CN102187766A - Fruit picking end effector and fruit picking method - Google Patents
Fruit picking end effector and fruit picking method Download PDFInfo
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- CN102187766A CN102187766A CN2011101090529A CN201110109052A CN102187766A CN 102187766 A CN102187766 A CN 102187766A CN 2011101090529 A CN2011101090529 A CN 2011101090529A CN 201110109052 A CN201110109052 A CN 201110109052A CN 102187766 A CN102187766 A CN 102187766A
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Abstract
The invention relates to the field of agricultural robots, and discloses a fruit picking end effector. The fruit picking end effector comprises an adsorption piece, a screw, a fixed block, a driving part, two clamping fingers and a cutting part, wherein one end of the screw is connected with the adsorption piece; the other end of the screw passes through the fixed block; the driving part is positioned above the fixed block and connected with the fixed block; the two clamping fingers are connected with the driving part respectively, positioned above the adsorption piece and opened and closed under the control of the driving part; and the cutting part is connected with the two clamping fingers. The fruit picking end effector can efficiently and nondestructively pick, sort and pack small fruits.
Description
Technical field
The present invention relates to the agricultural robot technical field, particularly, reach the method for using this end effector that fruit is gathered at the end effector of small-sized fruit harvesting operation.
Background technology
Characteristics such as small-sized fruits such as strawberry, cherry, holy girl fruit have high yield, cultivated area is extensive and individual difference is big are finished if it such as is plucked at operation manual work, not only need a large amount of manpowers, time and effort consuming, and inefficiency, and cost is higher.Along with the development of agricultural robot technology, the intelligent equipment that is applied to harvesting, sorting and the packing of small-sized fruit occurs successively, and these intelligent harvesting equipment all need end effector, is responsible for fruit is carried out practical operation, finishes corresponding function.Because small-sized fruit surface is tender, end effector need have the characteristics of flexible clamping, to prevent that fruit surface is caused damage.For guaranteeing the edible hygienic requirements of fruit, end effector should reduce pollution source in to the operating process of fruit introduces simultaneously.The terminal executor of fruit and vegetable picking robot that the patent of invention CN10238775A of Jiangsu University, CN101019484 describe adopts flexible material fingerhold fruit.The strawberry picking end effector that the patent CN101317516A of China Agricultural University describes adopts paw clamping carpopodium mode clamping strawberry fruit, and the cutting knife that drives simultaneously on the paw carries out cutting and separating to carpopodium.
Existing end effector adopts clamping fruit mode more, yet because the not equal factor of the difference of fruit kind and growing environment, the otherness of its tolerance clamp pressure is bigger.End effector is also bigger to the difficulty of holding finger dynamics control, and fruit surface such as strawberry is very tender, adopts the fingerhold processing ease to cause the fruit surface damage, directly influences fruit quality, and following process and storage.End effector adopts cutting knife that carpopodium is carried out cutting and separating, and otch is exposed to external environment, causes crop pest easily.Fruit also often rots because of the infection of incisional wound bacterium, causes damage.
Summary of the invention
(1) technical problem that will solve
How efficient, harmless the technical problem to be solved in the present invention be fruit is gathered, and can not pollute crop.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of fruit harvesting end effector, comprising:
Adsorption piece;
Screw rod, the one end is connected with described adsorption piece;
Fixed block, the other end of described screw rod passes from fixed block;
Driver part is positioned at the top of described fixed block and is connected with fixed block;
Two holding fingers are connected with described driver part respectively, are positioned at the top of described adsorption piece, folding under the control of described driver part;
Cutting part is connected with two described holding fingers
Wherein, described cutting part comprises: be positioned at a fixed mount on the described holding finger, with the heating member that described fixed mount is connected, be positioned at the cutting backing plate on another described holding finger, described cutting backing plate offers groove corresponding to the part of heating member.
Two holding fingers are to fashionable, and described heating member is entrenched in the groove of cutting backing plate.
Described heating member is the nickel chromium triangle heater strip.
Described driver part is the gas pawl, and described gas pawl is connected with magnetic valve, and two described holding fingers are connected with the movable block of gas pawl respectively.
Described gas pawl is connected with fixed block by screw, and the distance between described gas pawl and the fixed block can be by the adjustment screw adjustment.
Described adsorption piece is the organ type sucker, and the one end is a sucker, and the other end is a connecting plate, and described connecting plate is connected with screw rod, and described adsorption piece is connected with the vacuum generator assembly.
The opposite end of two described holding fingers is respectively arranged with holding shim.
In order to solve the problems of the technologies described above, the present invention also provides a kind of fruit picking up method, comprising:
Step 1, the described vacuum generator assembly of startup provide negative pressure for adsorption piece, and described adsorption piece adsorbs fruit to be gathered;
Step 2, the movable block activity by control solenoid control valve, thus make that two holding fingers are involutory, and heating member is chimeric with the groove of cutting backing plate, and carpopodium is clamped;
The power supply of step 3, the described heating member of connection, the heating member of high temperature cuts off carpopodium with the cutting backing plate.
(3) beneficial effect
Technique scheme has following advantage: by efficient, harmless to small-sized fruit gather, operations such as sorting and packing, fruit be can't harm clamping, carrying, and carries out carpopodium cutting etc. when gathering.
Description of drawings
Fig. 1 is the structural representation of the fruit harvesting end effector of the embodiment of the invention;
Fig. 2 is the partial structurtes schematic diagram of the fruit harvesting end effector of the embodiment of the invention;
Fig. 3 is the flow chart of the fruit picking up method of the embodiment of the invention.
Wherein, 1: adsorption piece; 11: sucker; 12: connecting plate; 2: screw rod; 3: fixed block; 4: the gas pawl; 5: holding shim; 6: holding finger; 7: heating member; 8: fixed mount; 9: the cutting backing plate; 91: groove; 10: adjustment screw; 13: fruit.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, 2, Fig. 1 is that the fruit harvesting end effector of the embodiment of the invention comprises fruit absorbed portion, fruit retained part and carpopodium cutting part three parts.Gas pawl fruit absorbed portion is used to hold fruit to be plucked 13, comprises adsorption piece 1, screw rod 2 and fixed block 3.The fruit retained part is used for fruit to be plucked 13 is clamped, and comprises gas pawl 4, holding shim 5 and holding finger 6 as driver part.The carpopodium cutting part is used for comprising heating member 7, fixed mount 8 and cutting backing plate 9 with waiting that the carpopodium of plucking fruit 13 cuts off.
Wherein, adsorption piece 1 is specially the organ type sucker, the one end is the absorption end, be sucker 11, the other end is a connecting plate 12, and connecting plate 12 is connected with screw rod 2, screw rod 2 passes fixed block 3 and passes, an end that passes is connected with vacuum generator assembly (not shown), can adjust the length that adsorption piece 1 stretches out fixed block 3 by adjusting screw(rod) 2, with the harvesting requirement of the fruit that adapts to the fruit that varies in size, different carpopodium length.
In the present embodiment, nichrome wire, magnetic valve and vacuum generator assembly all adopt same DC power supply, its separately state control by relay by controller.
As shown in Figure 3, the present invention also provides a kind of fruit picking up method, may further comprise the steps:
Step S1, startup vacuum generator assembly provide negative pressure for adsorption piece, and adsorption piece adsorbs fruit to be gathered;
Step S2, the movable block activity by control solenoid control valve, thus make that two holding fingers are involutory, and heating member is chimeric with the groove of cutting backing plate, and carpopodium is clamped;
The power supply of step S3, connection heating member, the heating member of high temperature cuts off carpopodium with the cutting backing plate.
Be the resemblance of the fruit that adapts to different cultivars, present embodiment adopts the adjustable structure design, can regulate the extension elongation that sucker stretches out fixed block by rotary screw, with the harvesting requirement of the fruit that adapts to the fruit that varies in size, different carpopodium length; For guaranteeing the versatility of product, parts such as sucker, gas pawl and heating wire are detachable fit, can remove and install according to the operation needs, to satisfy difference in functionality environment requirement such as harvesting, sorting, packing simultaneously.
Apparatus and method provided by the invention can be efficiently, harmless to small-sized fruit gather, operations such as sorting and packing, fruit be can't harm clamping, carrying, and carries out carpopodium cutting etc. when gathering.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (9)
1. the fruit harvesting end effector is characterized in that, comprising:
Adsorption piece;
Screw rod, the one end is connected with described adsorption piece;
Fixed block, the other end of described screw rod passes from fixed block;
Driver part is positioned at the top of described fixed block and is connected with fixed block;
Two holding fingers are connected with described driver part respectively, are positioned at the top of described adsorption piece, folding under the control of described driver part;
Cutting part is connected with two described holding fingers.
2. fruit harvesting end effector as claimed in claim 1, it is characterized in that, described cutting part comprises: be positioned at a fixed mount on the described holding finger, with the heating member that is erected on the described fixed mount, be positioned at the cutting backing plate on another described holding finger, described cutting backing plate offers groove corresponding to the part of heating member.
3. fruit harvesting end effector as claimed in claim 2 is characterized in that, two holding fingers are to fashionable, and described heating member is entrenched in the groove of cutting backing plate.
4. fruit harvesting end effector as claimed in claim 2 is characterized in that, described heating member is the nickel chromium triangle heater strip.
5. fruit harvesting end effector as claimed in claim 1 is characterized in that, described driver part is the gas pawl, and described gas pawl is connected with magnetic valve, and two described holding fingers are connected with the movable block of gas pawl respectively.
6. fruit harvesting end effector as claimed in claim 5 is characterized in that, described gas pawl is connected with fixed block by screw, and the distance between described gas pawl and the fixed block can be by the adjustment screw adjustment.
7. fruit harvesting end effector as claimed in claim 1 is characterized in that, described adsorption piece is the organ type sucker, and the one end is a sucker, and the other end is a connecting plate, and described connecting plate is connected with screw rod, and described adsorption piece is connected with the vacuum generator assembly.
8. fruit harvesting end effector as claimed in claim 1 is characterized in that the opposite end of two described holding fingers is respectively arranged with holding shim.
9. adopt the fruit picking up method of each described fruit harvesting end effector of claim 1-8, it is characterized in that, comprising:
Step S1, the described vacuum generator assembly of startup provide negative pressure for adsorption piece, and described adsorption piece adsorbs fruit to be gathered;
Step S2, the movable block activity by control solenoid control valve, thus make that two holding fingers are involutory, and heating member is chimeric with the groove of cutting backing plate, and carpopodium is clamped;
The power supply of step S3, the described heating member of connection, the heating member of high temperature cuts off carpopodium with the cutting backing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101090529A CN102187766A (en) | 2011-04-28 | 2011-04-28 | Fruit picking end effector and fruit picking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101090529A CN102187766A (en) | 2011-04-28 | 2011-04-28 | Fruit picking end effector and fruit picking method |
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| CN102187766A true CN102187766A (en) | 2011-09-21 |
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| CN2011101090529A Pending CN102187766A (en) | 2011-04-28 | 2011-04-28 | Fruit picking end effector and fruit picking method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104429359A (en) * | 2014-12-15 | 2015-03-25 | 广西大学 | Negative pressure and torsion spring joint-active fruit picker |
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
| CN106612959A (en) * | 2016-09-29 | 2017-05-10 | 南京信息职业技术学院 | Tail end picking device for mango picking mechanical arm |
| CN106826895A (en) * | 2017-03-31 | 2017-06-13 | 苏州御北辰精工科技有限公司 | A kind of automatic robot skipping-baiting apparatus for the detection of LCD circuit plate |
| CN106863342A (en) * | 2017-03-23 | 2017-06-20 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN107517656A (en) * | 2017-10-12 | 2017-12-29 | 谷新运 | Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method |
| CN107567814A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of electric heating cutting type strawberry picking mechanical arm end effector |
| CN107712973A (en) * | 2017-12-07 | 2018-02-23 | 徐州果姿电子商务有限公司 | A kind of food processing strawberry goes to obstruct device |
| CN107901069A (en) * | 2017-12-07 | 2018-04-13 | 王心成 | A kind of piston type multijaw end effector of robot |
| CN107980339A (en) * | 2017-12-25 | 2018-05-04 | 华侨大学 | A kind of pineapple device for picking with the low infection of notch |
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
| CN109121709A (en) * | 2018-08-28 | 2019-01-04 | 华南农业大学 | A kind of high-frequency electrode cutting type fruit picker |
| CN109699301A (en) * | 2019-02-22 | 2019-05-03 | 四川农业大学 | A kind of intelligence citrus picking machine and citrus picking method |
| CN113330912A (en) * | 2021-07-01 | 2021-09-03 | 塔里木大学 | Multifunctional fragrant pear is with picking beta pruning device |
| CN115380713A (en) * | 2022-09-16 | 2022-11-25 | 广东省现代农业装备研究所 | Pneumatic rigid-flexible combined pineapple grabbing end device and control method |
| PL442673A1 (en) * | 2022-10-28 | 2024-04-29 | Uniwersytet Rolniczy im. Hugona Kołłątaja w Krakowie | Strawberry picking set |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104429359B (en) * | 2014-12-15 | 2016-04-06 | 广西大学 | A kind of negative pressure and the symphyogenetic picking fruit device of torsion spring |
| CN104429359A (en) * | 2014-12-15 | 2015-03-25 | 广西大学 | Negative pressure and torsion spring joint-active fruit picker |
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
| CN106612959A (en) * | 2016-09-29 | 2017-05-10 | 南京信息职业技术学院 | Tail end picking device for mango picking mechanical arm |
| CN106863342B (en) * | 2017-03-23 | 2023-09-15 | 南京工程学院 | Picking robot end effector |
| CN106863342A (en) * | 2017-03-23 | 2017-06-20 | 南京工程学院 | A kind of terminal executor of picking robot |
| CN106826895A (en) * | 2017-03-31 | 2017-06-13 | 苏州御北辰精工科技有限公司 | A kind of automatic robot skipping-baiting apparatus for the detection of LCD circuit plate |
| CN107517656A (en) * | 2017-10-12 | 2017-12-29 | 谷新运 | Electric heating cutting type strawberry picking end effector and corresponding picking mechanism and method |
| CN107567814A (en) * | 2017-10-12 | 2018-01-12 | 谷新运 | A kind of electric heating cutting type strawberry picking mechanical arm end effector |
| CN107712973A (en) * | 2017-12-07 | 2018-02-23 | 徐州果姿电子商务有限公司 | A kind of food processing strawberry goes to obstruct device |
| CN107901069A (en) * | 2017-12-07 | 2018-04-13 | 王心成 | A kind of piston type multijaw end effector of robot |
| CN107980339A (en) * | 2017-12-25 | 2018-05-04 | 华侨大学 | A kind of pineapple device for picking with the low infection of notch |
| CN107980339B (en) * | 2017-12-25 | 2023-09-29 | 华侨大学 | Pineapple picker with incision low infection |
| CN109089648A (en) * | 2018-08-01 | 2018-12-28 | 芜湖彰鸿工程技术有限公司 | Utilize the greenhouse of picking robot |
| CN109121709A (en) * | 2018-08-28 | 2019-01-04 | 华南农业大学 | A kind of high-frequency electrode cutting type fruit picker |
| CN109699301A (en) * | 2019-02-22 | 2019-05-03 | 四川农业大学 | A kind of intelligence citrus picking machine and citrus picking method |
| CN113330912A (en) * | 2021-07-01 | 2021-09-03 | 塔里木大学 | Multifunctional fragrant pear is with picking beta pruning device |
| CN113330912B (en) * | 2021-07-01 | 2022-06-10 | 塔里木大学 | Multifunctional fragrant pear is with picking beta pruning device |
| CN115380713A (en) * | 2022-09-16 | 2022-11-25 | 广东省现代农业装备研究所 | Pneumatic rigid-flexible combined pineapple grabbing end device and control method |
| CN115380713B (en) * | 2022-09-16 | 2023-11-28 | 广东省现代农业装备研究所 | Pneumatic rigid-flexible combined pineapple grabbing end device and control method |
| PL442673A1 (en) * | 2022-10-28 | 2024-04-29 | Uniwersytet Rolniczy im. Hugona Kołłątaja w Krakowie | Strawberry picking set |
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Application publication date: 20110921 |