070566 A CN201110070566 A CN 201110070566A CN 102150510 A CN102150510 A CN 102150510A
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Abstract
The invention discloses a telescopic arm of a harvesting robot capable of sensing collision, which comprises a driven telescoping part and at least a group of collision sensing part, wherein the collision sensing part comprises at least a collision sheet, at least a spring component and at least a switch component; the collision sheet is arranged outside the driven telescoping part along the axial direction, the switch component is arranged at the end of the driven telescoping part, one end of the spring component is fixed on the collision sheet, the other end of the spring component is fixed at the end of the driven telescoping part, and the height of the spring component is greater than the height of the switch component. The telescopic arm has the advantages that the structure is simple, the telescopic arm is convenient to realize, and is capable of improving the overall harvesting efficiency and the success ratio of the robot.
Description
Technical field
What the present invention relates to is a kind of robot arm, but the picking robot telescopic arm of in particular a kind of perception collision.
Background technology
Since the U.S. was born, nearly 30 years time was gone through in the research and development of picking robot from first tomato picking robot in 1883.Abroad, countries such as Japan and America and Europe set up the project in succession and study intelligent robots such as plucking apple, citrus, tomato, watermelon and grape.The tomato of people's developments such as Japan Kondo-N is plucked mechanical hand and is had 7 degree of freedom, has certain barrier ability of keeping away.The apple picking robot of people such as Johan Baeten and Sven Boedrij development, but the six degree of freedom arm of industrial robot is installed on level and the vertical shelf that moves, move in the orchard by a tractor-drawn again.France a company has developed an apple picking robot, and it utilizes hydraulic pressure as power, and the robot working space is limited.The Lu Huaimin of Northeast Forestry University has developed the forest cone picking robot, and Shanghai Communications University is carrying out the research of cucumber picking robot, and Zhejiang University has carried out analysis of mechanism and optimal design research etc. to seven freedom tomato harvester tool hand.
Mainly adopt two types for picking robot mechanical arm structure both at home and abroad at present, first type is exactly directly to use industrial machinery arm form.Second kind is based on the redundant degree of freedom mechanical arm of keeping away barrier and adopting.Which kind of type no matter, the joint type of its robot adopts rotation formula more, and in the picking robot operation of reality, during the rotary articulated arm action, inswept area is a covering of the fan in fruit tree, and the flexible just straight line of linear joint arm, Comparatively speaking, rotary articulated arm has increased the collision probability of picking robot mechanical arm and fruit tree branches and leaves, reduced the barrier ability of keeping away of robot, increased the difficulty of picking robot path planning and motion control, so guaranteeing to pluck under the prerequisite of function, the posterior joint of mechanical arm adopts linear joint to have more excellent performance, in addition, being used for the sensor of perception external environmental information at present mostly is contained on the end effector of robot, on mechanical arm, install seldom, and robot is when plucking the fruit of fruit tree inside, the posterior joint of mechanical arm inevitably will go deep into the inside of fruit tree and carry out operation, can bump with branches and leaves, if mechanical arm does not have the function of perception impact force size degree, just ability is not made judgement when it knocks thicker branch, and so this collision can all bring infringement to fruit tree and robot.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, but a kind of picking robot telescopic arm of perception collision is provided, the collision perception is set on telescopic arm has partly realized collision perception to external world.
Technical scheme: the present invention includes and drive telescopic section and at least one group of collision perception part, described collision sense part branch comprises at least one collision sheet, at least one spring assembly and at least one switch module; Wherein collide sheet and be arranged at driving telescopic section outside vertically, switch module is arranged at the end that drives telescopic section, one end of spring assembly is fixed on the collision sheet, and the other end is fixed on the end that drives telescopic section, and the height of spring assembly is greater than the height of switch module.
Described driving telescopic section comprises AC servo motor, support body, guide rod, leading screw, nut piece and expansion link; Wherein: the AC servo machinery driving guide screw movement, the two ends of leading screw are provided with support body, and the two ends of leading screw are fixed in the support body, nut piece is socketed in and has constituted screw-nut body on the leading screw, leader casing is connected on the nut piece, and expansion link is fixed on the nut piece, and the collision sheet is arranged at the axial direction of leading screw.The rotation of leading screw makes nut piece move forward and backward under the orientation of guide rod, and expansion link and nut piece together move, and realizes Telescopic.
The two ends of described leading screw are axially fixed in the support body by radial thrust bearing respectively, and radial thrust bearing is used for bearing axial force and the radial load that screw mandrel produces at motion process.
Described support body is provided with bracing frame, and expansion link is socketed in the bracing frame, makes the expanding-contracting action orientation of expansion link carry out.
Described spring assembly comprises cylinder card, spring bracing, guide pillar and compression spring; Wherein: spring bracing is provided with unthreaded hole, guide pillar is socketed in the unthreaded hole of compression spring and spring bracing successively, the top of guide pillar and collision sheet are fixedly linked, bottom and cylinder card are fixedly linked by screw, the compression spring is fixed on the spring bracing, and the cylinder card is arranged at the bottom of spring bracing.
Unthreaded hole diameter on the described spring bracing is less than the body diameter of cylinder card, guide pillar relies on the unthreaded hole on the spring bracing to carry out compressing the compression orientation of spring, guide pillar and cylinder card are fixedly linked, the diameter of cylinder card is for the collision sheet that limits the guide pillar connection can not make it fly out from support body because of the pretightning force of compression spring greater than the unthreaded hole diameter, thereby defines the activity space of collision sheet.
Described switch module comprises microswitch and microswitch support, and microswitch is fixed on the microswitch support, and the microswitch support is fixed on the support body, microswitch height less than the height of corresponding collision sheet.
Described collision perception partly has three groups, every group of collision sense part branch comprises collision sheet, four spring assemblies and two switch modules, a collision sheet is arranged at support body outside vertically, the two ends of a collision sheet are respectively equipped with two spring assemblies, and a switch module is arranged between two spring assemblies.
When the present invention works, one end of compression spring will be because pretightning force will be collided sheet jack-up accordingly, the other end of compression spring is pressed on the spring bracing, after the collision sheet is subjected to big pressure collision, the compression spring is along with moving downwards of guide pillar shunk, till the collision sheet is pressed onto microswitch it under and moves, at this moment, microswitch signals to robot control system, point out and run into dangerous obstacle on this direction, mechanical arm should stop at the motion on this direction, and the path is plucked in planning again, selects other directions to pluck.
Beneficial effect: the present invention compared to existing technology; have the following advantages: the present invention is simple in structure, and it is convenient to realize, can improve the picking efficiency and the success rate of robot integral body; danger collision when avoiding robot to pluck operation, the safety of protection robot and fruit tree.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Fig. 2 is an interior schematic diagram of the present invention;
Fig. 3 is the structural representation of driving telescopic section of the present invention;
Fig. 4 is the structural representation of spring assembly of the present invention;
Fig. 5 is the structural representation of switch module of the present invention.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, Fig. 2 and shown in Figure 3, the present embodiment integral installation is at the last joint of picking robot mechanical arm, drive output with adpting flange 1 and last joint connects firmly, present embodiment comprises driving telescopic section and three groups of collision perception parts, three groups of collision perception parts are arranged at the top vertically that drives telescopic section respectively, left end and right-hand member, every group of collision sense part branch comprises a collision sheet 11, four spring assemblies 9 and two switch modules 10, a collision sheet 11 is arranged at the support body outside vertically that drives telescopic section, the two ends of a collision sheet 11 are respectively equipped with two spring assemblies 9, a switch module 10 is arranged between two spring assemblies 9, a switch module 10 is respectively installed at the two ends that are each collision sheet 11 on support body, each switch module 10 cooperates two spring assemblies 9 to use.There is the device of collecting fruit the below that drives telescopic section, does not have the space to come installation shock perception part.
With the left end that drives telescopic section is example, drives telescopic section and comprises AC servo motor 2, support body 3, two guide rods 4, leading screw 5, nut piece 6, bracing frame 8 and expansion links 7; Wherein: AC servo motor 2 is fixed on the support body 3 and drives leading screw 5 actions, the two ends of leading screw 5 are provided with support body 3, the two ends of leading screw 5 are axially fixed in the support body 3 by radial thrust bearing respectively, nut piece 6 is socketed on the leading screw 5 and has constituted screw-nut body, guide rod 4 is socketed in the two ends of nut piece 6 respectively, expansion link 7 is fixed on the nut piece 6, nut piece 6 moves forward and backward under the orientation of guide rod 4, support body 3 is provided with bracing frame 8, bracing frame 8 is provided with linear bearing, expansion link 7 is socketed in the linear bearing of bracing frame 8, expanding-contracting action to expansion link 7 plays the directed effect of supporting and reducing friction, collision sheet 11 is arranged at along the outside of axial support body 3 right-hand members of leading screw 5, the rotation of leading screw 5 makes nut piece 6 move forward and backward under the orientation of guide rod 4, expansion link 7 and nut piece 6 together move, and have realized Telescopic.
As shown in Figure 4, spring assembly 9 comprises compression spring 16, cylinder card 13, screw 12, guide pillar 15 and spring bracing 14; Wherein: spring bracing 14 is provided with unthreaded hole, guide pillar 15 is socketed in the unthreaded hole of compression spring 16 and spring bracing 14 successively, the top of guide pillar 15 and collision sheet 11 are fixedly linked, bottom and cylinder card 13 are fixedly linked by screw 12, compression spring 16 is fixed on the spring bracing 14, and cylinder card 13 is arranged at the bottom of spring bracing 14; Unthreaded hole diameter on the spring bracing 14 is less than the body diameter of cylinder card 13.
Left end with the driving telescopic section is an example, and spring assembly 9 has four, respectively has two on the support body 3 at leading screw 5 two ends.Drive the identical setting of right-hand member of telescopic section with left end, because the restriction of installing space, a spring assembly 9 is reduced by in the upper end that drives telescopic section, promptly above the support body 3 of leading screw 5 front ends a spring assembly 9 only is housed, and two spring assemblies 9 are equipped with in the top of the support body 3 of corresponding rear end.
To adopt thickness be that the cold rolling Q235 steel plate of 1mm-2mm is made to collision sheet 11 in the present embodiment, and it is the smooth round steel of 6mm and 16mm that guide rod 4 and guide pillar 15 are selected diameter respectively for use.
As shown in Figure 5, switch module 10 comprises microswitch 17 and microswitch support 18, and microswitch 17 is fixed on the microswitch support 18, and microswitch support 18 is fixed on the support body 3, microswitch 17 height less than the height of corresponding collision sheet 11.The model of present embodiment microswitch 17 is MSW-11.
Microswitch 17 links to each other with the ROBOT CONTROL system, and an end of compression spring 16 will collide sheet 11 jack-up accordingly owing to be subjected to the pretightning force effect, and the other end is pressed on the spring bracing 14.After collision sheet 11 is subjected to pressure collision greater than the pretightning force sum of corresponding compression spring 16, compression spring 16 will shrink downwards along guide pillar 15, till collision sheet 11 is pressed onto microswitch 17 it under and moves, microswitch 17 signals to robot control system, point out on this direction and run into barrier, mechanical arm should stop at the motion on this direction, and planning is plucked the path or selected other directions to pluck again.The number of spring assembly 9 and itself stiffness coefficient and pretightning force have determined mechanical arm that the impact force of which kind of big or small degree is reacted.In the picking robot fruit process of reality, the denseer fruit tree of branches and leaves particularly, mechanical arm is often run into the good withe bar of a lot of pliabilities, at this moment, mechanical arm needn't be made a response to this, promptly the crash response power of Ci Shi mechanical arm should so promptly avoid robot to do meaningless judgement and planning greater than impact force, helps improving the picking efficiency and the success rate of robot integral body.So, can be according to concrete harvesting object and environment different, obtain by experiment accordingly to the prejudicial critical impact force of fruit tree or robot, again with critical impact force as design considerations, determine number, stiffness coefficient and the pretightning force of respective springs assembly 9.
Claims (7)
1. but the picking robot telescopic arm of perception collision, it is characterized in that, comprise driving telescopic section and at least one group of collision perception part, described collision sense part branch comprises at least one collision sheet (11), at least one spring assembly (9) and at least one switch module (10); Wherein collide sheet (11) and be arranged at driving telescopic section outside vertically, switch module (10) is arranged at the end that drives telescopic section, one end of spring assembly (9) is fixed on the collision sheet (11), the other end is fixed on the end that drives telescopic section, and the height of spring assembly (9) is greater than the height of switch module (10).
But 2. the picking robot telescopic arm of perception collision according to claim 1, it is characterized in that: described driving telescopic section comprises AC servo motor (2), support body (3), guide rod (4), leading screw (5), nut piece (6) and expansion link (7); Wherein: AC servo motor (2) drives leading screw (5) motion, the two ends of leading screw (5) are provided with support body (3), the two ends of leading screw (5) are fixed in the support body (3), nut piece (6) is socketed on the leading screw (5) and has constituted screw-nut body, guide rod (4) is socketed on the nut piece (6), expansion link (7) is fixed on the nut piece (6), and collision sheet (11) is arranged at the axial direction of leading screw (5).
3. but the picking robot telescopic arm of perception collision according to claim 2, it is characterized in that: the two ends of described leading screw (5) are axially fixed in the support body (3) by radial thrust bearing respectively.
But 4. the picking robot telescopic arm of perception collision according to claim 2, it is characterized in that: described support body (3) is provided with bracing frame (8), and expansion link (7) is socketed in the bracing frame (8).
5. but the picking robot telescopic arm of perception collision according to claim 2 is characterized in that: described spring assembly (9) comprises cylinder card (13), spring bracing (14), guide pillar (15) and compression spring (16); Wherein: spring bracing (14) is provided with unthreaded hole, guide pillar (15) is socketed in the unthreaded hole of compression spring (16) and spring bracing (14) successively, the top of guide pillar (15) and collision sheet (11) are fixedly linked, bottom and cylinder card (13) are fixedly linked by screw (12), compression spring (16) is fixed on the spring bracing (14), and cylinder card (13) is arranged at the bottom of spring bracing (14).
6. but the picking robot telescopic arm of perception collision according to claim 5, it is characterized in that: the unthreaded hole diameter on the described spring bracing (14) is less than the body diameter of cylinder card (13).
7. but the picking robot telescopic arm of perception collision according to claim 5, it is characterized in that: described switch module (10) comprises microswitch (17) and microswitch support (18), microswitch (17) is fixed on the microswitch support (18), microswitch support (18) is fixed on the support body (3), microswitch (17) height less than the height of corresponding collision sheet (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110070566 CN102150510A (en) | 2011-03-23 | 2011-03-23 | Telescopic arm of harvesting robot capable of sensing collision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110070566 CN102150510A (en) | 2011-03-23 | 2011-03-23 | Telescopic arm of harvesting robot capable of sensing collision |
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| CN102150510A true CN102150510A (en) | 2011-08-17 |
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| CN 201110070566 Pending CN102150510A (en) | 2011-03-23 | 2011-03-23 | Telescopic arm of harvesting robot capable of sensing collision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103766074A (en) * | 2014-03-04 | 2014-05-07 | 衢州市煜鑫农产品加工技术开发有限公司 | Fruit and vegetable harvester composed of extensible machine head |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN107667669A (en) * | 2016-08-01 | 2018-02-09 | 中国农业机械化科学研究院 | The anticollision protection mechanism of grape harvesting machine |
| CN108522022A (en) * | 2018-06-25 | 2018-09-14 | 南京工程学院 | A kind of picking robot tail end arm collision sensing device |
| CN108544528A (en) * | 2018-05-23 | 2018-09-18 | 南京工程学院 | A kind of array elastic negative pressure feeding sucker |
| CN115039572A (en) * | 2022-07-22 | 2022-09-13 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
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| JP2009005587A (en) * | 2007-06-26 | 2009-01-15 | Iseki & Co Ltd | Fruit-harvesting robot |
| CN201198135Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Laneway storehouse stacking robot |
| CN201591525U (en) * | 2008-08-12 | 2010-09-29 | 皇家飞利浦电子股份有限公司 | Robot moving equipment |
| CN202043460U (en) * | 2011-03-23 | 2011-11-23 | 南京工程学院 | Picking robot telescopic arm capable of sensing collision |
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| JPS60196111A (en) * | 1984-03-19 | 1985-10-04 | 株式会社クボタ | Robot hand for harvesting fruits |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103766074A (en) * | 2014-03-04 | 2014-05-07 | 衢州市煜鑫农产品加工技术开发有限公司 | Fruit and vegetable harvester composed of extensible machine head |
| CN103766074B (en) * | 2014-03-04 | 2015-11-18 | 衢州昀睿工业设计有限公司 | The fruits and vegetables collector be made up of flexible delivery end |
| CN105144992A (en) * | 2015-09-24 | 2015-12-16 | 江苏农林职业技术学院 | Strawberry picking and collecting device |
| CN107667669A (en) * | 2016-08-01 | 2018-02-09 | 中国农业机械化科学研究院 | The anticollision protection mechanism of grape harvesting machine |
| CN107667669B (en) * | 2016-08-01 | 2024-03-26 | 中国农业机械化科学研究院集团有限公司 | Anti-collision protection mechanism of grape harvester |
| CN108544528A (en) * | 2018-05-23 | 2018-09-18 | 南京工程学院 | A kind of array elastic negative pressure feeding sucker |
| CN108522022A (en) * | 2018-06-25 | 2018-09-14 | 南京工程学院 | A kind of picking robot tail end arm collision sensing device |
| CN108522022B (en) * | 2018-06-25 | 2023-12-29 | 南京工程学院 | Collision sensing device for tail end arm of picking robot |
| CN115039572A (en) * | 2022-07-22 | 2022-09-13 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
| CN115039572B (en) * | 2022-07-22 | 2023-11-14 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
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Application publication date: 20110817 |